• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.10
• /
• pp.163-170
• /
• 2002

The dynamic model of a high-speed vacuum circuit breaker mechanism with spring-actuated cam and linkage is derived to simulate the high-speed closing and opening operations. Its validation for an analysis of high-speed motion behavior is checked through experiments. The characteristics of the friction on the camshaft are investigated using the nonlinear pendulum experiment. The parameters of the friction model are estimated using the optimization technique. The analysis exhibits that the friction of the pendulum depends on stick-slip, Stribeck effect and viscous damping. Comparing simulation results with actual responses using a high-speed camera, the appropriateness of derived dynamic models for the rapid closing and opening operations is shown. The spring motion, which has much influence on the closing responses, is observed.

• Proceedings of the KIEE Conference
• /
• 2007.04a
• /
• pp.20-22
• /
• 2007

The H.264/AVC standard developed by the joint Video Team (JVT) provides better coding efficiency than previous standards. The new emerging H.264/AVC employs variable block size motion estimation using multiple reference frame with 1/4-pel MV(Motion Vector) accuracy. These techniques are a important feature to accomplish higher coding efficiency. However, these techniques are increased overall computational complexity. To overcome this problem, this paper proposes advanced fast mode decision suited for variable block size by classifying inter mode based on Rate Distortion Optimization(RDO) technique. Proposed algorithm is going to use to implement H/W structure for fast mode decision. The experimental results shows that the proposed algorithm provides significant reduction computational complexity without any noticeable coding loss and additional computation. Entire computational complexity is decreased about 30%.

• Journal of the Korean Society for Precision Engineering
• /
• v.15 no.8
• /
• pp.165-173
• /
• 1998

In this paper, a motion control algorithm is developed by using fuzzy control technique, which makes a robot arm avoid unexpected obstacles when the robot is moving from the start to a goal posture. During the motion, if there exist no obstacles the robot arm moves along the pre-defined path. But if some obstacles are recognized and close to the robot arm, a fuzzy controller is activated to adjust the path of the robot arm. To show the feasibility of the developed algorithm, numerical simulations and experiments are carried out. In the experiments, redundant planar robot arms are considered for the collision avoidance test, and it was proved that the developed algorithm gives good collision avoiding performance.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.5 no.1
• /
• pp.154-161
• /
• 1997

This paper presents the method to eliminate the constraint reaction in the Lagrange multiplier form equation of motion by using a generalized coordinate driveder from the velocity constraint equation. This method introduces a matrix method by considering the m dimensional space spanned by the rows of the constraint jacobian matrix. The orthogonal vectors defining the constraint manifold are projected to null vectors by the tangential vectors defined on the constraint manifold. Therefore the orthogonal projection matrix is defined by the tangential vectors. For correcting the generalized position coordinate, the optimization problem is formulated. And this correction process is analyzed by the quasi Newton method. Finally this method is verified through 3 dimensional vehicle model.

• International Journal of CAD/CAM
• /
• v.9 no.1
• /
• pp.85-91
• /
• 2010

In this paper, we demonstrate an autonomous design of motion control of virtual creatures (called animated robots in this paper) and develop modeling software for animated robots. An animated robot can behave autonomously by using its own sensors and controllers on three-dimensional physically modeled environment. The developed software can enable us to execute the simulation of animated robots on physical environment at any time during the modeling process. In order to simulate more realistic world, an approximate fluid environment model with low computational costs is presented. It is shown that a combinatorial use of neural network implementation for controllers and the genetic algorithm (GA) or the particle swarm optimization (PSO) is effective for emerging more realistic autonomous behaviours of animated robots.

• Proceedings of the IEEK Conference
• /
• 2006.06a
• /
• pp.411-412
• /
• 2006

In this paper, we proposed a fast algorithm for inter prediction included the most complexity in H.264/AVC. It decide search range according to direction of predicted motion vector, and then perform adaptive candidate spiral search. Simultaneously, it perform motion estimation of variable loop with threshold for variable block size. Conclusively, it is implemented in JM FME with high complexity applying to rate-distortion optimization. Experimental results show that significant complexity reduction is achieved while the degradation in video quality is negligible.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10b
• /
• pp.370-375
• /
• 1992

An algorithm for the notion planning of the robotic hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding effects between the fingertips and the object at contact points. Specifically, an optimization problem is firstly solved to find minimum contact forces and minimum joint velocities to impart a desired motion to the object at each time step. Then the instantaneous relative velocity at the contact point is found by determining velocities of the fingertip and the velocity of the object at the contact point. Finally time derivatives of the surface variables and contact angle of the fingertip and the object at the present time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints.

• Electronics and Telecommunications Trends
• /
• v.39 no.4
• /
• pp.10-20
• /
• 2024

Recent advancements in autonomous flight technologies for Unmanned Aerial Vehicles (UAVs) have greatly expanded their applicability for various tasks, including delivery, agriculture, and rescue. This article presents a comprehensive survey of path planning techniques in autonomous navigation and exploration that are tailored for UAVs. The robotics literature has studied path and motion planning, from basic obstacle avoidance to sophisticated algorithms capable of dynamic decision-making in challenging environments. In this article, we introduce popular path and motion planning approaches such as grid-based, sampling-based, and optimization-based planners. We further describe the contributions from the state-of-the-art in exploration planning for UAVs, which have been derived from these well-studied planners. Recent research, including the method we are developing, has improved performance in terms of efficiency and scalability for exploration tasks in challenging environments without human intervention. On the basis of these research and development trends, this article discusses future directions in UAV path planning technologies, illustrating the potential for UAVs to perform complex tasks with increased autonomy and efficiency.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1115-1120
• /
• 2003

The present paper shows the possible development of particle swarm optimization (PSO) based fuzzy-neural networks (FNN) which can be employed as an important building block in real life robot systems, controlled by voice-based commands. The PSO is employed to train the FNNs which can accurately output the crisp control signals for the robot systems, based on fuzzy linguistic spoken language commands, issued by an user. The FNN is also trained to capture the user spoken directive in the context of the present performance of the robot system. Hidden Markov Model (HMM) based automatic speech recognizers are developed, as part of the entire system, so that the system can identify important user directives from the running utterances. The system is successfully employed in a real life situation for motion control of a redundant manipulator.

• Journal of Auto-vehicle Safety Association
• /
• v.3 no.2
• /
• pp.5-10
• /
• 2011

Under the full frontal crash event, seatbelt system is the most typical and primary restraint device that prevents the second impact between an occupant and vehicle interior parts by limiting the forward motion of an occupant in the vehicle occupant packaging space. Today's restraint systems typically include the three-point seat belt with the pretensioner and the load limiter. A pretensioner preemptively tightens the seat belts removing any slack between a passenger and belt webbing which leads to early restraint of a passenger. After that a load limiter controls level of belt load by releasing the belt webbing to reduce occupant injurys. In this study, load characteristics of load limiters are optimized by the computer simulation with a MADYMO model for a frontal impact against the rigid wall at 56kph and then we suggest performance requirements. We derived optimum load characteristic from the results using four vehicle simulation models represented by the vehicle. Based on the results, we suggest the performance from the results of the second optimization using the simulation considering the design and the standardization. Finally, the performance requirements is verified by the sled tests including the load limiter device for the full vehicle condition.