• 정보처리학회논문지C
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• 제10C권2호
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• pp.191-198
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• 2003

무선단말기 사이의 호 연결을 위하여 유휴상태에 있는 무선단말기의 위치정보를 관리하는 위치추적방법이 사용된다. 본 논문에서는 움직임에 기반한 위치추적방법의 성능을 더욱 향상시키기 위하여 공간적 국부성을 이용한 위치추적방법을 제안한다. 제안한 방법은 무선단말기의 실제 이동경로에서 공간적 국부성을 제거하여 가상 이동경로를 생성한 후 이를 이용하여 위치 갱신함으로써 불필요한 위치갱신을 줄일 수 있게 한다. 컴퓨터 모의실험을 통하여 본 논문에서 제안한 방법이 위치추적경비를 많이 줄일 수 있음을 보여준다.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.591-597
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• 1996

To straighten the path that farm machinery follows in paddy fields, it is necessary to measure and evaluate the tracks that these machines leave behind. However, there are no known methods for making such measurements and evaluations since it is difficult to accurately trace the paths that the machine make in paddy fields. Therefore, a measuring system has been developed which can accurately recored the path of a farm machinery in a field by measuring the horizontal straight-line distance from the side of the field to the machine. This system consists of a track subsystem on the machine and a range finder system. A measuring appraratus is installed on a flatcar which runs on rails over 50 m long at the side of the filed. The track subsystem uses a CCD camera to track the movement of the machine in the field which is following a lengthwise path. The range finder subsystem measures the distance that the measuring apparatus has traveled on the rails and the distance from the app ratus to the machine in the field. This system makes it possible to record the path that the machine travels. Even though differences in traveling distance arise between the measuring apparatus and the farm machine, these differences are detected by image processing , which allows the machine in the field to be located accurately. The short(0.05 second) time required for image processing is enough to follow an object . In the present study, this system was able to measure the path that a moving tractor makes. Even though a lag of up to 0.4 meters occurred, this system did not miss its target during operation of the track subsystem. Thus the path measuring system developed here is able to record vehicle paths automatically by following the movement of vehicles in the field and measuring the distance to them. It is expected to come into use in such applications as unmanned moving vehicle tests.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.253-253
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• 2000

Each robot plays a role of its own behavior in dynamic robot-soccer environment. One of the most necessary conditions to win a game is control of robot movement. In this paper we suggest a win strategy using Cellular Neural Network to set optimal path and cooperative behavior, which divides a soccer ground into grid-cell based ground and has robots move a next grid-cell along the optimal path to approach the moving target.

• 대한치과의사협회지
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• 제15권9호
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• pp.732-737
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• 1977

• 대한치과보철학회지
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• 제31권4호
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• pp.549-564
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• 1993

The purpose of this study was to research the condylar path and the anterior angle of glenoid fossae and classify the patterns of condylar path. Thirty male and female dental students with normal occlesion and masticatory system ranging in age from 21 to 30, without present symptoms and an)r history of TM joint disturbance, were selected for this study. Transcranial radiographs of TM joints under mandibular lateral movement were obtained. By the computer analysis on the radiographs, the angle of posterior slope of articular eminance, the sagittal condylar guidance angie, condylar movement patterns and the height of glenoid fossa was measured respectively, and studied their interrelationship comparatively. The results obtained were as follows : 1. The total distance of condylar movement on balancing side during mandibular lateral movement was 4.55mm for Lt. and 4.78mm for Rt. when mandible moved from C.R. to canine to canine relation and 7.86mm for the Lt. and 8.10mm for the Rt. when mandible moved from C.R. to 7.5mm. 2. The horizontal distance of condylar movement on balancing side during mandibular lateral movements was 3.16mm for the Lt. and 3.52mm for the Rt. when mandible moved from C.R. to canine to canine relation and 6.10mm for the Lt. and 6.30mm for the Rt. when mandible moved from C.R. to 7.5mm. 3. The sagittal condylar guidance angle on balancing side during mandibular lateral movements was $45.96^{\circ}$ for the Lt. and $43.22^{\circ}$ for the Rt. when mandible moved from C.R. from canine to canine relation and $41.14^{\circ}$ for the Lt. and $39.77^{\circ}$ for the Rt. when mandible moved from C.R. to 7.5mm. 4. The height of glenoid fossa was 8.23mm for the Lt. and 7.80mm for the Rt. and the angle of posterior slope of articular eminence was $38.30^{\circ}$ for the Lt. and $38.79^{\circ}$ for the Rt. by method-A and $55.61^{\circ}$ for the Lt. and $55.64^{\circ}$ for the Rt. by method-B. 5. The sequence of the frequency of condylar movement patterns on balancing side during mandibular lateral movement were concave type(30 cases), convex type(16 cases), reverse S shape curve(9 cases) and S shape curve(5 cases) when mandible moved from C.R. to canine to canine relation and concave type(27 cases), 5 shape curve(13 cases), convex type(11 cases) and reverse S shape curve(9 cases) when mandible moved from C.R. to 7.5mm.

