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Genetic Algorithm Based Path Plannning and Dynamic Obstacle Avoidance of Mobile Robots
Han,Woong-Gie,Baek,Seung-Min,Kue,Tae-Yong 성균관대학교 1997 학술회의지원논문목록집 Vol.1997 No.-
A simple path planning scheme is proposed for navigation of mobile robots while avoiding obstacles. In generating the goal directed dunamic path the path panning scheme suses a genetic search algorithm whose coding technique speed up the execution if genetic search for fast path generation. The fitness value of the genetic search for fast path generation. The fitness value of the obstucting dynamic obhects and the distance to the goal position by the genetic algorithm. The exrution time of genetic search is further accelerated by projecting the two dimensional data to one dimensional ones to reduce the size of search space.
An Adaptive Learning Control of Flexible Robot Manipulators with Joint Flexibility
Choi, Dae-Il,Han, Woong-Gie,Kuc, Tae-Yong 成均館大學校 科學技術硏究所 1997 論文集 Vol.48 No.1
This paper presents a learning controller for flexible robot manipulators which is based on the computed torque error compensation method. The learning controller learns the desired torque input for tracking of link and elastic force dynamics. The uncertain system parameters and elastic force bound are also learned by the learning rules derived in the learning system. The link position error and the coupled elastic force error are shown to converge asymptotically, which, in turn, is confirmed via computer simulations.
공학수준 수상함 지휘무장통제체계 범용 모델 개발방안 연구
정영란,한웅기,김철호,김재익,Jung, Young-Ran,Han, Woong-Gie,Kim, Cheol-Ho,Kim, Jae-Ick 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.3
In this paper, we considered the authoritative representation of Command and Fire Control System(CFCS) for the surface ship that was the engineering level model to develop system specifications and to analyze operational concepts on the concept design phase and to analyze military requirements, effectiveness and performance for the system. The engineering level model of CFCS can be used in simulation independently of the surface ship's type, and also it takes reuse, interoperability, and extension into consideration. The detailed sub-models, internal and external data interface, data flow among each sub-model, sensor and weapon models about the engineering level model of CFCS was defined. It was verified via engineering level simulations according to the V&V process.
이기종 분산 환경의 함정전투체계를 위한 정보 모델 기반 통합 관리 및 모니터링 시스템 개발
민법기,김현수,국승학,김점수,한웅기,Min, Bup-Ki,Kim, Hyeon-Soo,Kuk, Seung-Hak,Kim, Chum-Su,Han, Woong-Gie 한국군사과학기술학회 2012 한국군사과학기술학회지 Vol.15 No.4
In the existing naval combat system, integrated management is done based on subsystems that make up the system. The naval combat system, however, is a large-scale distributed system made up of subsystems of diverse heterogeneous environments. Although each of the subsystems can be easily managed because they are on the same platform, it is extremely difficult to integrate and manage as a single entity all subsystems that make up the naval combat system because the heterogeneous environments and distributed systems have to be taken into account. In fact, there hasn't been a technique available to integrate and manage subsystems that make up the naval combat system, until now. In this paper, the architecture of an integrated management system is designed and implemented to provide the user with various services. Furthermore, a system that can manage subsystems of the naval combat system in an integrated way is developed.