• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.105-119
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• 2003

일반적인 로봇시스템은 자신이 이동해야 할 목표 지점을 자율적으로 생성할 수 없으므로 어떤 다른 시스템의 정보를 이용하여 주변을 탐색하거나 장애물을 인식하고 식별하여 자신의 제어전략을 수립한다. 그러므로 본 논문에서 제시한 시스템은 초소형 비행체를 이용하여 주위 환경과 자율 이동로봇의 위치 정보를 탐색할 수 있도록 시스템을 구성하였다 이러한 시스템의 성능은 로봇이 위치하고 있는 주위의 불완전한 정보로부터 적절한 결론을 유도해 낼 수 있어야 한다. 그러한 비선형적인 문제는 현재까지도 문제 해결을 위해 많은 연구가 진행되고 있다. 본 연구에서는 자율이동로봇의 행동 환경을 공간상의 제약을 받지 않는 비선형 시스템인 초소형 비행체에 극초단파(UHF16채널) 영상장치를 이용하여 호스트 PC로 전송하고 호스트 PC는 로봇의 현재 위치, 이동해야 할 목표위치, 장애물의 위치와 형태 등을 분석한다. 분석된 결과 파라메타는 RF-Module을 이용해서 로봇에 전송하고, 로봇은 그 데이터를 분석하여 동작하게 된다. 로봇이 오동작 또는 장애물로 인해 정확한 목적지까지 도달하지 못할 때 호스트 PC는 새로운 최단경로를 생성하거나 장애물을 회피 할 새로운 전략을 로봇에게 보내준다. 본 연구에 적용한 알고리즘은 초소형 비행체에서 탐지한 불완전한 영상정보에서도 비교적 신뢰도 놀은 결과를 보이는 A* 알고리즘을 사용하였다 적용한 알고리즘은 실험을 통하여 실시간으로 정보를 처리할 수 있었으며, 자율 이동로봇의 충돌회피나 최단 경로 생성과 같은 문제를 실험을 통하여 그 성능과 타당성을 검토하였다.delta}textitH]$를 도출하였다.rc}C$에서 30 ㎫의 압력으로 1시간동안 행하였다 소결한 시편들은 직사각형 형태로 가공하였으며 표면은 0.5$\mu\textrm{m}$의 다이아몬드 입자로 연마하였다. XRD, SEM 및 TEM을 이용하여 상분석 및 미세조직관찰을 행하였다. 파괴강도는 3중점 굽힘 법으로 (3-point bending test) 측정하였다. 이때 시편 하부의 지지 점간의 거리는 30mm, cross-head 속도는 0.5 mm/min으로 하였고 5개의 시편을 측정하여 평균값을 구하였다.ell/\textrm{cm}^3$, 혼합재료 3은 0.123$\ell/\textrm{cm}^3$, 0.017$\ell/\textrm{cm}^3$, 혼합재료 4는 0.055$\ell/\textrm{cm}^3$, 0.016$\ell/\textrm{cm}^3$, 혼합재료 5는 0.031$\ell/\textrm{cm}^3$, 0.015$\ell/\textrm{cm}^3$, 혼합재료 6은 0.111$\ell/\textrm{cm}^3$, 0.020$\ell/\textrm{cm}^3$로 나타났다. 3. 단일재료의 악취흡착성능 실험결과 암모니아는 코코넛, 소나무수피, 왕겨에서 흡착능력이 우수하게 나타났으며, 황화수소는 펄라이트, 왕겨, 소나무수피에서 다른 재료에 비하여 상대적으로

• The KIPS Transactions:PartC
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• v.17C no.3
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• pp.259-270
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• 2010

In this paper, a Location Information-based Gradient Routing (LIGR) algorithm is proposed for setting up routing path based on physical location information of sensor nodes in wireless ad-hoc networks. LIGR algorithm reduces the unnecessary data transmission time, route search time, and propagation delay time of packet by determining the transmission direction and search range through the gradient from the source node to sink node using the physical location information. In addition, the low battery nodes are supposed to have the second or third priority in case of forwarding node selection, which reduces the possibility of selecting the low battery nodes. As a result, the low battery node functions as host node rather than router in the wireless sensor networks. The LIGR protocol performed better than the Logical Grid Routing (LGR) protocol in the average receiving rate, delay time, the average residual energy, and the network processing ratio.

• Journal of Korean Society for Geospatial Information Science
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• v.20 no.4
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• pp.89-95
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• 2012

Recent planning for bicycle use is relatively low compared to other studies. Although studies for the bicycle roads accessibility are actively underway, those considering topographical elements and characteristics of the user behaviors are very limited. Choosing paths of cyclists is typically influenced by slopes and intersections as well as optimal distance. This study presents a method to find optimal paths considering topographical elements in case of choosing paths for school commuting using bicycles. Conversion formulae suggested here are tested on a Songpa area using round-trip directions and compared with traditional optimal path computation.

