• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.327-334
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• 2011

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

• International Journal of Automotive Technology
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• v.7 no.3
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• pp.289-294
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• 2006

Better fundamental understanding of the interactions between the in-cylinder flows and combustion process is an important requirement for further improvement in the fuel economy and emissions of internal combustion(IC) engines. Flow near a spark plug at the time of ignition plays an important role for early flame kernel development(EFKD). Velocity data measurements in this study were made with a two-component laser Doppler velocimetry(LDV) near a spark plug in a single cylinder optical spark ignition(SI) engine with a heart-shaped combustion chamber. LDV velocity data were collected on an individual cycle basis under wide-open motored conditions with an engine speed of 1,000rpm. This study examines and compares the flow fields as interpreted through ensemble, cyclic and discrete wavelet transformation(DWT) analysis. The energy distributions in the non-stationary engine flows are also investigated over crank angle phase and frequency through continuous wavelet transformation(CWT) for a position near a spark plug. Wavelet analysis is appropriate for analyzing the flow fields in engines because it gives information about the transient events in a time and frequency plane. The results of CWT analysis are provided and compared with the mean flows of DWT first decomposition level for all cycles at a position. Low frequency high energy found with CWT corresponds well with the peak locations of the mean velocity. The high frequency flows caused by the intake jet gradually decay as the piston approaches the bottom dead center(BDC).

• Transactions of Materials Processing
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• v.11 no.6
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• pp.487-494
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• 2002

A new method of optimal blank shape design using the initial nodal velocity (INOV) has been proposed for the drawings of arbitrary shaped cups. With the given information of tool shape and the final product shape, corresponding initial blank shape has been found from the motion of boundary nodes. Although the sensitivity method, the past work of the present authors, has been proved to be excellent method to find optimal blank shapes, the method has a problem that a couple of deformation analysis is required at each design step and it also exhibits an abnormal behaviors in the rigid body rotation prevailing region. In the present method INOV, only a single deformation analysis per each design stage is required. Drawings of practical products as well as oil-pan, have been chosen as the examples. At every case the optimal blank shapes have been obtained only after a few times of modification without predetermined deformation path. The deformed shape with predicted optimal blank almost coincides with the target shape at every case. Through the investigation the INOV is found to be very effective in the arbitrary shaped drawing process design.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.497-502
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• 2010

The accurate estimation of position and direction of the mobile robot is essential for preparing precise movement and works in the inner complex environment. In this paper, we propose a robust estimation method of location and direction using the velocity of mobile robot in the inner GPS environment. The estimation using the inner GPS with ultrasonic sensors have to consider with various acoustic noise and sensor errors. We design a robust estimation method using a membership function based on uncertainty of the obtained information and robot velocity. The simulation results of the proposed method show effectiveness in the contaminated environment with position errors.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.17 no.12
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• pp.1161-1168
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• 2005

A Multi-Sectional 3D-PTV algorithm was developed to reduce the calculation time of the conventional GA-3D-PTV. The hardware system of the constructed 3D-PTV system consists of two high-speed cameras ($1,024\times1,018$ pixels, 60 fps), a metal halogen lamp (400W) and a host computer. The sphere(D=30mm) is suspended in a circulating water channel $(300mm\times300mm\times1,200m)$ and Reynolds number is 1,130. About 5,000 instantaneous three-dimensional velocity vectors have been obtained by the constructed 3D-PTV system. Turbulent properties such as turbulent intensity, Reynolds stress and turbulent kinetic energy were obtained. An eigenvalue analysis was carried out using the obtained instantaneous 3D velocity vectors to get the topological relations of the asymptotically stable critical point. Two structured shells, inner shell and outer shell, were found in the sphere wake and their motions were clarified by the measured data.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.1
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• pp.74.2-74.2
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• 2019

