• Transactions of the Korean Society of Mechanical Engineers
• /
• v.15 no.5
• /
• pp.1495-1502
• /
• 1991

본 연구에서는 동일 작업 공간내에서 두대의 로봇이 각각의 토크의 제한 조건 과 충돌 회피 조건을 만족하면서 근사 최소 시간에 지정된 경로를 주행하기 위한 궤적 계획법을 제안하고자 한다. 이때, 동작 우선도에 의하여 한 대의 로봇은 주 로봇, 다른 한 대의 로봇은 종 로봇으로 지정되는데 주 로봇은 입력 토크의 제한조건을 만족 하며 주어진 경로를 최소 시간에 움직이도록 궤적 계획을 하였으며, 종 로봇은 주 로 봇과의 충돌을 피하고 입력 토크의 제한 조건을 만족하며 주어진 경로를 근사 최소 시 간에 움직이도록 하였다.

• KIEE International Transactions on Electrophysics and Applications
• /
• v.5C no.6
• /
• pp.246-250
• /
• 2005

The forward voltage drop of IGBT is studied numerically and analytically as a function of gate length. An analytical expression is presented for the first time for the surface potential variation along the channel layer under the gate of IGBT. The surface potential drop and the carrier density near the surface allow calculation of the forward voltage drop of IGBT analytically as a function of the gate length. The voltage-drop in the drift region near the gate decreases exponentially, whereas that on the surface increases linearly with increasing the gate length, the sum of which exhibits an optimum gate length, resulting in a minimum forward voltage drop. Based on the surface potential drop, a remodelling of the forward voltage drop of IGBT is also proposed.

• ETRI Journal
• /
• v.24 no.3
• /
• pp.205-210
• /
• 2002

This paper describes our high-density near-field optical recording using bent cantilever fiber probes installed in an atomic force microscope. We conducted a near-field reading of nano-scale hole patterns with a 100 nm spatial resolution and a 25 ${\mu}m$/s scan speed; this implies a capability of a data reading density of 60 Gb/$in^2$ with a 0.25 kbps data transfer rate. In addition, we investigated re-writable near-field recording on photochromic diarylethene films. We successfully recorded erasable memory bits having a minimum width of 600 nm in a writing time as short as 30ms. We found that using a cantilever probe simplifies the setup and operation of the near-field optical recording system and may offer multifunctional recording capabilities.

• Journal of Information Processing Systems
• /
• v.10 no.3
• /
• pp.412-428
• /
• 2014

Request oriented sensor networks have stricter requirements than conventional event-driven or periodic report models. Therefore, in this paper we propose a minimum energy data aggregation (MEDA), which meets the requirements for request oriented sensor networks by exploiting a low power real-time scheduler, on-demand time synchronization, variable response frame structure, and adaptive retransmission. In addition we introduce a test bed consisting of a number of MEDA prototypes, which support near real-time bidirectional sensor networks. The experimental results also demonstrate that the MEDA guarantees deterministic aggregation time, enables minimum energy operation, and provides a reliable data aggregation service.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.9
• /
• pp.845-853
• /
• 2012

We propose time-optimal cornering motion trajectory planning and control algorithms for differential wheeled mobile robot with motor actuating voltage constraint, under piecewise constant control input condition. For time-optimal cornering trajectory generation, 1) we considered mobile robot's dynamics including actuator motors, 2) divided the cornering trajectory into one liner section, followed by two cornering section with angular acceleration and deceleration, and finally one liner section, and 3) formulated an efficient trajectory generation algorithm satisfying the bang-bang control principle. Also we proposed an efficient trajectory control algorithm and implemented with an X-bot to prove the performance.

• Journal of Aerospace System Engineering
• /
• v.14 no.2
• /
• pp.1-11
• /
• 2020

Detecting obstacles and generating a suitable path to avoid obstacles in real time is a prime mission requirement for UAVs. In areas, close to buildings and people, detecting obstacles in the path and estimating its own position (egomotion) in GPS degraded/denied environments are usually addressed with vision-based Simultaneous Localization and Mapping (SLAM) techniques. This presents possibilities and challenges for the feasible path generation with constraints of vehicle dynamics in the configuration space. In this paper, a near real-time feasible path is shown to be generated in the ORB-SLAM framework using a chain-based path planning approach in a force field with dynamic constraints on path length and minimum turn radius. The chain-based path plan approach generates a set of nodes which moves in a force field that permits modifications of path rapidly in real time as the reward function changes. This is different from the usual approach of generating potentials in the entire search space around UAV, instead a set of connected waypoints in a simulated chain. The popular ORB-SLAM, suited for real time approach is used for building the map of the environment and UAV position and the UAV path is then generated continuously in the shortest time to navigate to the goal position. The principal contribution are (a) Chain-based path planning approach with built in obstacle avoidance in conjunction with ORB-SLAM for the first time, (b) Generation of path with minimum overheads and (c) Implementation in near real time.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.2 no.3
• /
• pp.29-39
• /
• 1992

We investigate a systematic design procedure of automatic rule generation of fuzzy logic based controllers for highly nonlinear dynamic systems such as an engine dynamic modle. By "automatic rule generation" we mean autonomous clustering or collection of such meaningful transitional relations from one conditional subspace to another. During the design procedure, we also consider optimaly control strategies such as minimum squared error, near minimum time, minimum energy or combined performance critiera. Fuzzy feedback control systems designed by our method have the properties of closed-loop stability, robustness under parameter variabitions, and a certain degree of optimality. Most of all, the main advantage of the proposed approach is that reliability can be potentially increased even if a large grain of uncertainty is involved within the control system under consideration. A numerical example is shown in which we apply our strategic fuzzy controller dwsign to a highly nonlinear model of engine idling speed control.d control.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.9
• /
• pp.1461-1467
• /
• 2001

This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.5 s.176
• /
• pp.1231-1237
• /
• 2000

Dynamics of a rotating cantilever beam near its critical angular speed is investigated in this paper. The external, force is idealized as a periodic function which has the same period as the rotati ng frequency of the beam. The equations of motion are derived and transformed into a dimensionless form. A prescribed spin-up motion is employed for the rotating motion. Numerical study shows that the steady state and the transient responses of the beam are affected by the spin-up time constant and there exists a time constant at which the maximum transient response becomes minimum.

• Advances in aircraft and spacecraft science
• /
• v.9 no.5
• /
• pp.433-447
• /
• 2022

This work deals with an explicit guidance and control architecture for autonomous lunar ascent and orbit injection, i.e., the locally-flat near-optimal guidance, accompanied by nonlinear reduced-attitude control. This is a new explicit guidance scheme, based on the local projection of the position and velocity variables, in conjunction with the real-time solution of the associated minimum-time problem. A recently-introduced quaternion-based reduced-attitude control algorithm, which enjoys quasi-global stability properties, is employed to drive the longitudinal axis of the ascent vehicle toward the desired direction. Actuation, based on thrust vectoring, is modeled as well. Extensive Monte Carlo simulations prove the effectiveness of the guidance, control, and actuation architecture proposed in this study for precise lunar orbit insertion, in the presence of nonnominal flight conditions.