• 한국항공우주학회지
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• 제50권3호
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• pp.157-164
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• 2022

본 논문에서는 무인기의 경로 계획을 위한 산악 지형, 레이더 그리고 방공망 등을 3차원 환경으로 구현하고, Sampling 기반의 경로 계획 알고리즘인 PRM 알고리즘을 사용하여 경로 계획 및 재계획을 수행하는 방안에 대해 서술한다. 기존의 PRM 알고리즘의 경우 생성된 노드 사이에 장애물 존재 여부를 확인하기 위한 계산이 노드 간 1:1로 이루어지고 연속적으로 수행되어 노드 수나 노드를 연결하는 거리에 계산량이 크게 영향을 받는다. 이러한 부분을 개선하기 위해 제안하는 LineGridMask 기법을 통해 장애물 존재 여부 확인 방식을 단순화하고, 병렬화를 통해 경로 계획의 계산 시간을 감소시킨다. 마지막으로 기존 PRM 알고리즘과의 성능을 비교한 결과, 경로 계획에서는 최대 88%, 재계획의 경우 최대 94%까지 계산 시간이 감소하였음을 확인하였다.

• 제어로봇시스템학회논문지
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• 제6권3호
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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 information and communication convergence engineering
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• 제11권4호
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• pp.274-281
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• 2013

In this study, we consider the challenges in motion planning for automated driving systems. Most of the existing online motion-planning algorithms, which take dynamics into account, find it difficult to operate in an environment with narrow passages. Some of the existing algorithms overcome this by offline preprocessing if environment is known. In this work an online algorithm for motion planning with dynamics in an unknown cluttered environment with narrow passages is presented. It utilizes an idea of hybrid planning with sampling- and discretization-based motion planners, which run simultaneously in a full configuration space and a derived reduced space. The proposed algorithm has been implemented and tested with a real autonomous vehicle. It provides significant improvements in computational time performance over basic planning algorithms and allows the generation of smoother paths than those generated by the recently developed hybrid motion planners.

• 한국기계가공학회지
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• 제10권3호
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• pp.33-38
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• 2011

A cubic spline trajectory planner with arc-length parameter is formulated with estimation by summing up to the 3rd order in Taylor's expansion. The PVAJT motion planning is presented to reduce trajectory calculation time at every cycle time of servo control loop so that it is able to generate cubic spline trajectory in real time. This method can be used to more complex spline trajectory. Several case studies are executed with different values of cycle time and sampling time, and showed the advantages of the PVAJT motion planner. A DSP-based motion controller is designed to implement the PVAJT motion planning.

• 한국자동차공학회논문집
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• 제22권3호
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• pp.241-249
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• 2014

This paper presents a path planning algorithm of an autonomous vehicle (ADAM III) for collision avoidance in the presence of multiple obstacles. Under the requirements that a low-cost GPS is used and its computation should be completed with a sampling time of sub-second, heading angle estimation is proposed to improve performance degradation of its measurement and a hierarchical structure for path planning is used. Once it is decided that obstacle avoidance is necessary, the path planning consists in three steps: waypoint generation, trajectory candidate generation, and trajectory selection. While the waypoints and the corresponding trajectory candidates are generated based on position of obstacles, the final desired trajectory is determined with considerations of kinematic constraints as well as an optimal condition in a term of lateral deviation. Finally the proposed algorithm was validated experimentally through field tests and its demonstration was performed in Autonomous Vehicle Competition (AVC) 2013.

• Journal of Nutrition and Health
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• 제17권3호
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• pp.236-241
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• 1984

In order to make clear the relationship between sample design and sample survey in community, it was conducted research on sample design for National Nutrition Survey in 1983. In this paper it was tried to analize the data based on The Report of a Settled Population, 1981 conducted by National Bureau of Statistics Economic Planning Board. The sample was basically using stratified two-stage sampling with systematic sampling of Ban or Li as administrative unit. The population represents the whole nation excluding Jeju-do because of budget. The selection of sampling unit and sampling procedure was as follows. 1) Stratify the nation-wide area in 20 sections according to administrative districts. 2) Determine the sample size in each section according to equal proportional rate (1 / 8040) and to about 1,000 households in the sample. 3) Select the 25 sampling units by section according to households proportion. 4) Select the 10 households at random from each Ban or Li according to equal probability proportion as the final sampling unit. Using the procedure, it was sampled 1,000 households for National Nutrition Survey in 1983.

• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.626-633
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• 2009

A motion planning algorithm is presented in this paper for a commercialized quadruped walking of robot pet. Stable walking is the basic requirement for a commercial-purpose legged robot. In order to secure the walking stability, modified body sway to the centroid of support polygon is addressed. By representation of walking motion with respect to the world coordinate system rather than body coordinate, it is possible to design the several gaits in unified fashion. The initial gait posture is introduced to maximize the stride and to achieve fast walking. The proposed walking motion planning is verified through computer simulation and experiments.

• 한국정밀공학회지
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• 제16권12호
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• pp.109-118
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• 1999

The objective of this research is to develop an effective inspection planning strategy for sculpture surfaces in OMM(On-Machine Measurement) process. As a first step, effective measuring point locations are determined to obtain optimum results for given sampling numbers. Two measuring point selection methods are suggested in this study based on newly proposed CAD/CAM/CAI integration concept: (1) by the prediction of cutting errors, (2) by considering cutter contact points to avoid the measurement errors caused by cusps. As a next step, the TSP(Traveling Salesman Problem)algorithm is applied to minimize the probe moving distance. Appropriate simulations and experiments are performed to verify the proposed inspection planning strategy in this study, and the results are analyzed.

• 한국환경과학회지
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• 제23권12호
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• pp.2071-2082
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• 2014

In this study, the environmental consciousness of Daegu citizen on conservation planning considering the regional characteristics was investigated. Data were collected throughout a survey and 1400 people were selected using a stratified sampling method based on populations of Daegu administration district. Results wee followings; First, the levels of environmental consciousness were different dependent on districts' characteristics. Second, poor awareness on Daegu Agenda 21 (Clear and Green Daegu 21) were shown. Daegu Agenda 21 is the action plan for the sustainable environmental conservation activities of the City of Daegu. Third, waste was the most serious environmental problems of Daegu, air quality was second worst, and third was river water quality from the survey, but differentiated awareness was shown dependent on regional spatial factors and pollution emission factors. Last, a public environmental education was the most important issue to make invigorations and progress for future environmental policy.

• 로봇학회논문지
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• 제3권2호
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• pp.123-130
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• 2008

In this paper, we present a grasp planning method using grasp taxonomy and object primitives. Our grasp taxonomy includes newly defined grasp methods such as thumb supported pinch and palm supported pinch, to enhance grasp robustness. On the target surface, locations of finger-print that will be contacted by the robot fingers are sampled. The sampling is made to be consistent to the grasp taxonomy, called preformed grasps, matched to the target object. We perform simulations to examine the validity and the efficacy of the proposed grasp planning method.