• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1272-1277
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• 2014

This article describes a path planning algorithm for fixed-wing UAVs when a real terrain should be considered. Nowadays, many UAVs are required to perform mission flights near given terrain for surveillance, reconnaissance, and infiltration, as well as flight altitude of many UAVs are relatively lower than typical manned aerial vehicles. Therefore, real terrain should be considered in path planning algorithms of fixed-wing UAVs. In this research, we have extended a spline-$RRT^*$ algorithm to three-dimensional planner. The spline-$RRT^*$ algorithm is a $RRT^*$ based algorithm, and it takes spline method to extend the tree structure over the workspace to generate smooth paths without any post-processing. Direction continuity of the resulting path is guaranteed via this spline technique, and it is essential factor for the paths of fixed-wing UAVs. The proposed algorithm confirm collision check during the tree structure extension, so that generated path is both geometrically and dynamically feasible in addition to direction continuity. To decrease degrees of freedom of a random configuration, we designed a function assigning directions to nodes of the graph. As a result, it increases the execution speed of the algorithm efficiently. In order to investigate the performance of the proposed planning algorithm, several simulations are performed under real terrain environment. Simulation results show that this proposed algorithm can be utilized effectively to path planning applications considering real terrain.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.69-77
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• 1991

A collision-free trajectory planning algorithm using an iterative learning concept is proposed for dual robot arms in a 3-D common workspace to accurately follow their specified paths with constant velocities. Specifically, a collision-free trajectory minimizing the trajectory error is obtained first by employing the linear programming technique. Then the total operating time is iteratively adjusted based on the maximum trajectory error of the previous iteration so that the collision-free trajectory has no deviation from the specified path and also that the operating time is near-minimal. To show the validity of the proposed algorithm, a numerical example is presented based on two planar robots.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.42 no.5 s.305
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• pp.1-12
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• 2005

A Mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment. because it has the higher performance than a fixed base manipulator in regard to the size of it's operational workspace. Unfortunately the use of a mobile robot introduces non-holonomic constraints, and the combination of a mobile robot and a manipulator generally introduces kinematic redundancy. In this paper, first a method for estimating the position of object at the cartesian coordinate system acquired by using the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and real object is proposed. Second, we propose a method to determine a optimal path between current the position of mobile manipulator whose mobile robot is non-holonomic and the position of object estimated by image information through the global displacement of the system in a symbolic way, using homogenous matrices. Then, we compute the corresponding joint parameters to make the desired displacement coincide with the computed symbolic displacement and object is captured through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiment using the mobile manipulator.

• Journal of the Korea Society of Computer and Information
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• v.10 no.6 s.38
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• pp.345-354
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• 2005

A mobile manipulator - a serial connection of a mobile robot and a task robot - is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this Position estimation, a method of determining an optimal path for the mobile manipulator from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a manipulator. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the mobile manipulator.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.3
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• pp.202-207
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• 2013

In the paper, we design a autonomous mobile robot for freight transportation and propose an operation method of the robot in the warehouse. In order to implement autonomous navigation, it is needed to recognize the position of the robot and track the path to the target. Previous methods are hard to change the workspace environment and need high cost to install and keep a maintenance of the system. The lifter of freight transportation robot is designed to load and unload a baggage through up and down motion. Also, ultrasonic sensor, RFID, QR-code and camera sensor is used to carry out various functions while the robot navigates in the various environment. We design an operation method of the mobile robot in order to effectively arrive a goal position and transport a freight. The proposed methods are verified through various experiments.