Mass measurement of high-redshift galaxy clusters with high accuracy is important in constraining cosmological parameters. Extremely massive clusters at high redshift may impose a serious tension with the current ΛCDM paradigm. SPT-CL J2040-4451 at z=1.48 is considered one such case given its redshift and mass estimate inferred from the SZ data. The system has also been confirmed to be indeed massive from a recent weak-lensing (WL) analysis. Comparison of the WL mass with the spectroscopic result may provide invaluable information on the dynamical stage of the system. However, the existing spectroscopic coverage of the cluster is extremely poor; only 6 blue star-forming galaxies have been found within the virial radius, which results in highly inflated and biased velocity dispersion. In this work, we present a spectroscopic analysis of the member candidates using Gemini Multi-Object Spectrographs (GMOS) observation in Gemini South. The observation was designed to find early-type member galaxies within the virial radius and to obtain reliable velocity dispersion. We explain our selection scheme and preliminary results of the spectra. We also compare the dynamical mass estimate inferred from the velocity dispersion with the WL mass.

• Advances in nano research
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• v.10 no.3
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• pp.263-270
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• 2021

The present manuscript focuses the effects of suction on the flow of the dusty fluid along permeable exponentially stretching cylinder. Derived PDEs for this work are changed into ODEs by adopting right transformations. Numerical procedure is carried out for the obtained resultant equations by Shooting Technique in accordance with Runge-Kutta (RK-6) technique. Obtained results for the parameters namely, particle interaction parameter, suction parameter and Reynold number parameters are probed thoroughly. Some salient points are: (a) Fluid velocity decreases and the dust phase velocity rises for the higher values of particle interaction parameter; (b) more suction produces retarding velocities for both the phases; (c) high Reynold number slows down the fluid velocity while the speed of dust phase and (d) skin friction coefficient goes high for all these parameters.

• Journal of Electrical Engineering and information Science
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• v.1 no.2
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• pp.77-86
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• 1996

In this paper we deal with the problem of recovering 3-D motion and structure from a time-varying 2-D velocity vector field. A great deal has been done on this topic, most of which has concentrated on finding necessary and sufficient conditions for there to be a unique 3-D solution corresponding to a given 2-D motion. While previous work provides useful theoretical insight, in most situations the known algorithms have turned out to be too sensitive to be of much practical use. It appears that any robust algorithm must improve the 3-D solutions over time. As a step toward such algorithm, we present a method for recovering 3-D motion and structure from a given time-varying 2-D velocity vector field. The surface of the object in the scene is assumed to be locally planar. It is also assumed that 3-D velocity vectors are piecewise constant over three consecutive frames (or two snapshots of flow field). Our formulation relates 3-D motion and object geometry with the optical flow vector as well as its spatial and temporal derivatives. The linearization parameters, or equivalently, the first-order flow approximation (in space and time) is sufficient to recover rigid body motion and local surface structure from the local instantaneous flow field. We also demonstrate, through a sensitivity analysis carried out for synthetic and natural motions in space, that 3-D motion can be recovered reliably.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.3
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• pp.456-463
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• 2021

In this paper, Ultra Wide-Band(UWB) radar sensor is employed to detect flying drones and avoid collision in dense clutter environments. UWB signal is preferred when high resolution range measurement is required for moving targets. However, the time varying motion of flying drones may increase clutter noises in return signals and deteriorates the target detection performance, which lead to the performance degradation of anti-collision radars. We adopt a dynamic clutter suppression algorithm to estimate the time-varying distances to the moving drones with enhanced accuracy. A modified Constant False Alarm Rate(CFAR) is developed using an adaptive filter algorithm to suppress clutter while the false detection performance is well maintained. For this purpose, a velocity dependent CFAR algorithm is implemented to eliminate the clutter noise against dynamic target motions. Experiments are performed against flying drones having arbitrary trajectories to verify the performance improvement.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.9
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• pp.1871-1880
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• 2011

In this paper, a controller for two wheeled inverted pendulum robot, i.e., Segway type robot that is a convenient and easily handled vehicle is designed to have more stable balancing and faster velocity control compared to the conventional method. First, a widely used PID control structure is applied to the two wheeled inverted pendulum robot and proper PID control gains for some specified weights of users are obtained to get accurate balancing and velocity control by use of experimental trial-and-error method. Next, neural network is employed to generate appropriate PID control gains for arbitrarily selected weight. Here the PID gains based on the trial-and-error method are used as training data. Simulation study has been carried out to find that the performance of the designed controller using the neural network is more excellent than the conventional PID controller in terms of faster balancing and velocity control.