• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.39 no.6
• /
• pp.638-648
• /
• 1990

An effective resolved motion control method of redundant manipulators is proposed to minimize the energy consumption and to increase the dexterity while satisfying the physical actuator constraints. The method employs the neural optimization networks, where the computation of Jacobian matrix is not required. Specifically, end effector movement resulting from each joint differential motion is first separated into orthogonal and tangential components with respect to a given desired trajectory. Then the resolved motion is obtained by neural optimization networks in such a way that 1) linear combination of the orthogonal components should be null 2) linear combination of the tangential components should be the differential length of the desired trajectory, 3) differential joint motion limit is not violated, and 4) weighted sum of the square of each differential joint motion is minimized. Here the weighting factors are controlled by a newly defined joint dexterity measure as the ratio of the tangential and orthogonal components.

• Proceedings of the Korean Society of Broadcast Engineers Conference
• /
• 2009.01a
• /
• pp.460-465
• /
• 2009

This paper presents a new algorithm that includes a mechanism to avoid local solutions in a motion vector detection method that uses the steepest descent method. Two different implementations of the algorithm are demonstrated using two major search methods for tree structures, depth first search and breadth first search. Furthermore, it is shown that by avoiding local solutions, both of these implementations are able to obtain smaller prediction errors compared to conventional motion vector detection methods using the steepest descent method, and are able to perform motion vector detection within an arbitrary upper limit on the number of computations. The effects that differences in the search order have on the effectiveness of avoiding local solutions are also presented.

• Proceedings of the Korean Society of Broadcast Engineers Conference
• /
• 2022.06a
• /
• pp.182-183
• /
• 2022

The large data volume of light field (LF) image has motivated much research on how to compress the data volume more efficiently. One of the approaches is to compress LF images after representing them in the form of pseudo video sequence. In this way, the pseudo temporal redundancy between views can be exploited by motion estimation and compensation. Based on our observation that images obtained by LF cameras have small range of disparity values between adjacent views, we propose to limit the motion search range to reduce the time complexity of motion estimation. Our experimental results show that a smaller motion search range reduces the encoding time while not affecting the bitrate of H.266/VVC much.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.11
• /
• pp.1130-1138
• /
• 2008

A mobile robot should be designed to navigate with collision avoidance capability in the real world, coping with the changing environment flexibly. In this paper, a novel navigation method is proposed for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. To demonstrate the effectiveness and applicability, it is applied to the robot soccer. Simulations and real experiments ascertain the merits of the proposed method.

• Journal of Power System Engineering
• /
• v.1 no.1
• /
• pp.106-123
• /
• 1997

In this study, vehicle directional stability is investigated for limit driving for crash avoidance maneuver using a full vehicle dynamic model. The model was analytically validated using typical step steering and lane change simulation. Limit driving condition for the vehicle model was quoted from research results of references. It was demonstrated that instable vehicle motion was caused by not only road conditions but also driving conditions. Also, the simulation showed that braking combined with steering caused very hazardous situation in crash avoidance maneuver. Finally, phase plane plot approach was used to evaluate the dynamic instability.

• Wind and Structures
• /
• v.4 no.4
• /
• pp.353-366
• /
• 2001

With respect to serviceability, antenna masts should be designed so that wind-induced motion will not cause unacceptable lack of transmission for broadcasting users and wireless communication. For such antenna masts with directional radio transmission the serviceability limit state is predominantly governed by the tolerable change of the broadcasting angle of the mounted antenna assembly and therefore by the tip distortion of the mast. In this paper it will be shown that refinements of the present state of design of antenna masts are possible by using the statistics of extremes applied to extreme wind situations and by consideration of the statistical and reliability requirements given by the operator such as frequency and return period of passing the serviceability limit.

• Journal of the Korean Statistical Society
• /
• v.24 no.1
• /
• pp.225-231
• /
• 1995

An eventual uniform equicontinuity condition is investigated in the context of the uniform central limit theorem (UCLT) for continuous martingales. We assume the usual intergrability condition on metric entropy. We establish an exponential inequality for a martingales. Then we use the chaining lemma of Pollard (1984) to prove an eventual uniform equicontinuity which is a sufficient condition of UCLT. We apply the result to approximate a stochastic integral with respect to a martingale to that of a Brownian motion.

• Journal of The Korean Astronomical Society
• /
• v.24 no.2
• /
• pp.173-190
• /
• 1991

Disk stellar luminosity function has been derived with stars in the Lowell Proper Motion Survey which contains about 9000 stars with ${\mu}\;{\geq}\;0".27$ of arc/yr, $8\;<\;m_{pg}\;<\;17$ and with bright stars in the Smithsonian Astrophysical Observatory (SAO) Star Catalogue, Luminosity function has been obtained with stars within 20 pc by Luyten's mean absolute magnitudes method using Reduced Proper Motion Diagram to select disk stars. Magnitudes and colors, in the SAO Star Catalogue as well as in the Lowell Proper Motion Survey have been transformed to the UBV system from the published UBV data. It has been found that stars which have higher proper motion than the original limit of the proper motion survey are missed, when the relation between the absolute magnitude and reduced proper motion is applied to sample stars without considering the dispersion in magnitude. Correction factors for missing stars have been estimated according to their limits of proper motion which are dependent on the absolute magnitude. Resulting luminosity function shows Wielen's dip at $M_B{\sim}10$, and systematic enhancement of stars on the average of about ${\Delta}\log\;{\Phi}\;(M_B){\sim}0.2$ compared with Luyten's luminosity function.

• 전자공학회논문지 IE
• /
• v.46 no.3
• /
• pp.33-41
• /
• 2009

Because the stability of obstacle avoidance ability is important for the safe operation of mobile robots, this paper deals with the analysis of dynamic stability of Limit-cycle navigation method that was proposed by authors. Limit-cycle navigation method is fast and easy to implement for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. The stability of Limit-cycle navigation method is analyzed with a linear model. To demonstrate the effectiveness and applicability, it is applied to the robot soccer Simulations and real experiments ascertain the merits of the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.865-870
• /
• 2003

A motion controller has been used variously in industry such as semiconductor manufacture equipment, industrial robot, assembly/conveyor line applications and CNC equipment. There are several types of controller in motion control. One of these is a PC-based motion controller such as PCI or ISA, and another is stand-alone motion controller. The PC bus-based motion controller is popular because of improving bus architectures and GUI (Graphic User Interface) that offer convenience of use to user. There are some problems in this. The PC bus-based solution allows for only one of the form factors, so it has a poor flexibility. The overall system package size is bigger than other motion control system. And also, additional axes of control require additional slot, however the number of slots is limited. Furthermore, unwieldy and many wirings come to connect plants or I/O. The stand-alone motion controller has also this limit of axes of control and wiring problems. To resolve these problems, controller must have capability of operating as stand-alone devices that resides outside the computer and it needs network capability to communicate to each motion device. In this paper, a network-based stand-alone motion system is proposed. This system integrates PC and motion controller into one stand-alone motion system, and uses CAN (Controller Area Network) as network protocol. Single board computer that is type of 3.5" FDD form factor is used to reduce the system size and cost. It works with Windows XP Embedded as operating system. This motion system operates by itself or serves as master motion controller that communicates to slave motion controller. The Slave motion controllers can easily connect to master motion system through CAN-network.