• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.176-181
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• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• 한국광학회지
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• 제28권4호
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• pp.153-157
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• 2017

지향성적외선방해장비의 정렬 정밀도를 높히고 중량을 감소시키기 위해 적용된 적외선 카메라-레이저 공통광학계 구조에서 영상 성능 저하를 야기시키는 레이저빔 열 영향성을 분석하였다. 높은 에너지 밀도를 가지는 레이저빔이 광부품에 흡수되면 열이 발생하고 온도가 상승한다. 공통광학계 광부품 표면에서 발생한 열은 시스템 투과율을 감소시켜 적외선 카메라의 영상 품질을 저하시킬 수 있다. 지향성적외선방해장비의 운용개념을 고려하여 파장 $4{\mu}m$, 출력 3 W의 레이저빔이 10초간 미러(알루미늄, 실리카 글래스, 실리콘) 및 렌즈(사파이어, 셀레늄화아연, 실리콘, 게르마늄) 재료에 조사되는 상황을 가정하여 온도 분포를 계산하였다. 계산 결과, 미러 재료로는 실리카 글래스, 렌즈 재료로는 사파이어의 온도 상승이 상대적으로 컸고, 재료 온도 분포에 가장 큰 영향을 미치는 요소는 재료의 레이저빔 흡수율과 열전도도임을 확인하였다. 결론적으로 적외선 카메라-레이저 공통광학계에 사용하는 광부품은 흡수율이 낮고 열전도도가 높은 특성을 갖도록 선정되어야 광부품 온도 상승에 의한 적외선 카메라의 영상 품질 저하를 방지할 수 있다.

• Journal of Communications and Networks
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• 제11권4호
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• pp.337-349
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• 2009

In this paper, we introduce a novel mobility model for mobile sinks in which the sinks move towards randomly distributed destinations, where each destination is associated with a mission. The novel mobility model is termed the random mobility with destinations. There have been many studies on mobile sinks; however, they merely support two extreme cases of sink mobility. The first case features the most common and general mobility, with the sinks moving randomly, unpredictably, and inartificially. The other case takes into account mobility only along predefined or determined paths such that the sinks can gather data from sensor nodes with minimum overhead. Unfortunately, these studies for the common mobility and predefined path mobility might not suit for supporting the random mobility with destinations. In order to support random mobility with destination, we propose a new protocol, in which the source nodes send their data to the next movement path of a mobile sink. To implement the proposed protocol, we first present a mechanism for predicting the next movement path of a mobile sink based on its previous movement path. With the information about predicted movement path included in a query packet, we further present a mechanism that source nodes send energy-efficiently their data along the next movement path before arriving of the mobile sink. Last, we present mechanisms for compensating the difference between the predicted movement path and the real movement path and for relaying the delayed data after arriving of the mobile sink on the next movement path, respectively. Simulation results show that the proposed protocol achieves better performance than the existing protocols.

• 대한기계학회논문집
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• 제17권8호
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• pp.2012-2022
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• 1993

For the machining of the sculptured surfaces on 5-axis CNC milling machine, the milling cutter direction vector was determined in the study (I) with 5-axis post-processing. Thus, it was possible to cut the sculptured surfaces on five-axis CNC milling machine with the end mill cutter. Then, for smooth machined surfaces in five-axis machining of free-from surfaces, this study develops an algorithm for prediction of cusp heights. Also, it generates tool path such that the cusp heights are constrained to a constant value or under a certain value. For prediction of the cusp height between two basis points, a common plane, containing the line crossing two basis points and the summation vector of two normal vectors at two basis points, is defined. The cusp height is the maximum value of scallops on the common plane after end mill cutter passes through the common plane. Sculptured surfaces were machined with CINCINNATI MILACRON 5-axis machining center, model 20V-80, using end mill cutter. Cusp heights were verified by 3-dimensional measuring machine with laser scanner, WEGU Messtechnik GmbH.

• 한국광학회지
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• 제19권2호
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• pp.103-107
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• 2008

기존 OCT 시스템의 Michelson 간섭계와 다르게 간섭신호가 프로브 끝단에서 유도되어 기준신호와 샘플신호가 동일한 경로를 통해 진행하는 공통경로 OCT 시스템을 제작하였다. 최적의 기준신호가 생성되도록 하기 위해 부분반사 프로브(Probe)의 굴절률을 최적화하였고 생체 샘플의 이미지 획득이 가능하도록 프로브의 끝단에서 초점이 맺히도록 볼록 렌즈형 프로브를 제작하였다. 이를 통해서 실제 샘플의 2차원 이미지의 획득이 가능하였다.

• 대한안전경영과학회지
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• 제25권1호
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• pp.31-38
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• 2023

The object of this study is to evaluate whether the means of egress of Jechon Sports Center and Miryang Sejong Hospital, where massive fire human casualties occurred in 2017 and 2018 respectively, comply with NFPA 101(Life Safety Code), and to suggest the need for supplementation of domestic means of egress regulations. The study evaluated the number and arrangement of the means of egress, travel distance, common path of travel, dead end and discharge from exit for each building by applying the means of egress regulations of NFPA 101. As a result of the evaluation through NFPA 101, the travel distance was appropriate, but some of the other items except for the travel distance did not meet NFPA 101. The regulations that need to be supplemented are 1)occupant load calculation 2)egress capacity calculation 3)continuous concept of means of egress 4)concept of common path of travel. It is especially necessary to revise the requirement for fire door of the evacuation floor(normal 1^st floor) of the stairwell in case of below the five story building.

