• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.904-907
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• 1996

In this paper, we propose an efficient collision-free path planning method of two cooperating robot manipulators grasping a common object rigidly. For given two robots and an object, the procedure is described which constructs the reduced dimensional configuration space by the kinematic analysis of two cooperating robot manipulators. A path planning algorithm without explicit representation of configuration obstacles is also described. The primary steps of the algorithm is as follows. First, we compute a graph which represents the skeleton of the free configuration space. Second, a connection between an initial and a goal configuration to the graph is searched to find a collision-free path.

• 대한산업공학회지
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• 제15권1호
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• pp.105-116
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• 1989

This study presents an algorithm that determines the optimal configuration of the FMSs with limited local buffers. The algorithm finds the lowest cost configuration, i.e. the number of tools, the number of pallets as well as the number of buffers to be installed in front of each machine in the system. Thus it assures a given production ratio with a minimum cost. In the algorithm, FMSs are considered as the closed queueing network with limited queue length. System performance evaluation is performed using the Block-&-Recirculation model developed by Yao and Buzacott. The algorithm is composed with three steps. The steps are namely i) determination of a lower configuration, ii) derivation of an heuristic solution, and iii) obtaining the optimal solution. The computational efforts required in the algorithm usually lies within the capability of personal computers.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.464-469
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• 1999

Recently, the need for designing multi-stage gear drive has been increased as the hear drives are used more in the applications with high-speed and small volume. The design of multi-stage gear drives includes not only dimensional design but also configuration design of various machine elements. Until now, however, the researches on the design of gear drives are mainly focused on the single-stage gear drives and the design practices for multi-stage gear drives, especially in configuration design activity, mainly depend on the experiences and 'sense' of the designer by trial and error. We propose a design algorithm to automate the dimension design and the configuration design of multi-stage gear drives. The design process consists of four steps. The number of stage should be determined in the first step. In second step, the gear ratios of each reduction stage are determined using random search, and the ratios are basic input for the dimension design of gears, which is performed by the exhaustive search in third step. The designs of gears are guaranteed by the pitting resistance and bending strength rating practices by AGMA rating formulas. In configuration design, the positions of gears are determined to minimize the volume of gearbox using simulated annealing algorithm. The effectiveness of the algorithm is assured by the design example of a 4-stage gear drive.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 A
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• pp.381-383
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• 2003

The authors have developed a solution method based on the incremental algorithm. The optimal load balance between feeders is found through the incremental algorithm with allowing the loop configuration. Therefore loops can be configured in the resulting configuration, and then we must eliminate all loops to satisfy radiality of distribution system because the distribution system is operated under radial status. But the optimal load balance through incremental algorithm is deteriorated when the loops are eliminated. In this paper, authors propose a new method which is to improve the searching procedure of path in the incremental algorithm, that is, so as not to make loop in the path configuration.

• International Journal of Precision Engineering and Manufacturing
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• 제2권2호
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• pp.65-72
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• 2001

The design of multi-stage gear drives is a time-consuming process, since on includes more complicated problems, which are not considered in the design of single-stage gear drives. The designer has th determine the number of reduction stages and the gear ratios of each reduction state. In addition, the design problems include not only the dimensional design but also the configuration design of gear drive elements. There is no definite rule and principle for these types of design problems. Thus the design practices largely depend on the sense and the experiences of the designer , and consequently result in undesirable design solution. We propose a new generalized design algorithm to support the designer at the preliminary design phase of multi-stage gear drives. The proposed design algorithm automates the design process by integrating the dimensional design and the configuration design process. The algorithm consists of four steps. In the first step, a designer determines the number of reduction stage. In the second step. gear ratios se chosen by using the random search method. In the third step, the values of basic design parameter are chosen by using the generate and test method. Then, the values of other dimension, such ad pitch diameter, outer diameter, and face width, are calculated for the configuration design in the final step. The strength and durability of a gear is guaranteed by the bending strength and the pitting resistance rating practices by using the AGMA rating formulas. In the final step, the configuration design is carried out b using the simulated annealing algorithm. The positions of gears and shafts are determined to minimize the geometrical volume(size) of a gearbox, while satisfying spatial constraints between them. These steps are carried out iteratively until a desirable solution is acquired. The propose design algorithm has been applied to the preliminary design of four-stage gear drives in order to validate the availability. The design solution have shown considerably good results in both aspects of the dimensional and the configuration design.

