• 한국산업융합학회 논문집
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• 제19권2호
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• pp.75-80
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• 2016

This study proposes a efficient technology to control the optimal trajectory planning and real-time implementation method which can perform autonomous travelling for unmaned factory automation. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on Route planning and control algorithm, we suggested representation of edge cost, heuristic function, and priority queue management, to make a modified Route planning algorithm. Performance of the proposed algorithm is verified by simulation test.

• 한국항공운항학회지
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• 제22권4호
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• pp.75-80
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• 2014

A lunar lander demonstrator developed for the purpose of demonstrating lunar landing technologies recently in Korea. The thruster control system of the lunar lander demonstrator adopted the main thrusters for altitude control and the reaction thrusters for attitude control. In this paper, we propose a path tracking controller base on Euler angles. The control signals of the controller are of continuous type. And Pulse Width Modulator(PWM) is adopted to provide On/Off signals. We perform MATLAB simulation for evaluating the path tracking performance and the final landing velocity of the lunar lander demonstrator.

• 융합보안논문지
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• 제13권4호
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• pp.19-25
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• 2013

백본(코어) 네트워크에서 유연하고 안정적인 품질이 보장되는 서비스 제공에 대한 요구가 폭발적으로 증가하면서 이러한 요구를 수용하기 위해 제어평면의 프로토콜로 MPLS/GMPLS가 도입되었다. GMPLS 기반 제어평면에서 경로계산 및 상호연동 기능은 최적의 서비스 품질을 제공하기 위한 핵심기술 중의 하나이다. 이를 위해 IETF에서는 Path Computation Element (PCE) 구조를 제안하였다. PCE는 경로계산 전용의 네트워크 요소이며 경로계산을 요청하는 Path Computation Clients (PCC) 와 경로계산을 수행하는 PCE 간의 통신은 PCE 프로토콜 (PCEP)을 이용한다. 본 논문은 PCE 기반 경로계산 구조에 대해서 살펴보고 이를 기반으로 PCEP 설계 및 구현을 위한 몇 가지 요소를 제시하였다. 우선 본 논문에서는 PCEP Finite State Machine (FSM)을 포함하여 각 상태에서 필요한 동작 요소를 정리하였다. 또한 본 논문에서는 PCEP에서 제공하는 통신 채널을 효과적으로 제어하기 위한 내부/외부 인터페이스를 더불어 제안하였다.

• 한국정보처리학회논문지
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• 제4권1호
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• pp.237-245
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• 1997

본 논문에서는 우선순위에 기초를 둔 새로운 흐름제어 방식을 제안한다. 이 방식 에 따르면 각 통신경로는 유지하고자 하는 적정 버퍼의 크기를 설정하고, 전송중 이 를 초과하지 않도록 해당 통신경로의 전송 우선순위를 조절한다. 대용량의 통신대역 폭을 요구하는 통신경로는 작은 크기의 적정 버퍼를 설정한다. 적정 버퍼의 크기와 전송 우선순위가 반비례하게 정의하면, 통신경로의 전송 우선순위는 높게 설정되므 로, 각 노드는 설정된 통신경로를 지나는 패킷에 높은 처리 기회를 제공하게 되고, 이를 통하여 버퍼의 크기를 적정 수준이하로 감소시키는 작용을 한다. 또한 대용량의 통신대역폭을 요구하는 통신경로에서는 경로상에 있는 노드에 적은 수의 패킷을 유지 하게 함으로 짧은 전송지연을 갖게 된다. 각 통신경로의 버퍼 크기는 통신경로가 연 결된 동안 일정한 시간 간격으로 재조정될 수 있다. 사용하고 있는 통신망 대역폭이 통신경로의 최종 목적지 응용 프로그램이 필요로 하는 데이타 흐름보다 적은 경우, 그 노드는 큐의 크기를 줄임으로써 대역폭을 보다 크게 확보할 수 있다. 통신망간 연 동 환경에서는 나은 통신망 대역폭을 근접한 노드로 확보할 수 있으며, 따라서 데이 타의 응답이 전통적인 end-to 흐름제어 기법보다 빨라진다. 고속의 통신망 환경에서 는 제안된 흐름제어 기법이 보다 효율적인 성능을 보인다.

• 한국산업융합학회 논문집
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• 제22권3호
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• pp.281-292
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• 2019

This paper proposed a new technology to control a path forging parts in limited narrow space of manufacturing process automation for smart factory. In the motion control, we adapted the obstacle avoidance technology based on ultrasonic sensors. The new motion control performance test for a mobile robot is experimented in narrow space environments. The travelling path control is performed by a fuzzy control logic. which plays a role for selecting an appropriate behavior in accordance with the situation in the vicinity of the mobile robot. Ultrasonic sensors installed at the front face of the mobile robot are used. In order to update the current position and heading angle of the mobile robot, a new approch is adapted. The reliability is illustrated by simulation and experiments.

• 제어로봇시스템학회논문지
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• 제21권3호
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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.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.211-217
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• 2014

This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.

• International Journal of Control, Automation, and Systems
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• 제4권1호
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• pp.77-86
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• 2006

A new method in robot path generation is presented using an analysis of the characteristics of multi-robot collision avoidance. The research is based on the concept of the collision map, where the collision between two robots is presented by a collision region and a crossing curve TLVSTC (traveled length versus servo time curve). Analytic collision avoidance is considered by translating the collision region in the collision map. The 4 different translations of collision regions correspond to the 4 parallel movements of the actual original robot path in the real world. This analysis is applied to path modifications where the analysis of collision characteristics is crucial and the resultant path for collision avoidance is generated. Also, the correlations between the translations of the collision region and robot paths are clarified by analyzing the collision/non-collision areas. The influence of the changes of robot velocity is investigated analytically in view of collision avoidance as an example.

• 제어로봇시스템학회논문지
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• 제17권9호
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• pp.902-907
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• 2011

In this paper, we deal with performance evaluation of visual path following using 2D and 3D information. Visual path follow first teaches driving path by selecting milestone images then follows the same route by comparing the milestone image and current image. We follow the visual path following algorithm of [8] and [10]. In [8], a robot navigated with 2D image information only. But in [10], local 3D geometries are reconstructed between the milestone images in order to achieve fast feature prediction which allows the recovery from tracking failures. Experimental results including diverse indoor cases show performance of each algorithm.

• 농업과학연구
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• 제37권1호
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• pp.113-121
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• 2010

Land consolidation ratio for rice paddy fields reached to 64.7% as of 2008 in Korea, and this also accelerated automation of field machinery. Especially, research on autonomous tractors has been continuously conducted. Tillage is one of the labor-, energy-, and time-consuming field operations. Most important requirements for autonomous tractors would be travelling path planning and electronic system to control the tractor to follow the path. The instruction of computer was required to conduct the tillage operation in field with unmanned traveling tractor. This instruction was coincidently used in the control of the traveling path and the motion of tractor. The objectives of the study were 1) to characterize and model tillage operating sequence, turning pattern, and 2) to develop tillage path formation programs for autonomous tractor and evaluate the performance.