• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.05a
• /
• pp.979-983
• /
• 2001

We develop a new method of simultaneous optimization of trajectory and shape of redundant flexible manipulators for collision-free utilizing the B-spline function and a mathematical programming method We adopt an approximate flexible manipulator model which consists of rigid bar elements and spring elements. We use B-spline function for determining the approximate trajectory and the expressions of the outline of obstacles. The used total performance index consists of 2 performance indices. The first is the driving energy, and the second is the trajectory deviation which is caused by the approximate modeling for the flexible manipulator. We design optimal collision-free trajectory of flexible manipulators by searching optimum positions of the control points for B-spline approximation which minimize the performance index subject to constraint condition for collision-free. Some examinations through numerical examples show the effectiveness of the method

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.6
• /
• pp.111-118
• /
• 2000

The design of reference trajectory with respect to drag acceleration is necessary to decelerate from hypersonic speed safely after atmosphere re-entry of space vehicle. The re-entry guidance design involves trajectory optimization, generation of a reference drag acceleration profile with the satisfaction of 6 trajectory constraints during the re-entry flight. This reference drag acceleration profile can be considered as the reference trajectory. The cost function is composed of the accumulated total heating on vehicle due to the reduction of weight. And a regularization is needed to prevent optimal drag profile from varying too fast and achieve realized trajectory. This paper shows the relations between velocity, drag acceleration and altitude in drag acceleration profile, and how to determine the reference trajectory.

• Journal of Mechanical Science and Technology
• /
• v.19 no.spc1
• /
• pp.452-460
• /
• 2005

Based on an introduced optimal trajectory planning method, this paper mainly deals with the accuracy analysis during the function approximation process of the optimal trajectory planning method. The basis functions are composed of Hermit polynomials and Fourier series to improve the approximation accuracy. Since the approximation accuracy is affected by the given orders of each basis function, the accuracy of the optimal solution is examined by changing the combinations of the orders of Hermit polynomials and Fourier series as the approximation basis functions. As a result, it is found that the proper approximation basis functions are the $5^{th}$ order Hermit polynomials and the $7^{th}-10^{th}$ order of Fourier series.

• Proceedings of the Korean Operations and Management Science Society Conference
• /
• 1995.04a
• /
• pp.787-796
• /
• 1995

A man model is a useful design tool for the evaluation of man machine systems and products. An arm reach trajectory prediction for such a model will be specifically useful to present human activities and, consequently, could increase the accuracy and reality of the evaluation. In this study, a three-dimensional reach trajectory prediction model was developed using an inverse kinematics technique. The upper body was modeled as a four link open kinematic chain with seven degrees of freedom. The Resolved Motion Method used for the robot kinematics problem was used to predict the joint movements. The cost function of the perceived discomfort developed using the central composite design was also used as a performance function. This model predicts the posture by moving the joints to minimize the discomfort on the constraint of the end effector velocity directed to a target point. The results of the pairwise t-test showed that all the joint coordinates except the shoulder joint's showed statistically no differences at .alpha. = 0.01. The reach trajectory prediction model developed in this study was found to accurately simulate human arm reach trajectory and the model will help understand the human arm reach movement.

• 제어로봇시스템학회:학술대회논문집
• /
• 1995.10a
• /
• pp.376-379
• /
• 1995

To force an aircraft to track the specified path, the generation of the smooth desired trajectory is essential. In this paper, the cubic spline function is used to generate the trajectory which passes through the specified intercept points. The simulation results show that the desired trajectory generated by the spline interpolation is very smooth and the aircraft tracks it with small position errors.

• Proceedings of the KIEE Conference
• /
• 2006.07d
• /
• pp.1960-1961
• /
• 2006

In this paper, The trajectory control of robot manipulator is proposed. It divides by trajectory planning and tracking control. A trajectory planning and tracking control of robot manipulator is used to the neural network and evolutionary algorithm. The trajectory planning provides not only the optimal trajectory for a given cost function through evolutionary algorithm but also the configurations of the robot manipulator along the trajectory by considering the robot dynamics. The computed torque method (C.T.M) using the model of the robot manipulators is an effective means for trajectory tracking control. However, the tracking performance of this method is severely affected by the uncertainties of robot manipulators. The Radial Basis Function Networks(RBFN) is used not to learn the inverse dynamic model but to compensate the uncertainties of robot manipulator. The computer simulations show the effectiveness of the proposed method.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.7 s.172
• /
• pp.112-121
• /
• 2005