• Journal of the Korea Society of Computer and Information
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• v.20 no.1
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• pp.127-135
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• 2015

In this paper, we propose and implement an application that recommends safe paths for outdoor leisure activity of women based on Space Syntax theory. Compared to general navigation systems which focuses on the shortest time or the shortest distance, the proposed application makes safe paths the first priority. It generates path recommendation with regard to accessibility of travel time and correlation of regions and considers various risk factors for searching for the safest path. Concludingly, the employed Space Syntax algorithm enables the women users to select their own customized paths.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.7A
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• pp.733-742
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• 2008

In 3GPP LTE downlink system, initial cell search is essential for mobile station to connect to base station. In order to obtain information of the base station, the mobile station detects frame timing, frequency offset, and cell identification using primary synchronization channel(PSC) and secondary synchronization channel(SSC), which are defined in downlink OFDMA specification. In this paper, we analyze various detection algorithms in practical environment of inter-cell-interference, frequency offset, and multi-path fading channel and propose the optimal algorithm. Simulation results show that partial correlation method (for PSC acquisition) and interference cancellation method (for SSC detection) are the most superior algorithms among the applicable algorithms. Employ these two algorithms for receiver design, initial cell search is performed with 99% probability within 70ms in the channel environment considered.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.44 no.9
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• pp.25-37
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• 2007

The existing route re-establishment methods which intend to extend the lifetime of the network attempt to find new routes in order not to overly consume energy of certain nodes. These methods outperform other routing algorithms in the network lifetime extension aspect because they try to consume energy evenly for the entire network. However, these algorithms involve heavy signaling overheads because they find new routes based on the flooding method and route re-acquisition occurs often. Because of the overhead they often can not achieve the level of performance they intend to. In this paper, we propose a new route re-acquisition algorithm ARROW which takes into account the cost involved in the packet transmission and the route re-acquisition. Since the proposed algorithm considers future route re-acquisition costs when it first finds the route, it spends less energy to transmit given amount of data while evenly consuming the energy as much as possible. Using 2-dimensional Markov Chain model, we compare the performance of the proposed algorithm and that of other algorithms. Analysis results show that the proposed algorithm outperforms the existing route re-acquisition methods in the signaling overhead and network lifetime aspects.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.12
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• pp.30-45
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• 2014

Recently, multimedia application users who demand for ubiquitous computing environment are rapidly increasing, and wireless mesh network is receiving attention as a cost-effective key technology for next generation wireless networking. When multiple flows are transmitting data at the same time in the network, routing for path selection of each flow and link resource allocation for data transmission of each flow are one of the key factors that influence to the effectiveness of the network directly. In this paper, we consider problems for path discovery and resource allocation of links at the same time and we propose an algorithm based on mathematical modeling using a technique for cross-layer optimization design in STDMA-based wireless mesh networks that can enhance transfer performance for each flow. We show by performance analysis that the proposed algorithm can enhance the throughput performance by maximally utilizing given bandwidth resources when the number of flows increase in multi-hop wireless mesh networks.

• Journal of Advanced Navigation Technology
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• v.21 no.5
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• pp.443-449
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• 2017

Swarm of low-cost UAVs for search mission has benefit in the sense of rapid search compared to use of single high-end UAV. As the number of UAVs forming swarm increases, not only the time for the mission planning increases, but also the system to operate UAVs has excessive burden. This paper addresses a decentralized area search algorithm adequate for multiple UAVs which takes advantages of flexibility, robustness, and simplicity. To down the cost, it is assumed that each UAV has limited ability: close-communication, basic calculation, and limited memory. In close-communication, heath conditions and search information are shared. And collision avoidance and consensus of next search direction are then done. To increase weight on un-searched area and to provide overlapped search, the score function is introduced. Performance and operational characteristics of the proposed search algorithm and mission planning logic are verified via numerical simulations.

• Proceedings of the Korea Multimedia Society Conference
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• 2004.05a
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• pp.636-639
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• 2004

본 논문은 웹 도큐먼트를 기반으로 사용자에게 의미 있는 정보를 찾아주기 위한 연관 객체 추출 기법인 PMPL(Personalized Multi-Strategey Pattern Loaming) 시스템을 제안하고자 한다. PMPL 모듈은 인터넷의 정보를 여과하여 필터링하고, 사용자 개인화의 키워드를 중심으로 연관된 객체를 추출한다. 이때 연관된 객체 추출 시 대용량 데이터에서 시간적, 공간적면에서 효율적인 연관 탐색 기법인 Fp-Tree와 Fp-Growth 알고리즘을 적용시켰으며, 연관규칙 탐색을 보완하기 위해 가중치 기법인 만유인력 기법을 적용시켰다. PMPL 시스템을 실행한 결과 개인화된 사용자 중심어 기초로 기존의 단일 학습 기법에 비해 더 많은 의미 있는 연관 지식을 추출한 결과가 보였다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.716-719
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• 2005

We present an algorithm for finding shortest paths in the L$_1$ plane with a transportation network. The transportation network consists of parallel line segments, called highways, through which a movement gets faster. Given a source point s, our algorithm constructs a Shortest Path Map(SPM) such that for any query point t, we can find the length of a shortest path form s to t in O(log n) time. We design a plane sweep-like algorithm computing SPM in O(nlog n) time.