• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.138-142
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• 2014

This research presents an A* based algorithm which can be applied to Unmanned Ground Vehicle self-navigation in order to make the driving path smoother. Based on the grid map, A* algorithm generated the path by using straight lines. However, in this situation, the knee points, which are the connection points when vehicle changed orientation, are created. These points make Unmanned Ground Vehicle continuous navigation unsuitable. Therefore, in this paper, B-spline curve function is applied to transform the path transfer into curve type. And because the location of the control point has influenced the B-spline curve, the optimal control selection algorithm is proposed. Also, the optimal path tracking speed can be calculated through the curvature radius of the B-spline curve. Finally, based on this algorithm, a path created program is applied to the path results of the A* algorithm and this B-spline curve algorithm. After that, the final path results are compared through the simulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1760-1763
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• 2003

In this paper, we propose a new weaving trajectory algorithm for the are welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms rising Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. The algorithm has been implemented on to the industrial manipulator of DR6 so as to show its real possibility. Through simulations and real implementations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning and can reduce the processing time because it needs one-half calculation compared to the conventional algorithm using Catmull-Rom curve.

• 한국CDE학회논문집
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• 제5권3호
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• pp.276-284
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• 2000

Usual practice of the transformation of a B-spline curve into a set of piecewise polynomial curves in a power form is done by either a knot refinement followed by basis conversions or applying a Taylor expansion on the B-spline curve for each knot span. Presented in this paper is a new algorithm, called a direct expansion algorithm, for the problem. The algorithm first locates the coefficients of all the linear terms that make up the basis functions in a knot span, and then the algorithm directly obtains the power form representation of basis functions by expanding the summation of products of appropriate linear terms. Then, a polynomial segment of a knot span can be easily obtained by the summation of products of the basis functions within the knot span with corresponding control points. Repeating this operation for each knot span, all of the polynomials of the B-spline curve can be transformed into a power form. The algorithm has been applied to both static and dynamic curves. It turns out that the proposed algorithm outperforms the existing algorithms for the conversion for both types of curves. Especially, the proposed algorithm shows significantly fast performance for the dynamic curves.

• 한국공작기계학회논문집
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• 제13권3호
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• pp.113-118
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• 2004

In this paper, we propose a new weaving trajectory algorithm for the arc welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms using Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. Through simulations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning so that it's trajectory cannot penetrate into a base metal compared to the conventional algorithm using Catmull-Rom curve.

• 한국정보과학회논문지:소프트웨어및응용
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• 제32권5호
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• pp.357-365
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• 2005

본 연구에서는 유사한 여러 물체들이 인접하여 나타나는 영상열로부터 물체들을 개별적으로 분리할 수 있는 B-spline 적합(fitting) 알고리즘을 제안한다. 기존의 스네이크(snake) 알고리즘들은 초기화의 어려움과 다수의 극점 존재로 인해서 이러한 영상자료에서 물체의 영역을 개별적으로 분리하는 데는 어려움이 있다. 본 연구에서는 이 문제를 극복하고 다양한 형태의 물체가 인접해 있는 유사한 물체들로부터 효과적으로 분할 할 수 있는 유전자(genetic) 알고리즘 기반 B-spline 적합방안을 제안한다. 실제 상황을 고려하여 생성된 영상자료와 실제 치아 CT 영상을 이용한 평가에서 제안된 방법은 서로 인접해 있는 유사한 형태와 자기의 물체들을 개별적으로 정확하게 분할할 수 있음을 보였다. 제안된 알고리즘의 결과는 이상적으로 추출된 영역과의 일치성과 false positive 오류 그리고 false negative오류가 계산되어 검증되었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2743-2746
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• 2003

In this paper, we propose a new weaving trajectory algorithm for the arc welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms using Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. The algorithm has been implemented on to the industrial manipulator of DR6 so as to show its real possibility. Through simulations and real implementations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning and can reduce the processing time because it needs one-half calculation compared to the conventional algorithm using Catmull-Rom curve.

• 한국CDE학회논문집
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• 제15권1호
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• pp.24-32
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• 2010

This paper introduces a B-spline based branch & bound algorithm for global optimization. The branch & bound is a well-known algorithm paradigm for global optimization, of which key components are the subdivision scheme and the bound calculation scheme. For this, we consider the B-spline hypervolume to approximate an objective function defined in a design space. This model enables us to subdivide the design space, and to compute the upper & lower bound of each subspace where the bound calculation is based on the LHS sampling points. We also describe a search tree to represent the searching process for optimal solution, and explain iteration steps and some conditions necessary to carry out the algorithm. Finally, the performance of the proposed algorithm is examined on some test problems which would cover most difficulties faced in global optimization area. It shows that the proposed algorithm is complete algorithm not using heuristics, provides an approximate global solution within prescribed tolerances, and has the good possibility for large scale NP-hard optimization.

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• 제5권1호
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• pp.40-45
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• 2002

The calculation of earthwork plays a major role in the planning and design phases of many civil engineering projects, such as seashore reclamation; thus, improving the accuracy of earthwork calculation has become very important. In this paper, we propose an algorithm for finding a cubic spline surface with the free boundary conditions, which interpolates the given three-dimensional data, by using B-spline and an accurate method to estimate pit-excavation volume. The proposed method should be of interest to surveyors, especially those concerned with accuracy of volume computations. The mathematical models of the conventional methods have a common drawback: the modeling curves form peak points at the joints. To avoid this drawback, the cubic spline polynomial is chosen as the mathematical model of the new method. In this paper, we propose an algorithm of finding a spline surface, which interpolates the given data, and an appropriate method to calculate the earthwork. We present some computational results that show the proposed method, of the Maple program, provides better accuracy than the method presented by Chen and Lin.

• 전기학회논문지
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• 제63권1호
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• pp.92-98
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• 2014

This paper proposes a hermite spline based D* algorithm for effective path planning of mobile robot to improve the detecting speed. In conventional path planning research, a robot is supposed to pass through predetermined centers of grid partitions of area. However it doesn't guarantee the optimal path during its navigation. In addition, a robot is hard to avoid obstacles effectively. The proposed algorithm in this paper makes use of stochastic characteristics of nonholonomic mobile robot and estimation of shortest path to curvature movement of the robot. The performance evaluation of the improved spline D* algorithm performed through simulation shows its effectiveness. Moreover, the experiment verifies that a robot can find the shortest path by building the curve paths while it is moving on the path in spline.

• 한국정밀공학회지
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• 제16권10호
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• pp.126-131
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• 1999

Up until now, it is said that no satisfactory computer solutions have been found for synthesizing four-bar linkage based on the prescribed coupler link curve. In our study, an algorithm has been developed to improve the design synthesis of four-bar linkage automatically generating prescribed path by using B-spline interpolation. The suggested algorithm generates the desired coupler curve by using B-spline interpolation, and hence the generated curve approximates as closely as to the desired curve representing coupler link trajectory. Also, when comparing each generated polygon with the control polygon, rapid comparison by applying convex hull concept. finally, optimization process using ADS is incorporated into the algorithm based on the 5 precision point method to reduce the total optimization process time. As for examples, three different four-bar linkages were tested and the results showed the effectiveness of the algorithm.