• 로봇학회논문지
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• 제14권4호
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• pp.285-292
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• 2019

Path planning is an important problem to solve in robotics and there has been many related studies so far. In the previous research, we proposed the Heterogeneous-Ants-Based Path Planner (HAB-PP) for the global path planning of mobile robots. The conventional path planners using grid map had discrete state transitions that constrain the only movement of an agent to multiples of 45 degrees. The HAB-PP provided the smoother path using the heterogeneous ants unlike the conventional path planners based on Ant Colony Optimization (ACO) algorithm. The planner, however, has the problem that the optimization of the path once found is fast but it takes a lot of time to find the first path to the goal point. Also, the HAB-PP often falls into a local optimum solution. To solve these problems, this paper proposes an improved ant-inspired path planner using the Rapidly-exploring Random Tree-star ($RRT^*$). The key ideas are to use $RRT^*$ as the characteristic of another heterogeneous ant and to share the information for the found path through the pheromone field. The comparative simulations with several scenarios verify the performance of the improved HAB-PP.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 학술대회 논문집 정보 및 제어부문
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• pp.331-332
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• 2008

A real-time path planning of mobile robots is a broad topic, covering a large spectrum of different technologies and applications. Briefly a path planning is designated moving technique from current pose to desired pose. It is remarkably easy to handle for human, not for robot. It is difficult that a robot recognizes surround to get a current pose and to avoid an obstacles. In this paper covers kinematics, path planning for efficient movements of a mobile robot. Kinematics of mobile robot which is suggested in this paper is exploited to create reliable and suitable motions. In addition, Gradient method is a algorithm which can guarantee for real-time path planning.

• 대한기계학회논문집
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• 제17권10호
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• pp.2437-2445
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• 1993

In this work, a new method is presented for generating the manipulator path which significantly reduces residual vibration under the torque constraints. The desired path is optimally designed so that the required movement can be achieved with minimum residual vibration. From the previous research works, the dynamic model had been established including both the link and the joint flexibilities. The performance index is selected to minimize the maximum amplitude of residual vibration. The path to be designed is developed by a combined Fourier series and polynomial function to satisfy both the convergence and boundary condition matching problems. The concept of correlation coefficients is used to select the minimum number of design variables, i.e. Fourier coefficients, the only ones which have a considerable effect on the reduction of residual vibration. A two-link Manipulator is used to evaluate this method. Results show that residual vibration can be drastically reduced by selecting an appropriate manipulator path to both of unlimited and torque-limited cases.

• 드라이브 ㆍ 컨트롤
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• 제18권2호
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• pp.20-31
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• 2021

An excavator is a construction machine that can perform various tasks such as trenching, piping, excavating, slope cutting, grading, and rock demolishing. In the 2010s, unmanned construction equipment using ICT technology was continuously developed. In this paper, the path design process was studied to implement the output data of the decision stage, and the path design algorithm was developed. For example, the output data of the decision stage were terrain data around the excavator, excavator mechanism information, excavator hydraulic information, the position and posture of the bucket at key points, the speed of the desired bucket path, and the required excavation volume. The result of the path design was the movement of the hydraulic cylinder, boom arm, bucket, and bucket edge. The core functions of the path design algorithm are the function of avoiding impact during the excavation process, the function to calculate the excavation depth that satisfies the required excavation volume, and the function that allows the bucket to pass through the main points of the excavation process while maintaining the speed of the desired path. In particular, in the process of developing the last function, the node tracking method expressed in the path design table was newly developed. The path design algorithm was verified as this path design satisfied the JCMAS H02 requirement.

• 대한기계학회논문집A
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• 제37권1호
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• pp.97-103
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• 2013

본 연구는 원추대 가공과 등가인 동시 5 축 구동을 통한 볼바 측정용 경로 생성 기법을 소개하며 시스템 구조 형태(Structural configuration)에 관계없이 모든 5 축 공작기계에 대해 적용 가능한 일반화된 방법을 제시한다. 5 축 공작기계 시스템 정보와 원추형 정보, 그리고 볼바 측정 정보 등을 입력 받아 NC 코드 생성, 다양한 오차 평가 시뮬레이션 및 측정 시험을 쉽게 수행할 수 있도록 원호 경로 생성에 필요한 수학적 기계 입력 모델을 제시한다. 또한 제시된 원추형 경로 모델을 토대로 5 축 동시 구동 시 회전축의 이송 범위를 수학적으로 검토하며 반꼭지각 및 기울기각의 크기 차이, 볼바 틸팅 허용각 및 워크피스 볼의 오프셋 위치 등 여러 가지 조건이 이송 범위에 미치는 영향에 대해 분석한다.