• 한국시뮬레이션학회:학술대회논문집
• /
• 한국시뮬레이션학회 1999년도 춘계학술대회 논문집
• /
• pp.88-92
• /
• 1999

As a part of work to simulate electromagnetic environments for Hardware-In-the-Loop(HIL) simulation, the dynamic trajectory is modeled by the Way-points method and the Event-driven method for the aerial and the naval targets. The simulated results show that the Way-points method and the Event-driven method are appropriate to simulate a low speed and a high speed target respectively.

• International Journal of Ocean System Engineering
• /
• 제2권3호
• /
• pp.139-150
• /
• 2012

This paper presents an improved guidance algorithm for autonomous underwater vehicles (AUV) in 3D space for generating smoother vehicle turn during the course change at the way-points. The way-point guidance by the line-of-sight (LOS) method has been modified for correcting the reference angles to achieve minimal calculation and smoother transition at the way-points. The algorithm has two phases in which the first phase brings the vehicle to converge to a distance threshold point on the line segment connecting the first two way-points and the next phase generates an angular path with smoother transition at the way-points. Then the desired angles are calculated from the reference and correction angles. The path points are regularly parameterized in the spherical coordinates and mapped to the Cartesian coordinates. The proposed algorithm is found to be simple and can be used for real time implementation. The details of the algorithm and simulation results are presented.

• 대한임베디드공학회논문지
• /
• 제10권4호
• /
• pp.257-264
• /
• 2015

For the tracking of the way-points of hovering AUV (HAUV), we suggest a simple PID controller. The way-points are designed to approach to a virtual underwater structure and the heading angles at each way-point are set to look at the structure in the face. The proposed controller consists of a vertical controller to maintain the depth and pitch angle, and a horizontal controller to move to the desired position as well as to adjust the heading angle of the HAUV. In the simulation using Matlab/Simulink, the HAUV with the proposed PID controller is shown to track all the way-points within 1 m range while maintaining proper heading angle at each way-point.

• Korean Journal of Acupuncture
• /
• 제31권2호
• /
• pp.49-55
• /
• 2014

Objectives : Five transport points are often used in acupuncture treatment. However, there is no clear explanation about the reason why the five transport points are matched five phases in this manner. Therefore, we reviewed the literatures and theses about the principal of matching and researched a new way to understand the reason. Methods : We found 8 theses and 3 literatures related to the matching of five transport points to five phases by searching the web sites. And, we reviewed the principal of matching and researched another new way to understand the reason why they are matched so. Results and Conclusions : In the viewpoint of the natural state and function of five phases, the start points arising in yin- and yang-meridian are matched to wood and metal respectively. Therefore, well point matches the wood and metal in yin- and yang-meridian respectively. And by following the flow of five transport points, the other points match with fire, earth, metal, water in yin-meridian and water, wood, fire, and earth in yang-meridian.

• Journal of Acupuncture Research
• /
• 제28권2호
• /
• pp.133-141
• /
• 2011

Objectives : Although the thermo-sensitivity test in Well points in 12 Meridians(井穴知熱感度測定法) has been used for several decades, it is still performed by a manual way, and lack in objectivity consequently. To make it more objective, accurate and convenient test, we have developed a novel system to test thermo-sensitivity in Well points. Methods : To enhance the blindness of the test, we made a shielded system which give heat to some fingers of subjects in random way. To perform the test in quantitative manner, we developed a fully automated, computer-controlled system composed of heating bulbs and response button array. Results : The developed system showed linearity in heating the finger phantom. It also gave acceptable but interesting features in pilot tests with several young adult subjects. Conclusions : By the developed system, we could improve objectivity and convenience of the thermo-sensitivity test in Well points.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 1999년도 하계종합학술대회 논문집
• /
• pp.800-804
• /
• 1999

An intelligent path planning algorithm for an autonomous cleaning robot is presented. This algorithm recognizes obstacle on the architectural CAD draft and generates subgoals as tracking points which executes the area filling task based on heuristic approach. A sweeping path is planned by sequentially connecting the tracking points in such a way that (1) the connected line segments should be crossed, (2) the total tracking points should be as short as possible, (3) the tracking line should not pass through the obstacle. Feasibility of the developed techniques has been demonstrated on real architectural CAD draft.

• 제어로봇시스템학회논문지
• /
• 제20권2호
• /
• pp.132-137
• /
• 2014

In this paper, An LQR controller is proposed for way-point tracking of AUV (Autonomous Underwater Vehicle). The LQR controller aims at tracking a series of way-points which operator registers arbitrarily in advance. It consists of a depth controller and a steering controller and AUV's surge speed is assumed varying to consider the dynamic environment of the underwater. In order to show the performance, a conventional state feedback controller is compared with the proposed controller by the simulation using Matlab/Simulink. The parameters of AUV developed by the author's laboratory are used. In the simulation, we verify that the LQR controller can track all the way-points within 1 m error range under the varying surge speed, which proves the robustness of the LQR controller.

• 동의생리병리학회지
• /
• 제19권2호
• /
• pp.323-328
• /
• 2005

Oriental medicine specifies points which have proven to be valuable in the treatment of certain diseases or conditions of pain-the so-called master points and alarm points of the acupuncture system. The idea of applying colorpuncture via the master points already suggested itself on the basis of the very old correlations between organs and organ systems and colors which we find in a number of different therapeutic systems and trations. Each of the twelve organs of the acupuncture system has an alarm point which is usually not situated on the related meridian but on another channel. These alarm points are always to be found in the vicinity of the organs they are associated with. The combined use of master points and alarm points is a simple and excellent way of using colorpuncture. Via their inherent vibrational frequencies, the healings rays of colored light radiation are capable of releasing potent resonance forces within the organism, thus contributing to the alleviation and healing of acute and chronic diseases.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 1998년도 추계종합학술대회 논문집
• /
• pp.417-420
• /
• 1998

A heuristic sweeping algorithm for an autonomous smearing robot which executes the area filling task is proposed. This algorithm searches tracking points with the obstacle andenvironment wall while the robot tracking whole workspace, and finds sequential tracking line by sequentally connecting the tracking points in such a way that (1) the line should be never crossed, (2) the total tracking points should be is linked as short as possible, and (3) the tracking link should be cross over the obstacle in the work-space. If the line pass through the obstacle, hierarchical collision free algorithm proposed is implied. The proposed algorithm consists of (1) collision detection procedure, (2) obstacle map making procedures, (3) tracking points generation procedures for subgosls, (4) tracking points scanning procedures, and (5) obstacle avoidance procedure.

• 대한전자공학회논문지
• /
• 제25권2호
• /
• pp.144-151
• /
• 1988

Between any two points in the Cartesian space, the straight motion has many distinct advantages in path/trajectory plannings, specially in a crowded workspace. But to achieve this motion is a nontrivial task. One standard way to approximate this motion is to plae enough intermediate points along the desired path and linearly interpolate two adjacent intermediate points in the joint space. In this approach, however, the determination of the minimum number of intermediate points is very important from several aspects. A scheme that can effectively accomplish this purpose is established in this paper. This scheme is based on several search methods. The results are demonstrated using the PUMA 560 series manipulator.