• Journal of the Korean Arthroscopy Society
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• v.13 no.3
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• pp.229-234
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• 2009

• Journal of Aerospace System Engineering
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• v.18 no.2
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• pp.56-63
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• 2024

As the safety of unmanned vehicles continues to improve, their usage in urban environments, which are full of obstacles such as buildings, is expected to increase. When numerous unmanned vehicles are operated in such environments, an algorithm that takes into account mutual collision avoidance, as well as static and dynamic obstacle avoidance, is necessary. In this paper, we propose an algorithm that handles task assignment and path planning. To efficiently plan paths, we construct a grid-based map and derive the paths from it. To enable quick re-planning in dynamic environments, we focus on reducing computational time. Through simulation, we explain obstacle avoidance and mutual collision avoidance in small-scale problems and confirm their performance by observing the entire mission completion time (Makespan) in large-scale problems.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2334-2336
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• 2003

이동로봇의 주행을 위해서는 주변 환경에 대한 정보와 출발점과 도착점을 기초로 한 경로 탐색 알고리즘이 필요하다. 여러 경로 탐색 알고리즘 중 A* 알고리즘은 주어진 격자로 구성한 환경 정보 지도상에서 시작점과 목표점 두 Node가 주어지면 목표점까지 Node 단위로 탐색을 실시하여 시작점과 목표점 사이에 존재하는 수많은 경로 중 최저의 이동 비용 경로를 찾는 경험적인 알고리즘이다. 본 논문은 로봇의 가상 크기가 지도의 격자 방안 보다 큰 공간상에서 이동로봇의 경로 생성을 위해 격자 단위가 아닌 로봇의 가상 크기 단위로 탐색하도록 A*알고리즘을 보완하였으며 실험 결과 보완된 A* 알고리즘이 격자 단위 탐색으로 생성한 경로보다 로봇의 주행에 더 적합한 경로를 생성하였다. 또한 이동로봇의 코너 주행시 벽과의 충돌 가능성을 최소화 시키는 안전한 주행 방법을 제시하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2009.11a
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• pp.311-312
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• 2009

$A^*$ 알고리즘을 이용한 경로 계획은 이동 로봇이나 게임 유닛이 주어진 환경에서 장애물과 충돌 없이 이동 가능한 경로를 찾는데 많이 사용된다. 그러나 $A^*$ 알고리즘은 출발 지점에서 목적 지점까지의 최단 거리를 갖는 경로를 찾는다. 두 지점 사이에 장애물이 있는 경우, 최단 경로는 보통 두 지점 사이의 장애물의 모서리를 스치는 경로이다. 따라서 로봇이나 게임 유닛이 최단 경로로 이동할 때, 장애물의 모서리에 부딪힐 수 있는 위험성이 커진다. 일반적인 격자 지도의 한 셀은 장애물이 있는 경우의 무한대의 비용과 장애물이 없는 경우의 비용을 갖는다. 본 논문에서는 장애물에 가까울수록 장애물이 없는 경우보다 높은 비용을 갖는 점층적 격자 지도(gradation grid map)를 이용한다. 점층적 격자 지도를 통해 $A^*$ 알고리즘은 장애물 근처의 높은 비용을 갖는 셀을 되도록 통과하지 않는 경로, 즉 보다 안전한 경로를 생성한다.

• Journal of the Korean Arthroscopy Society
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• v.8 no.1
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• pp.45-50
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• 2004

Purpose: The purpose of this study is to compare the outcome of operative results in the impingement syndrome of the shoulder with and without the stiffness. Material and Method: Seventy-six patients who had the impingement syndrome without stiffness were evaluated, and treated with the subacromial decompression and 24 patients who had the impingement syndrome with stiffness, were treated with the subacromial decompression and the manipulation. The average follow-up period was 32 months. Result: The impingement syndrome of the shoulder with stiffness was more severe in the preoperative pain and worse in ASES score than without stiffness. The postoperative pain and ASES score improved in the both group. The satisfactory groups were 67% in the group with stiffness and 80% without stiffness. The satisfactory rate was 83% in the group with stiffness and 93% without stiffness. The satisfactory groups with diabetes were 47% in the group with stiffness and 81% without stiffness. Forward elevation, exeternal rotation at the side and internal rotation improved in both groups postoperatively and there were no statistically significant differences postoperatively External rotation was restricted statistically in the group with stiffness. Conclusion: Although patients may not regain the full range of motion, the technique of manipulation followed by arthroscopic subacromial decompression offers good pain relief and satisfactory functional recovery for the impingement syndrome with stiffness. However preoperative counseling is necessary for the impingement syndrome combined with diabetes and stiffness due to poor out come.

