• Journal of Integrative Natural Science
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• v.7 no.2
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• pp.124-129
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• 2014

In this paper, we construct an logarithmic spiral-like curve using curvature-continuous quadratic spline and quadratic rational spline. The quadratic (rational) spline has self-similarity. We present some properties of the quadratic spline. Also using this $G^2$ quadratic spline, an approximation of logarithmic spiral is proposed and error analysis is obtained.

• Communications of the Korean Institute of Information Scientists and Engineers
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• v.1 no.1
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• pp.72-74
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• 1983

Traditionally, polynomials have been used to approximte functions with prescribed values at a number of points(called the knots) on a given interal on the real line. The method of splines recently developed is more flexible. It approximates a function in a piece-wise fashion, by means of a different polynomial in each subinterval. The cubic spline gas ets origins in beam theory. It possessed continuous first and second deriatives at the knots and is characterised by a minimum curvature property which es rdlated to the physical feature of minimum potential energy of the supported beam. Translated into mathematical terms, this means that between successive knots the approximation yields a third-order polynomial sith its first derivatives continuous at the knots. The minimum curvature property holds good for each subinterval as well as for the whole region of approximation This means that the integral of the square of the second derivative over the entire interval, and also over each subinterval, es to be minimized. Thus, the task of determining the spline lffers itself as a textbook problem in discrete computer programming, since the integral of ghe square of the second derivative can be obviously recognized as the criterion function whicg gas to be minimized. Starting with the initial value of the function and assuming an initial solpe of the curve, the minimum norm property of the curvature makes sequential decision of the slope at successive knots (points) feasible. It is the aim of this paper to derive the cubic spline by the methods of computer programming and show that the results which is computed the all the alues in each subinterval of the spline approximations.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.138-142
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• 2014

This research presents an A* based algorithm which can be applied to Unmanned Ground Vehicle self-navigation in order to make the driving path smoother. Based on the grid map, A* algorithm generated the path by using straight lines. However, in this situation, the knee points, which are the connection points when vehicle changed orientation, are created. These points make Unmanned Ground Vehicle continuous navigation unsuitable. Therefore, in this paper, B-spline curve function is applied to transform the path transfer into curve type. And because the location of the control point has influenced the B-spline curve, the optimal control selection algorithm is proposed. Also, the optimal path tracking speed can be calculated through the curvature radius of the B-spline curve. Finally, based on this algorithm, a path created program is applied to the path results of the A* algorithm and this B-spline curve algorithm. After that, the final path results are compared through the simulation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.937-945
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• 2000

The assessment of machined surface is difficult because the freeform surface must be evaluated by surface fairness as well as dimensional accuracy. In this study, the machined freeform surface is modeled by interpolating the data measured on the machine tool into the mathematical continuous surface, and then the surface model is improved with the parameterization to minimize surface fairness. The accuracy reliability of the measured data is confirmed through compensation of volumetric errors of the machine tool and of probing errors. Non-uniform B-spline surface interpolation method is adopted to guarantee the continuity of surface model. Surface fairness is evaluated with the consideration of normal curvature on the interpolated surface. The validity and usefulness of the proposed method is examined through computer simulation and experiment on the machine tool.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.17 no.3
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• pp.171-179
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• 2013

In this paper we present a method of circular arc approximation by quartic B$\acute{e}$zier curve. Our quartic approximation method has a smaller error than previous quartic approximation methods due to the alternation of the error function of our quartic approximation. Our method yields a closed form of error so that subdivision algorithm is available, and curvature-continuous quartic spline under the subdivision of circular arc with equal-length until error is less than tolerance. We illustrate our method by some numerical examples.

