• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.317-328
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• 2000

This paper presents an effective approach to collision-free motion planning of a robot in the work-space including time-varying obstacles. The free arc is defined as a set composed of the configuration points of the robot satisfying collision-free motion constraint at each sampling time. We represent this free arc with respect to the new coordinate frame centered at the goal configuration and there for the collision-free path satisfying motion constraint is obtained by connecting the configuration points of the free arc at each sampling mined from the sequence of free arcs the optimality is determined by the performance index. Therefore the complicated collision-free motion planning problem of a robot is transformed to a simplified SUB_Optimal Collision Avoidance Problem(SOCAP). We analyze the completeness of the proposed approach and show that it is partly guaranteed using the backward motion. Computational complexity of our approach is analyzed theoretically and practical computation time is compared with that of the other method. Simulation results for two cally and practical computation time is compared with that of the other method. Simulation results for two SCARA robot manipulators are presented to verify the efficacy of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.257-264
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• 2015

This paper proposes an adaptive RRT (Rapidly-exploring Random Tree) for path planning of high DOF multibody robotic system. For an efficient path planning in high-dimensional configuration space, the proposed algorithm adaptively selects the robot bodies depending on the complexity of path planning. Then, the RRT grows only using the DOFs corresponding with the selected bodies. Since the RRT is extended in the configuration space with adaptive dimensionality, the RRT can grow in the lower dimensional configuration space. Thus the adaptive RRT method executes a faster path planning and smaller DOF for a robot. We implement our algorithm for path planning of 19 DOF robot, AMIRO. The results from our simulations show that the adaptive RRT-based path planner is more efficient than the basic RRT-based path planner.

• 한국태양에너지학회:학술대회논문집
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• 2009.11a
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• pp.142-147
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• 2009

In order to achieve performance assessment and optimal control of a double-skin system, an accurate simulation model is required. In the previous study, a lumped simulation model of such system was developed. As a follow-up of the previous research, the first objective of this paper is to investigate how the mathematical model should be calibrated according to system configuration(cavity width, depth, height, airflow pattern, local environment, etc.). And the second objective of this study is to discuss the effect of local weather information. In conclusion, this paper describes that the model should be recalibrated according to configuration. And it is necessary to have local weather information for accurate prediction and optimal control of the system.

• Journal of The Korea Institute of Healthcare Architecture
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• v.25 no.3
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• pp.25-36
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• 2019

Purpose: To establish guidelines for local public hospitals, the survey was conducted primarily on the current status of local public hospitals, focusing on the zone configuration and the spatial area of the operating department. Methods: 3 Methods have been used in this paper. 1) Analyzing drawings to derive the net floor area of each room. 2) A literature survey about composition of the zone by infection control. 3) Observation survey for user circulation analysis. Results: The operation department consists of the major, secondary, support and connected zones according to the user's actions. The spatial area composition ratio for each zone is major zone: 41.79%, secondary zone: 10.87%, support zone: 23.10%, and connected zone: 24.24%. Implications: This study is a basic research for guideline for the operation department in local public hospitals. In this study, zones configuration of the operation departments are classified in terms of user actions and room functions. In the future, it is required to establish criteria considering infection control and copper connection aspects.

• Proceedings of the KIPE Conference
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• 2013.11a
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• pp.243-244
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• 2013

This paper introduces the application of Profibus field bus communication in HVDC power system. Discusses about the configuration of HVDC system and the structure of control and protection system. Analyzes and designs the network configuration of field device level. Using OPAS engineering tool to config IO system and at the same time monitor data in SCADA HMI.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 1992.11a
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• pp.64-68
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• 1992

The demand for home automation system has increased in high-rise apartment houses. Home automation system is realized a more comfortable, more secure, more economical, more convenient, and more satisfying home life. The proposed system functions are meter reading, home security, energy saving, and house control. The technical requirements and configuration of home automation system are provided.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.99.2-99
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• 2001

An electronically tunable current-mode second-order multifunctional filter is described in this paper. The proposed filter consists of two four-terminal floating nullors (FTFNs), two dual-output OTAs and two grounded capacitors. The circuit can simultaneously realize the lowpass, bandpass and highpass current transfer functions from the same configuration without changing the circuit configuration and elements. The natural angular frequency we and the parameter wo/Q can be orthogonally controlled through adjusting the transconductance gain of OTA. PSPICE simulation results are employed to confirm the circuit performance.

• Proceedings of the Optical Society of Korea Conference
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• 1998.08a
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• pp.170-171
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• 1998

Here are proposed the tunable laser for optical memory which uses the acousto-optic deflector. This laser includes the acousto-optic deflector in the Littrow mount configuration so that we may control the beam deflection by means of the induced RF. Consequently, we can achieve the higher speed and accuracy to compare with the Littrow monut configuration only.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.53-57
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• 1998

Star tracker placement configuration is proposed and the properness of the placement configuration is verified for star tracker's sun avoidance angle requirement. Precision attitude determination system is successfully designed using a gyro-star tracker inertial reference system for a candidate LEO spacecraft. Elaborate kalman filter formulation for a spacecraft is proposed for covariance analysis. The covariance analysis is performed to verify the capability of the proposed attitude determination system. The analysis results show that the attitude determination error and drift rate error are good enough to satisfy the mission of a candidate spacecraft.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.87.5-87
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• 2001

In the past, we presented the tracking system with one sampling delay. In this paper, first we propose a tracking system with N-th sampling delay, in the case where an input-output pulse transfer function of a plant Z$\_$-N/. Secondly we propose a system configuration converting an input-output pulse transfer function of a plant into Z$\_$-N/ with the inverse system of the plant. Moreover, the proposed tracking system configuration is applied to an actual Ball and Beam system and good results are obtained.