• Journal of the Korea Institute of Building Construction
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• v.10 no.4
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• pp.31-39
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• 2010

As the linear scheduling method has been used since the Empire State Building linear schedule in 1929, it is being applied in various fields, such as construction and manufacturing. When addressing concurrent critical paths occurring in a linear construction schedule, empirical researches have stressed resource management, which should be applied for optimizing workflow, ensuring flexible work productivity and continuous resource allocation. However, work relationships have been usually overlooked in making the linear schedule from an existing network schedule. Therefore, this research analyzes the previous researches related to the linear scheduling model, and then proposes a method that can be applied for adopting the relationships of a network schedule to the linear schedule. To this end, this research considers the work relationships occurring in changing a network schedule into a linear schedule, and then confirms the activities movement phenomenon of linear schedule due to workspace change, such as physical floors change. As a result, this research can be used as a basic research in order to develop a system generating a linear schedule from a network schedule.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.1
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• pp.70-80
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• 2001

A cycloid reducer is one of the rotational velocity reduction equipments of machinery. It has advantages of the higher reduction ratio, the higher accuracy, the easier adjustment of transmission ratio and the smaller workspace than other kinds of reducer. A cycloidal plate gear is a main part of the cycloid reducer. Its tooth shape is peculiar because of gearing with the roller gear that has the several rollers on the circular line. And then it can be designed to contact all teeth to rollers. So, the cycloid reducer has the good characteristics in the dynamic properties and the zero-backlash in the contact motion. It can be used in robots, high-precision machines and high capacity machinery. This paper proposes a new approach for the shape design of the cycloidal plate gear and presents a Computer-Aided-Design program developed by the proposed method. The first part of this paper defines the two types of the cycloid reducers and explains their mechanisms. The second part defines the instant velocity centers for each type of the cycloid reducers and calculates the contact angles and the contact points by using te geometric relationships and the kinematical properties of the reducers. The third part generates the full shape of the cycloidal plate gear by the coordinate transformation technique. Finally, this paper presents two examples for the shape design of the cycloidal plate gear in order to prove the theory of the proposed method in this paper and the accuracy of the \"CycloGear Designer\".

• Journal of the Korea Computer Graphics Society
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• v.17 no.2
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• pp.45-53
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• 2011

This paper proposes a volume meshing method that fills the inside of an object with tetrahedra, of which dihedral angles are good. The suggested method is fast, stable and easy to implement It can also utilize an octree structure to space-efficiently fill an object with graded tetrahedra by reducing the total number of tetrahedra. To obtain a high-quality mesh with good dihedral angles, we restrict the octree such that any pair of neighboring cells only differs by one level. To efficiently construct a restricted-octree and generate a volume mesh from the octree, we utilize a signed distance field of an object on its bounded workspace. The suggested method can be employed in FEM-based simulation of large elasto-plastic deformation and tetrahedral-mesh-based simulation of fluid flow.

• Journal of Korea Multimedia Society
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• v.2 no.4
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• pp.476-489
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• 1999

HW/SW codesign is integrated design of systems implemented using both hardware and software components. Many design tools has been developed to support this new paradigm, so far. Current codesign tools are not widely used as been expected because of variety problems - rapidly evolving technology, platform dependency, absence of standard specification method, inconsistent user interface, varying target system, different functionality In this paper, we propose a web-based distributed HW/SW codesign environment to remedy this kinds of problem. Our codesign environment has object-based 3 tier client/server architecture. It supports collaborative workspace through session service. Fully object-oriented design of user interface(OOUI) enables easy extension without change of user Interface. Furthermore it contains transaction server and security server for efficient and safe transfer of design data. To show a validity of our design, we developed prototype of web-based HW/SW codesign environment called WebCEDA. Our model of HW/SW codesign can be used for web-based generic CAD tools.

• KIPS Transactions on Software and Data Engineering
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• v.2 no.7
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• pp.461-470
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• 2013

The capacity for tracing relationships among various artifacts which are created at each phase of software system development is essential for software quality management. Software release refers to delivering a set of newly created or changed artifacts to customers. The relationships among artifacts which comprise software release must be traced so that the work for customer's requirement of change and functional enhancement is effectively established. And release management can be effectively realized through the integration of configuration management and change management. This paper proposes the technique for supporting change management of artifacts and for tracing relationships of artifacts which comprise software release through the integrated environment of personal workspace and configuration management system. In the proposed environment, the visualized version graph and automated tagging function are used for tracing relationships of artifacts.