• Journal of the Korea Computer Graphics Society
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• v.8 no.1
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• pp.29-35
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• 2002

In virtual endoscopy, it is important to produce high quality perspective images in real-time. However, it is more significant to devise a navigation method that can make a virtual camera move through in human cavities such as colon and bronchus without collision and let the user control the camera intuitively. We propose an efficient navigation method, which generates 2D depth map during rendering the current frame, then determines position and direction of camera using the depth information. It offers collision-free navigation and allows us to control the camera as we want. Also it does not require preprocessing step and additional data structures.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.12
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• pp.981-988
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• 2021

This paper presents a decentralized guidance algorithm for swarm flight of fixed-wing UAVs (Unmanned Aerial Vehicles). Considering swarm flight missions, we assume four representative swarm tasks: gathering, loitering, waypoint/path following, and individual task. Those tasks require several distinct maneuvers such as path following, flocking, and collision avoidance. In order to deal with the required maneuvers, this paper proposes an integrated guidance algorithm based on vector field, augmented Cucker-Smale model, and potential field methods. Integrated guidance command is synthesized with heuristic weights designed for each guidance method. The proposed algorithm is verified through flight tests using up to 19 small fixed-wing UAVs.

• Journal of the Korean Society for Railway
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• v.16 no.5
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• pp.365-371
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• 2013

This study describes impact test methods for a rolling-stock windscreen executed in Korea and Europe. Air-pressurized impact test equipment for the front windscreens of high speed trains was designed and manufactured. The equipment is capable of launching a projectile at 500km/h, in accordance with EN 15152's impact test method. Calibration of the test equipment was conducted to find an equation relating air pressure and projectile velocity. Specimens ($1000mm{\times}700mm$) having similar specifications with the front windscreens in metro and conventional trains were used to conduct impact tests with this equipment to research the impact characteristics of the screens according to the impact velocity.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.11A
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• pp.1130-1137
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• 2006

One of the important performance issues in large-scale RFID systems is to resolve collisions among responses from RFID tags. Considering two do facto anti-collision solutions, namely the binary-tree splitting algorithm and the Slotted-Aloha algorithm, we propose to use multi-packet reception (MPR) capability to enhance the RFID tag reading rate (i.e., throughput). MPR allows an RFID reader to receive multiple reponses transmitted by tags at the same time. We analyze the effect of MPR capability in the above anti-collision algorithms, which is also validated by simulation. The analysis and simulation results show that RFID reader antenna design and signal separation techniques play an important role in improving RFID system performance with MPR capability.

• The Journal of the Petrological Society of Korea
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• v.21 no.2
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• pp.59-87
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• 2012

Recent studies reveal that eclogite formed in the Hongseong area and post collision igneous rocks occurred throughout the Gyeonggi Massif during the Triassic Songrim Orogeny. These new findings derive the tectonic model in which the Triassic Qinling-Dabie-Sulu collision belt between the North and South China blocks extends into the Hongseong-Yangpyeong-Odesan collision belt in Korea. The belt may be further extended into the late Paleozoic subduction complex in the Yanji belt in North Korea through the Paleozoic subduction complex in the inner part of SW Japan. The collision belt divides the Gyeonggi Massif into two parts; the northern and southern parts can be correlated to the North and South China blocks, respectively. The collision had started from Korea at ca. 250 Ma and propagated to China. The collision completed during late Triassic. The metamorphic conditions systematically change along the collision belt:. ultrahigh temperature metamorphism occurred in the Odesan area at 245-230Ma, high-pressure metamorphism in the Hongseong area at 230 Ma and ultra high-pressure metamorphism in the Dabie and Sulu belts. This systematic change may be due to the increase in the depth of slab break-off towards west, which might be related to the increase of the amounts of subducted ocecnic slab towards west. The wide distribution of Permo-Triassic arc-related granitoids in the Yeongnam Massif and in the southern part of the South China block indicate the Permo-Triassic subduction along the southern boundary of the South China block which may be caused by the Permo-Triassic collision between the North and South China blocks. These studies suggest that the Songrim orogeny constructed the Korean Peninsula by continent collision and caused the subduction along the southern margin of the Yeongnam Massif. Both the northern and southern Gyeonggi Massifs had undergone 1870-1840 Ma igneous and metamorphic activities due to continent collision and subduction related to the amalgamation of Colombia Supercontinent. The Okcheon metamorphic belt can be correlated to the Nanhua rift formed at 760 Ma within the South China blocks. In that case, the southern Gyeonggi Massif and Yeongnam Massif can be correlated to the Yangtz and Cathaysia blocks in the South China block, respectively. Recently possible Devonian or late Paleozoic sediments are recognized within the Gyeonggi Massif by finding of Silurian and Devonian detrital zircons. Together with the Devonian metamorphism in the Hongseong and Kwangcheon areas, the possible middle Paleozoic sediments indicate an active tectonic activity within the Gyeonggi Massif during middle Paleozoic before the Permo-Triassic collision.