• Proceedings of the Korean Operations and Management Science Society Conference
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• 대한산업공학회/한국경영과학회 1995년도 춘계공동학술대회논문집; 전남대학교; 28-29 Apr. 1995
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• pp.629-634
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• 1995

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is formed by a set of robot joint angles derived fromm robot inverse kinematics. The joint space that is made of the joint angle set, forms a Configuration space (Cspace). Obstacles in the robot workcell are also transformed and mapped into the Cspace, which makes Cobstacles in the Cspace. (The Cobstacles represented in the Cspace is actually the configurations of the robot causing collision.) Secondly, a connected graph, a kind of roadmap, is constructed from the free configurations in the 3 dimensional Cspace, where the configurations are randomly sampled form the free Cspace. Thirdly, robot paths are optimally in order to minimize of the sum of joint angle movements. A path searching algorithm based on A is employed in determining the paths. Finally, the whole procedures for the CFPP method are illustrated with a 3 axis articulated robot. The main characteristics of the method are; 1) it deals with CFPP for an articulated robot in a 3-dimensional workcell, 2) it guarantees finding a collision free path, if such a path exists, 3) it provides distance optimization in terms of joint angle movements. The whole procedures are implemented by C on an IBM compatible 486 PC. GL (Graphic Library) on an IRIS CAD workstation is utilized to produce fine graphic outputs.

• Journal of Korean Institute of Industrial Engineers
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• 제22권4호
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• pp.579-588
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• 1996

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is built by a set of robot joint angles derived from robot inverse kinematics. The joint space, that is made of the joint angle set, forms a Configuration space (Cspcce). Obstacles in the robot workcell are also transformed into the Cobstacles using slice projection method. Actually the Cobstacles means the configurations of the robot causing collision with obstacles. Secondly, a connected graph, a kind of roadmap, is constructed by the free configurations in the Cspace, where the free configurations are randomly sampled from a free Cspace immune from the collision. Thirdly, robot paths are optimally determinant in the connected graph. A path searching algorithm based on $A^*$ is employed in determining the paths. Finally, the whole procedures for the CFPP method are shown for a proper articulated robot as an illustrative example.

• The Transactions of the Korean Institute of Electrical Engineers
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• 제43권2호
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• pp.329-338
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• 1994

This paper presents a novel method of path planning for a quadruped walking robot on irregular terrain. In the previous study on the path planning problem of mobile robots, it has been usually focused on the collision-free path planning for wheeled robots. The path planning problem of legged roboth, however, has unique aspects from the point of viw that the legged robot can cross over the obstacles and the gait constraint should be considered in the process of planning a path. To resolve this unique problem systematically, a new concept of the artificial intensity field of light is numerically constructed over the configuration space of the robot including the transformed obstacles and a feasible path is sought in the field. Also, the efficiency of the proposed method is shown by various simulation results.

• Structural Engineering and Mechanics
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• 제11권2호
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• pp.199-210
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• 2001

Axially compressed circular cylinders repeat symmetry-breaking bifurcation in the postbuckling region. There exist stable equilibria with all symmetry broken in the buckled configuration, and the minimum postbuckling strength is attained at the deep bottom of closely spaced equilibrium branches. The load level corresponding to such postbuckling stable solutions is usually much lower than the initial buckling load and may serve as a strength limit in shell stability design. The primary concern in the present paper is to compute these possible postbuckling stable solutions at the deep bottom of the postbuckling region. Two computational approaches are used for this purpose. One is the application of individual procedures in computational bifurcation theory. Path-tracing, pinpointing bifurcation points and (local) branch-switching are all applied to follow carefully the postbuckling branches with the decreasing load in order to attain the target at the bottom of the postbuckling region. The buckled shell configuration loses its symmetry stepwise after each (local) branch-switching procedure. The other is to introduce the idea of path jumping (namely, generalized global branch-switching) with static imperfection. The static response of the cylinder under two-parameter loading is computed to enable a direct access to postbuckling equilibria from the prebuckling state. In the numerical example of an elastic perfect circular cylinder, stable postbuckling solutions are computed in these two approaches. It is demonstrated that a direct path jump from the undeformed state to postbuckling stable equilibria is possible for an appropriate choice of static perturbations.

