• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.726-729
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• 1996

A weighted impact ellipsoid normalized by maximum allowable angular velocity changes is defined and compared with conventional impact ellipsoids and impact polytopes. The results shows that the conventional impact ellipsoid may give false solution as far as the optimal direction of motion is concerned.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.625-627
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• 2003

In this study, the Global Positioning System (GPS) data collected by the GPS receivers that were established as continuously operating reference stations by Central Weather Bureau and Industrial Technology Research Institute of Taiwan are utilized to investigate the impact of atmospheric water vapor on GPS positioning determination. The surface meteorological measurements that were concurrently acquired by instruments co-located with the GPS receivers include temperature, pressure and humidity data. To obtain the influence of the baseline length on the proposed impact study, four baselines are considered according to the locations of the permanent GPS sites. The length of the shorter baseline is about 66km, while the longer is about 118 km. The results from the studies associated with different baseline lengths and ellipsoid height were compared for the cases with and without a priori knowledge of surface meteorological measurements. The finding based on 66 days measurements is that the surface meteorological measurements have a significant impact on the positioning determination for the longer baseline case. The associated daily maximum differences are 1.1 cm and 1.4 cm for the baseline and ellipsoid height respectively. The corresponding biases are -8.1 mm in length and -7.3 mm in el lipsoid height.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.955-960
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• 1999

This paper describes the effect of impact configurations on a single robot manipulator. The effect of different configurations of kinematically redundant arms on impact forces at their end effectors during contact with the environment is investigated. Instead of the well-known impact ellipsoid, I propose an analytic method on the geometric configuration of the impact directly from the mathematical definition. By calculating the length along the specified motion direction and volume of the geometry, we can determine the characteristics of robot configurations in terms of both the impact along the specified direction and the ability of the robot withstanding the impact. Simulations of various impact configurations are discussed at the end of this paper.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.3
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• pp.176-184
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• 2002

The door stiffness is one of the important factors for the side impact. Generally, the researches have been conducted on the assembled door. A side impact door beam is installed in a door to protect occupants from the side impact. This research is only concentrated on the side impact beam and a side impact beam is designed. The cross section is defined to have an elliptic shape. An optimization problem is defined to find the design maximizing the intrusion stiffness within the specified weight. Design variables are the radii and the thickness of the ellipsoid. The analysis of the side impact is carried out by the nonlinear finite element method. The optimization problem is solved by two methods. One is the experimental design scheme using an orthogonal array. The other is the gradient-based optimization using the response surface method(RSM). Both methods have obtained the better designs than the current one.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1136-1139
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• 1996

For on-line trajectory planning such as teleoperation it is desirable to keep good manipulability of the robot manipulators since the motion command is not given in advance. To keep good manipulability means the capability of moving any arbitrary directions of task space. An optimization process with different manipulability measures are performed and compared for a redundant robot system moving in 2-dimensional task space, and gives results that the conventional manipulability ellipsoid based on the Jacobian matrix is not good choice as far as the optimal direction of motion is concerned.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.25-28
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• 1999

In this article, a new performance index is proposed to re-duce the collision impulsive force by controlling the null motion of redundant manipulators. First, we define the normalized impact ellipsoid in the viewpoint of instantaneous velocity change. Then, we propose a new impact performance index based on velocity direction for null motion to reduce initial impulsive effects. It gives some advantage for the case of unknown environment. The optimization of this index is that the successional impact forces are reduced. The performance of the proposed index is demonstrated by simulation study.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.5
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• pp.1486-1497
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• 1996

The problem of determining the 3-demensional motion of any two rough bodies after a collision involves some rather long analysis and yet in some points it differs essentially from the corresponding problem in tdwo dimensions. We consider a special problem where two rough ellipsolids moving in any manner collide, and analyze the three dimensional impact process with Coulomb friction and Poisson's hypothesis. The differential equations that describe that process of the impact induce a flow in the tangent velocity space, the flow patterns characterize the possible impact cases. By using the graphic method in impulse space and numerical integration thchnique, we analyzed the impact process inall the possible cases and presented the algorithm for determining the post-impact motion. The principles could be applied to the general problem in three dimensions. We verified the effectiveness of the analysis results by simulating the numerous significant examples.

• Journal of Korea Society of Industrial Information Systems
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• v.25 no.1
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• pp.13-23
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• 2020

In this paper, we propose a quantization parameter determination method for face depth image encoding in order to minimize an impact on a face recognition accuracy. When a face depth image is compressed through quantization in H.264/AVC, differential quantization parameters are assigned according to an accuracy of ellipsoid modeling prediction and an importance degree of a unit block in extracting facial features. The simulation results show that the face recognition success rates are improved by up to 6% at the same compression rates through the proposed compression rate determination method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2713-2718
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• 2003

Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control parameter. The purpose of this work is to introduce a new concept of an effective mass in sawing task and to suggest an external impulse model in sawing task. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Experiments are performed for soft and hard workpieces to justify the external impulse model in the sawing task. It is demonstrated through simulation and experiment that the proposed external impulse model is effective to characterize the impact property.

• Spatial Information Research
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• v.22 no.2
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• pp.53-62
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• 2014

The floor field model is the micro pedestrian model based on a cellular automata for modeling pedestrian movement in the interior space using the static and dynamic floor field. It regards a form of pedestrian as square but the actual pedestrian's shape and size are similar to ellipsoid or rectangle. Because of this, we are difficult to give a rotation effect to pedestrians and there is a limit to reflect an impact of clogging and jamming. Also, this model is not able to reflect an impact of a posture and visibility effectively in the pedestrian movement. In this study, we suggest the improved pedestrian model incorporating the actual shape and size of pedestrian. The pedestrian's shape is defined not square but rectangle which is close to the actual body size of Korean. Also, we define the model which is able to represent the impact of clogging and jamming between pedestrians by adding the pedestrian's posture. We develop the simulator for testing the suggested model and study the difference between two models by comparing a number of effects. As a result, we could confirm solving the problem with dynamic value in the existed model and reflecting the panic effect in evacuation situation.