• 정보처리학회논문지B
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• 제12B권1호
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• pp.1-8
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• 2005

디지털기기 개발에 있어서 소프트웨어의 중요성이 높아지고, 규모가 커짐에 따라 소프트웨어의 위기를 해결하기 위한 소프트웨어형상관리의 필요성이 증가하고 있다. 그러나 일반적인 소프트웨어형상관리 시스템들은 영상처리 알고리즘 개발 환경의 특성 및 특징들을 수용하기에 부족하다. 영상처리 알고리즘 개발 환경은 컴파일러와 같은 기본적인 개발 도구 외에 컴포넌트(나 라이브러리)들을 인터액티브하게 조합하고 테스트 할 수 있는 시뮬레이션 환경을 통하여 테스트와 분석을 반복하면서 개발하는 특징을 가지고 있다. 뿐만 아니라, 시뮬레이션 과정 중에는 유사한 기능을 가진 알고리즘 중에 적합한 알고리즘을 빠르고 효과적으로 찾기 위한 방법이 필요하다. 본 논문에서는 이러한 영상처리 알고리즘 개발 환경에서 사용하는 시뮬레이션 도구를 체계적으로 지원해줄 수 있는 비주얼 워크스페이스 기반의 소프트웨어형상관리 방법과 이를 수용할 수 있는 소프트웨어형상관리 시스템을 제안한다. 또한, 개발된 시스템을 실제 시뮬레이션 도구와 연계하여 소프트웨어형상관리 시스템으로써의 적합성을 확인한다.

• 대한전자공학회논문지TC
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• 제43권7호
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• pp.150-155
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• 2006

인터넷과 연결되어 있는 하이브리드 애드혹 네트워크가 통신을 하기 위해서는 IP주소의 설정이 필요하다. 기존에 제안된 대부분의 주소 설정방법은 노드를 중심으로 설정을 한다. 노드 중심의 주소 설정 방법은 애드혹 네트워크 내에서 네트워크의 대역폭을 낭비하고 많은 배터리를 소모해서 비효율적이다. 본 논문에서는 인터넷 게이트웨이를 중심으로 한 효율적인 주소설정 방법을 제안한다. 본 논문에서 제안하는 방법은 노드에서의 주소 설정 패킷을 유니캐스트 방식으로 전송하여 네트워크 트래픽을 줄인다. 또한, 인터넷 게이트웨이의 주소 설정 알고리즘을 통해서 교환하는 패킷의 수를 줄여 배터리 소모를 줄이고 주소설정 시간을 감소시킨다.

• 전자공학회논문지S
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• 제35S권4호
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• pp.105-117
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• 1998

In this paper, the general formula of disparity estimation based on Bayesian Maximum A Posteriori (MAP) algorithm is derived and implemented with simplified probabilistic models. The probabilistic models are independence and similarity among the neighboring disparities in the configuration.The formula is the generalized probabilistic diffusion equation based on Bayesian model, and can be implemented into the some different forms corresponding to the probabilistic models in the disparity neighborhood system or configuration. And, we proposed new probabilistic models in order to simplify the joint probability distribution of disparities in the configuration. According to the experimental results, the proposed algorithm outperformed the other ones, such as sum of swuared difference(SSD) based algorithm and Scharstein's method. We canconclude that the derived formular generalizes the probabilistic diffusion based on Bayesian MAP algorithm for disparity estimation, and the propsoed probabilistic models are reasonable and approximate the pure joint probability distribution very well with decreasing the computations to 0.01% of the generalized formula.

• Journal of Information Processing Systems
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• 제16권6호
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• pp.1324-1342
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• 2020

Various modified algorithms of rapidly-exploring random tree (RRT) have been previously proposed. However, compared to the RRT algorithm for collision avoidance with global and static obstacles, it is not easy to find a collision avoidance and local path re-planning algorithm for dynamic obstacles based on the RRT algorithm. In this study, we propose boundary-RRT*, a novel-algorithm that can be applied to aerial vehicles for collision avoidance and path re-planning in a three-dimensional environment. The algorithm not only bounds the configuration space, but it also includes an implicit bias for the bounded configuration space. Therefore, it can create a path with a natural curvature without defining a bias function. Furthermore, the exploring space is reduced to a half-torus by combining it with simple right-of-way rules. When defining the distance as a cost, the proposed algorithm through numerical analysis shows that the standard deviation (σ) approaches 0 as the number of samples per unit time increases and the length of epsilon ε (maximum length of an edge in the tree) decreases. This means that a stable waypoint list can be generated using the proposed algorithm. Therefore, by increasing real-time performance through simple calculation and the boundary of the configuration space, the algorithm proved to be suitable for collision avoidance of aerial vehicles and replanning of local paths.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1084-1089
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• 1992

Process planning is a key feature that an intelligent CAD/CAM system should possess. In this paper, we address the problem of determinig process configuration to manufacture the free surfaces. For analyzing the surface, the method of surface subdivision is used. The developed algorithm evaluates the processability of the given surface by applying the three/four/five-axes procedures sequentially. To illustrate and test the developed algorithm, numerical simulations are presented.