• 경영과학
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• 제18권1호
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• pp.105-118
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• 2001

The common shortest path problem is to find the shortest route between two specified nodes in a transportation network with only one traffic mode. The public transportation network with multiple traffic mode is a more realistic representation of the transportation system in the real world, but it is difficult for the conventional shortest path algorithms to deal with. The genetic algorithm (GA) is applied to solve this problem. The objective function is to minimize the sum of total service time and total transfer time. The individual description, the coding rule and the genetic operators are proposed for this problem.

• 한국통신학회논문지
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• 제39B권11호
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• pp.730-742
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• 2014

인지무선 애드혹 네트워크(Cognitive Radio Ad-hoc Networks)에서 요구기반 라우팅을 수행할 경우, 경로 탐색 과정에서 발생하는 경로탐색 메시지의 브로드캐스팅은 공통 제어 채널의 과부하를 유발하고 패킷 간의 충돌을 발생시킨다. 이런 현상은 경로탐색의 오버헤드를 증가 시키며, 정확하고 신뢰성있는 경로의 탐색에 제한을 받게 된다. 이로 인하여 신뢰성있는 채널을 찾는 경로가 제한되기 때문에 경로의 생존 시간이 단축되고 경로의 안정성이 감소된다. 본 논문에서는 인지무선 ad-hoc네트워크에서 주사용자의 출현 가능성과 주변 사용자의 상황을 고려하여 패킷 충돌을 감소시키고 경로의 생존시간을 향상 시키는 라우팅 알고리즘을 제안한다. 각 노드는 주기적인 센싱을 통해 주사용자의 사용패턴을 감지하고 채널의 사용 확률과 현재 채널 상태를 알고 있다. 또한 이웃 노드와 메시지 교환을 통해 공통된 채널과 해당 채널의 품질을 파악하여 노드 사이에 링크 레벨을 부여한다. 제안된 방법에서는 링크 레벨을 이용하여 경로 탐색 과정에서 발생하는 제어 메시지의 수를 감소시킨다. 또한 링크의 생존성과 품질을 홉 카운트에 따라 가중치를 부여하여 경로를 선택함으로써 경로의 생존 시간을 향상 시킬 수 있다. 성능 평가를 통해 기존의 방법 보다 제안된 방법을 이용하여 라우팅을 수행할 경우 제어 채널의 오버헤드가 감소되고 경로의 생존시간이 증가하는 것을 확인 할 수 있다.

• Current Optics and Photonics
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• 제2권3호
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• pp.241-249
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• 2018

We report a midinfrared dual-field-of-view (FOV) optical system design for an airborne electro-optical targeting system. To achieve miniaturization and weight reduction of the system, it has a common aperture and fore-optics for three different spectral wavelength bands: an electro-optic (EO) band ($0.6{\sim}0.9{\mu}m$), a midinfrared (IR) band ($3.6{\sim}4.9{\mu}m$), and a designation laser wavelength ($1.064{\mu}m$). It is free to steer the line of sight by rotating the pitch and roll axes. Our design co-aligns the roll axis, and the line of sight therefore has a fixed entrance pupil position for all optical paths, unlike previously reported dual-FOV designs, which dispenses with image coregistration that is otherwise required. The fore-optics is essentially an achromatized, collimated beam reducer for all bands. Following the fore-optics, the bands are split into the dual-FOV IR path and the EO/laser path by a beam splitter. The subsequent dual-FOV IR path design consists of a zoom lens group and a relay lens group. The IR path with the fore-optics provides two stepwise FOVs ($1.50^{\circ}{\times}1.20^{\circ}$ to $5.40^{\circ}{\times}4.32^{\circ}$), due to the insertion of two Si lenses into the zoom lens group. The IR optical system is designed in such a way that the location and f-number (f/5.3) of the cold stop internally provided by the IR detector are maintained when changing the zoom. The design also satisfies several important performance requirements, including an on-axis modulation transfer function (MTF) that exceeds 10% at the Nyquist frequency of the IR detector pitch, with distortion of less than 2%.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.259-262
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• 2003

In this paper, we studied the path determination algorithm of the guidance robot for the visually impaired. Using the guidance robot for the visually impaired, the visually impaired can go to the destination where they want without other's heir. The navigation path of the guidance robot for the visually impaired must be the optimal path not only the shortest but also the most safe, which is different from a shortest path for common people. GPS and electronic map are used for the location information of the visually impaired. We corrected the error by converting the coordinates of location information from GPS, which includes maximum several tens of meters error, to the coordinates of electronic map. Information such as simple path and direction to the destination is not enough because it may be different between a going path from the start to the destination and a coming path from the destination to the start as around environment. So, we added information which can be dangerous for the visually impaired such as driveway, sidewalk without braille blocks, crosswalk, stairs and overpass, each has weight value as dangerous degree, when matching the GPS information to the electronic map, enough large as 1:5,000 scale.