• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.19-22
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• 2003

This paper proposes an algorithm for navigation of an autonomous mobile robot with vision sensor. For obstacle avoidance, we used a curvature trajectory method. Using this method, translational and rotational speeds are controlled independently and the mobile robot traces a smooth curvature trajectory that consists of circle trajectories to a target point. While trying to avoid obstacles, the robot fan be goal-directed using curvature trajectory.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.56 no.1
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• pp.1-10
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• 2020

In the previous study, a shooting trajectory assuming that the purse seine shooting trajectory is a circle was proposed based on the speed and direction of the movement of the fish school. However, in practice, a trajectory that is closer to an elliptical shape than a circular one is often formed. In this study, the existing circular trajectory and the elliptical trajectory methods were compared under the same conditions to confirm the effectiveness of elliptical shooting trajectory. In addition, changes in the eccentricity of ellipses were derived to assess which type of ellipse was appropriate as a shooting trajectory. When a high-speed fish school moves in a straight line, an elliptical shooting trajectory with the eccentricity of 0.7 to 0.9 will be reasonable, and for middle-low speed fish school, an elliptical shooting trajectory with the eccentricity of 0.4 to 0.6 will be more useful than a circle shooting trajectory.

• Journal of The Korean Astronomical Society
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• v.29 no.1
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• pp.1-8
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• 1996

When we follow the lines of the trajectory of photons which intersect the circle, the circle may suffer some deformation as approaching to the observer. We consider an infinitesimal light bundle suffering gravitational bending. We examine the deformation of the deflected light bundle due to the gravitational lens. The size of the deformation is expressed in terms of the focal length of the gravitational lens.

• Korean Journal of Optics and Photonics
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• v.30 no.4
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• pp.159-166
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• 2019

The trajectory of the transmission ellipsometric pseudoconstant ${\rho}=tan{\psi}_{\mu}e^{i{\Delta}_{\mu}}$ of a uniaxially anisotropic substrate like PET forms a circle in polar coordinates, as the phase-retardation angle is varied at a fixed azimuthal angle. The radius as well as the center's position of this circle are functions of the azimuthal angle only. This circle passes through the point (1,0), and the center of this circle is located on the real axis. These characteristics of the circle are examined analytically, and are utilized to derive simple expressions for the azimuthal angle and the phase-retardation angle of the uniaxially anisotropic substrate using the measured transmission ellipsometric constant. Finally, we confirm that the derived expressions are well applied to the analysis of the optical anisotropy of a PET film.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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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.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2457-2459
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• 2002

In this paper, we describe the way how to create a curvature trajectory where the dynamics of a mobile robot is considered. Synchro-drive motor is used in a mobile robot. And translational and rotational speeds are controlled independently. Using these two speeds, a mobile robot traces a smooth curvature trajectory that consists of circle trajectories to a target point. While trying to avoid obstacles, the robot can be goal-directed using curvature trajectory. Also, while the robot can navigate the trajectory, the maximum speed is controlled to trade off speed and safely.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1073-1078
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• 2012

This paper deals with the trajectory planning of multi agent robots using complex potential theory for robot soccer. The complex potential theory is introduced, then the circle theorem is used to avoid obstacles, and the vortex pair is used to make precise kicking direction of robot. Various situations of robot soccer are simulated and the effect of vortex strength and the speed of robots are discussed and the better way to avoid obstacles and to kick the precise direction is found. The feasibilities of complex potential theory to apply for the multi agent robots are successful.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1238-1243
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• 2008

This paper presents an HILS(Hardware in the Loop Simulations) based experimental study for the UAV's flight trajectory planning/generation algorithms and guidance/control laws. For the various mission that is loaded on each waypoint, proper trajectory planning and generation algorithms are applied to achieve best performances. Specially, the 'smoothing path' generation and the 'tangent orbit path' guidance laws are presented for the smooth path transitions and in-circle loitering mission, respectively. For the control laws that can minimize the effects of side wind, side slip angle($\beta$) feedback to the rudder scheme is implemented. Finally, being implemented on real hardwares, all the proposed algorithms are validated with integrations of hardware and software altogether via HILS.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.29 no.2
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• pp.162-167
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• 1993

We have investigated analytically and numerically on both the generalized dimension D sub(n) and the fractal dimensionality f sub($\alpha$) in the dissipative Willbrink map. and discussed both the mode-locking phenomenon and the dissipative trajectory when z=0.03, b=0.9 and K sub(d) =0.272313668. In the mode-locking phenomenon. we find that the generalized dimension D sub(-n) and superconverged $\delta$ sub(n) are very close to D sub(-$\infty$) =0.92403 and $\delta$ sub($\infty$) =2.16442 even for n～20 as listed in Table 1. In dissipative trajectory, the values of D sub(+n) and D sub(-n) for n～20 are estimated to be very close to D sub(+$\infty$) =0.63267 and D sub(-$\infty$) =1.89802 on the circle map. Thus, the values of the generalized dimension as nlongrightarrow$\infty$ on dissipative Willbrink map are expected to be the same results as those for the circle map and to have the universal scaling exponents for a special scaling structure when the values of overbar(w), z, b, and k sub(d) have the different values.

• Journal of Navigation and Port Research
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• v.33 no.9
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• pp.603-608
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• 2009

In this paper, a 3m-class free running model ship will be introduced with its manoeuvring performance experiments. The results of turning circle test and zig-zag test will be explained. The developed system are equipped with GPS, main control computer, wireless LAN, IMU (Inertial Measurement Unit), self-propulsion propeller and driving rudder. Its motion can be controlled by RC (Radio Control) and wireless LAN from land based center. Automatic navigation is also available by pre-programmed algorithm. The trajectory of navigation can be acquired by GPS and it provides us with important data for ship's motion control experiments. The results of manoeuvring performance experiment have shown that the developed free running model ship can be used to verify the test of turning circle and zig-zag. For next step, other experimental researches such as ship collision avoidance system and automatic berthing can be considered in the future.