This paper is concerned with smooth trajectory generation of biped robot which has inverted pendulum type balancing weight. Genetic algorithm is used to generate the trajectory of the leg and balancing weight. Balancing trajectory can be determined by solving the second order differential equation under the condition that the reference ZMP (Zero moment point) is settled. Reference ZMP effect on gait pattern absolutely but the problem is how to determine the reference ZMP. Genetic algorithm can find optimal solution under the high order nonlinear situation. Optimal trajectory is generated when use genetic algorithm which has some genes and a fitness function. In this paper, minimization of balancing joints motion is used for the fitness function and set the weight factor of the two balancing joints at the fitness function. Inverted pendulum type balancing weight is very similar with human and this model can be used fur humanoid robot. Simulation results show ZMP trajectory and the walking experiment made on the real biped robot IWR-IV.

• Allergy, Asthma & Immunology Research
• /
• v.10 no.6
• /
• pp.614-627
• /
• 2018

Purpose: Asthma is a heterogeneous disease that responds to medications to varying degrees. Cluster analyses have identified several phenotypes and variables related to fixed airway obstruction; however, few longitudinal studies of lung function have been performed on adult asthmatics. We investigated clinical, demographic, and inflammatory factors related to persistent airflow limitation based on lung function trajectories over 1 year. Methods: Serial post-bronchodilator forced expiratory volume (FEV) 1% values were obtained from 1,679 asthmatics who were followed up every 3 months for 1 year. First, a hierarchical cluster analysis was performed using Ward's method to generate a dendrogram for the optimum number of clusters using the complete post-FEV1 sets from 448 subjects. Then, a trajectory cluster analysis of serial post-FEV1 sets was performed using the k-means clustering for the longitudinal data trajectory method. Next, trajectory clustering for the serial post-FEV1 sets of a total of 1,679 asthmatics was performed after imputation of missing post-FEV1 values using regression methods. Results: Trajectories 1 and 2 were associated with normal lung function during the study period, and trajectory 3 was associated with a reversal to normal of the moderately decreased baseline FEV1 within 3 months. Trajectories 4 and 5 were associated with severe asthma with a marked reduction in baseline FEV1. However, the FEV1 associated with trajectory 4 was increased at 3 months, whereas the FEV1 associated with trajectory 5 was persistently disturbed over 1 year. Compared with trajectory 4, trajectory 5 was associated with older asthmatics with less atopy, a lower immunoglobulin E (IgE) level, sputum neutrophilia and higher dosages of oral steroids. In contrast, trajectory 4 was associated with higher sputum and blood eosinophil counts and more frequent exacerbations. Conclusions: Trajectory clustering analysis of FEV1 identified 5 distinct types, representing well-preserved to severely decreased FEV1. Persistent airflow obstruction may be related to non-atopy, a low IgE level, and older age accompanied by neutrophilic inflammation and low baseline FEV1 levels.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1997.10a
• /
• pp.361-364
• /
• 1997

The re-enty guidance design involves trajectory optimization, generation of a reference drag acceleration profile with the satisfaction of trajectory constraints. This reference drag acceleration profile can be considered as the reference trajectory. This paper proposes the atmospheric re-entry system which is composed of longitudinal, later and range control. This paper shows the a performance of a re-entry guidance and control system using feedback linearization control and predictive control.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.21 no.5
• /
• pp.572-582
• /
• 2018

In this paper, we have calculated a formular for sabot-trajectory of shipboard projectile including ship motion and generated trajectory-range function for analysing interference with structure of naval ship. We make formula to approximate the ship motion data of naval ship using optimization technique. Through this formula, we calculate the velocities and accelerations of sabot caused by ship motion(surge, sway, heave, roll, pitch, yaw) and then, we produce the formula about the trajectory of sabot including effects of ship motion in addition to previous study which had considered the effects of the pressure of flume, friction force, etc. To investigate interference with ship structures, we make the trajectory-range functions and then extract the nearest or farthest trajectory to ship structure. Through these data, we can conform whether the interference is happened or not.