• The Proceeding of the Korean Institute of Electromagnetic Engineering and Science
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• 제4권2호
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• pp.4-10
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• 1993

In mobile radio communication, propagation paths are time or spacial varying because of the motion of mobile unit. The propagation path loss not only involves frequency and distance but also the antenna height at both the base station and the mobile unit, terrain configuration, and the man made en- vironment. Thhese additional factors make the prediction of propagation path loss of mobile radio signals more difficult. In this paper, it is measured field strenght of mobile radio signals in Daejeon and Seoul area, also calculated local median, 500m sample mean, and stadard deviation. As the result of analysis, it can be seen that propagation path loss of measured data is similiar to predicted field strength, especially local median is dependent upon base antenna height, terrain configuration and the man-made environment. The standard deviation has been noted to lie between 2 and 10 dBuV.

• Journal of the Korean Mathematical Society
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• 제38권2호
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• pp.469-483
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• 2001

The configuration space and phase space oscillatory path integrals are computed in the case of the stochastic Schrodinger equation for the harmonic oscillator with a stochastic term of the form (K$\psi$(sub)t)(x) o dW(sub)t, where K is either the position operator or the momentum operator, and W(sub)t is the Wiener process. In this way formulae are derived for the stochastic analogues of the Mehler kernel.

• The Transactions of the Korean Institute of Electrical Engineers A
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• 제48권11호
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• pp.1448-1456
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• 1999

In this paper, we propose a new technique for path-following of the wheeled mobile robot systems with nonholonomic constraints using a path-observer. We discuss the path-following problems of the nonholonomic mobile robot systems which have two nonsteerable, independently driven wheels with the various initial conditions such as a position, a heading angle, and a velocity. It is shown that the performance of dynamic path-following importantly is affected by the intial conditions. Particularly, if the initial conditions become more distant from the desired path and the desired velocity become faster, the system is shown to have worse performance and small time local stable. To find the controllable and stable control for path-following with various initial configuration, we propose the path-observer which can be used for control of the stable path-following of nonholonomic mobile robot system with the various initial conditions. The proposed scheme exhibits the efficient path-following properties for nonholonomic mobile robot in any intial conditions. The simulation results demonstrate the effectiveness of the proposed method for dynamic path-following tasks with the various initial conditions.

• Journal of Institute of Control, Robotics and Systems
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• 제11권4호
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• pp.363-368
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• 2005

This paper proposes an LOS(line-of-sight) guidance system of a ship for path following. From the viewpoint of a control configuration, guidance is a special type of compensation algorithm that is placed in front of the controller to accomplish navigational objects. A guidance system generates a reference trajectory for trajectory tracking or path control and decides the desired velocity, position and heading angle. A control system executes commands based on a reliable guidance law during navigation. An LOS vector from the vessel to a point on the path between two way-points in straight-line navigation or a point among turning circle in turning navigation is selected, and then a heading angle is calculated to converge the desired path based on the LOS vector. The LOS guidance law is defined for the straight-line and the turning circle, respectively. The effectiveness of the suggested LOS guidance system is assured through computer simulation.

• Transactions of the Korean Society of Mechanical Engineers B
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• 제28권9호
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• pp.1110-1116
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• 2004

Experimental measurements of laser-induced ion mobility(LIIM) were performed for ethene/air premixed flames operated near the soot inception point. Soot was ionized using a pulsed laser operated at 532 nm. The ionization signal was collected with a tungsten electrode located in the post-flame region. ionization signals were collected using both a single electrode and dual electrode configuration. Prior LIIM studies have focused on the use of a single biased electrode to generate the electric field, with the burner head serving as the path to ground. In many practical combustion systems, a path to ground is not readily available. To apply the LIIM diagnostic to these geometries, a dual electrode geometry must be employed. The influence of electrode configuration, flame equivalence ratio, and flame height on ionization signal detection was determined. The efficacy of the LIIM diagnostic to detect soot inception in the post-flame region of a premixed flame using a dual electrode configuration was investigated. For the different dual electrode configurations tested, the dual parallel electrode geometry was observed to be most sensitive to detect the soot inception point in a premixed flame.

• Proceedings of the KIEE Conference
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1989-1990
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• 2006

This paper presents an escaping route method in a trap situation (a case that the robot is trapped in a local minimum by the potential of obstacles). In this scheme, the APFs for path planning have a multiplicative and auditive configuration between APFs for goal destination and APFs for obstacle avoidance unlike conventional configuration where APFs for obstacle avoidance is added to APFs for goal destination. The virtual escaping route method is proposed to allow a robot to escape from a local minimum in trap situation where the total forces composed of repulsive forces by obstacles and attractive force by a goal are zero.