• Journal of Electrical Engineering and Technology
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• v.10 no.2
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• pp.676-687
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• 2015

Path planning algorithms are used to allow mobile robots to avoid obstacles and find ways from a start point to a target point. The general path planning algorithm focused on constructing of collision free path. However, a high continuous path can make smooth and efficiently movements. To improve the continuity of the path, the searched waypoints are connected by the proposed polynomial interpolation. The existing polynomial interpolation methods connect two points. In this paper, point groups are created with three points. The point groups have each polynomial. Polynomials are made by matching the differential values and simple matrix calculation. Membership functions are used to distribute the weight of each polynomial at overlapped sections. As a result, the path has $G^2$ continuity. In addition, the proposed method can analyze path numerically to obtain curvature and heading angle. Moreover, it does not require complex calculation and databases to save the created path.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.4
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• pp.58-67
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• 1998

A sectional analysis of sheet metal forming process with an arbitrary tool shape is proposed in the present work. To improve the numerical convergence in the conventional membrane sectional analysis, the Bending Energy Augmented Membrane (BEAM) elements had been developed. The BEAM elements particularly improve the stability and convergence of the finite element method for the case of deep drawing. In this work, the FERGUBON spline (C$^2$-continuous) was used to fit the deformed mesh to smooth the given curves and calculate the local curvature of the deformed sheet. The fittings of the deformed sheet and tool surface profile ensure the stability and the convergence of the finite element analysis of highly nonlinear stamping processes. A center floor section and front fender section are analyzed to show the accuracy and robustness of the approach. The results obtained by the proposed approach are compared with the available experimental data.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2007.04a
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• pp.577-582
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• 2007

A variational formulation for plane elasticity problems is derived based on an isogeometric approach. The isogeometric analysis is an emerging methodology such that the basis functions in analysis domain arc generated directly from NURBS (Non-Uniform Rational B-Splines) geometry. Thus. the solution space can be represented in terms of the same functions to represent the geometry. The coefficients of basis functions or the control variables play the role of degrees-of-freedom. Furthermore, due to h-. p-, and k-refinement schemes, the high order geometric features can be described exactly and easily without tedious re-meshing process. The isogeometric sensitivity analysis method enables us to analyze arbitrarily shaped structures without re-meshing. Also, it provides a precise construction method of finite element model to exactly represent geometry using B-spline base functions in CAD geometric modeling. To obtain precise shape sensitivity, the normal and curvature of boundary should be taken into account in the shape sensitivity expressions. However, in conventional finite element methods, the normal information is inaccurate and the curvature is generally missing due to the use of linear interpolation functions. A continuum-based adjoint sensitivity analysis method using the isogeometric approach is derived for the plane elasticity problems. The conventional shape optimization using the finite element method has some difficulties in the parameterization of boundary. In isogeometric analysis, however, the geometric properties arc already embedded in the B-spline shape functions and control points. The perturbation of control points in isogeometric analysis automatically results in shape changes. Using the conventional finite clement method, the inter-element continuity of the design space is not guaranteed so that the normal vector and curvature arc not accurate enough. On tile other hand, in isogeometric analysis, these values arc continuous over the whole design space so that accurate shape sensitivity can be obtained. Through numerical examples, the developed isogeometric sensitivity analysis method is verified to show excellent agreement with finite difference sensitivity.

• Journal of Computational Design and Engineering
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• v.2 no.4
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• pp.206-217
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• 2015

This paper presents a complete S-shape feed rate scheduling approach (CSFA) with confined jerk, acceleration and command feed rate for parametric tool path. For a Non-Uniform Rational B-Spline (NURBS) tool path, the critical points of the tool path where the radius of curvature reaches extreme values are found firstly. Then, the NURBS curve is split into several NURBS sub-curves or blocks by the critical points. A bidirectional scanning strategy with the limitations of chord error, normal/tangential acceleration/jerk and command feed rate is employed to make the feed rate at the junctions between different NURBS blocks continuous. To improve the efficiency of the feed rate scheduling, the NURBS block is classified into three types: short block, medium block and long block. The feed rate profile corresponding to each NURBS block is generated according to the start/end feed rates and the arc length of the block and the limitations of tangential acceleration/jerk. In addition, two compensation strategies are proposed to make the feed rate more continuous and the arc increment more precise. Once the feed rate profile is determined, a second-order Taylor's expansion interpolation method is applied to generate the position commands. Finally, experiments with two free-form NURBS curves are conducted to verify the applicability and accuracy of the proposed method.