• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.654-659
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• 2007

This paper proposes the effective method for classifying the working spates and modelling the environments, when complex working environments of AGVS(Automated Guided Vehicle System) ate changed. And, we propose the shortest path searching algorithm using the A* algorithm of graph search method. Also, we propose the methods for finding each AGV's travel time of shortest path. Finally, a simple example is included for visualizing the feasibility of the proposed methods.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.4
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• pp.818-824
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• 2014

The solution of brachistochrone problem turned out the form of a cycloid but correct angle values of bead can be obtained from the table form of inverse relations for the complicated nonlinear equations. To enhance the accuracy, this paper employs the neural network to represent the inverse relation of the complicated nonlinear equations. The accurate minimum-time control is possible with the interpolation property of the neural network. For various final target points, we have found that the proposed method is superior to the conventional ones through the computer simulations.

• Journal of KIISE:Computer Systems and Theory
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• v.34 no.4
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• pp.132-137
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• 2007

A point-wise car-like robot moving in the plane changes its direction with a constraint on turning curvature. In this paper, we consider the problem of computing a shortest path of bounded curvature between a prescribed initial configuration (position and orientation) and a polygonal goal, and propose a new geometric proof showing that the shortest path is either of type CC or CS (or their substring), where C specifies a non-degenerate circular arc and S specifies a non-degenerate straight line segment. Based on the geometric property of the shortest path, the shortest path from a configuration to a polygonal goal can be computed in linear time.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.11
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• pp.2002-2007
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• 2006

The path search method in the telematics system should consider traffic flow of the roads as well as the shortest time because the optimal path with minimized travel time could be continuously changed by the traffic flow. The existing path search methods are not able to cope efficiently with the change of the traffic flow. The search method to use traffic information also needs more computation time than the existing shortest path search. In this paper, a method for efficiency improvement of path search is implemented and its performance is evaluated. The method employs the fixed grid for adjustable heuristic to traffic flow. Moreover, in order to simplify the computation of estimation values, it only adds graded decimal values instead of multiplication operation of floating point numbers with due regard to the gradient between a departure and a destination. The results obtained from the experiments show that it achieves the high accuracy and short execution time as well.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.12
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• pp.2775-2784
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• 2013

A bead is intended to reach a specified target point in the minimum-time when it travels along a certain curve on a vertical plane with the gravity. This is called the brachistochrone problem. Its minimum-time control input may be found using the calculus of variation. However, the accuracy of its minimum-time control input is not high since the solution of the control input is based on a table form of inverse relations for some complicated nonlinear equations. To enhance the accuracy, this paper employs the neural network to represent the inverse relation of the complicated nonlinear equations. The accurate minimum-time control is possible with the interpolation property of the neural network. For various final target points, we have found that the proposed method is superior to the conventional ones through the computer simulations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.4
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• pp.701-712
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• 2012

The concept of $k$-shortest disjoint paths is considered important because the establishment of primary and backup forwarding paths exploiting shorter distance and faster propagation time is a dominant consideration for the design of a survivable backbone network. Therefore, we need to evaluate how well the concept of $k$-shortest disjoint paths is exploited for the design of a survivable ship backbone network considering the international standard related to ship backbone networks, the IEC61162-410 standard specifying how to manage redundant message transmissions among ship devices. Performance evaluations are conducted in terms of following objective goals: link capacity, hop and distance of primary and backup paths, even distribution of traffic flows, restoration time of backup forwarding paths, and physical network topology connectivity.

• Journal of Korean Society for Geospatial Information Science
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• v.24 no.1
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• pp.9-16
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• 2016

As the need of eco-friendly transportation systems for sustainable development increases, public transport accessibility has been considered as an important element of transportation system design. When analyzing the accessibility, shortest path algorithms can be utilized to reflect the actual movement and we can obtain high resolution accessibility for all other stations on the network with shortest distance and time. This study used the algorithm improved by reflecting the penalty of number of transfers and waiting time of overlapped routes to get the accessibility. KTX Seoul Station is a target place and this algorithm is applied to multi-layer subway bus network of Seoul to calculate the accessibility, therefore this study presented the accessibility of KTX Seoul station by stations.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.4
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• pp.698-706
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• 2016

In order to move mobile robots to desired locations in a minimum time, optimal control problems have to be solved; however, their analytic solutions are almost impossible to obtain due to robot nonlinear equations. This paper presents a method to get optimal control gains of mobile robots using genetic algorithms. Since the optimal control gains of mobile robots depend on the initial conditions, the initial condition range is discretized to form some grid points, and genetic algorithms are applied to provide the optimal control gains for the corresponding grid points. The optimal control gains for general initial conditions may be obtained by use of neural networks. So the optimal control gains and the corresponding grid points are used to train neural networks. The trained neural networks can supply pseudo-optimal control gains. Finally simulation studies have been conducted to verify the effectiveness of the method presented in this paper.

• Journal of KIISE:Information Networking
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• v.28 no.1
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• pp.71-81
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• 2001

최근 병렬처리 시스템에 대한 연구는 마이크로 프로세서 제작 기술과 네트워크 기술이 발달함에 따라 고성능의 PC와 워크스테이션 여러대를 고속의 네트워크로 연결하여 구축하는 클러스터링 환경에 관심이 고조되고 있다. 그런데 이러한 클러스터링 시스템의 성능은 수행되는 애플리케이션 프로그램의 병렬성이나 xdhtls 빈도 등의 특성에 따라 달라진다. 그러므로 클러스터링 시스템의 성능을 향상시키기 위해서는 애플리케이션의 이러한 특성을 고려하여 최상의 효과를 얻기 위한 조정작업이 필요하며 그 방법중의 하나가 시스템 상에서 발생하는 통신들에 대하 스케줄링을 수행하는 것이다. 본 논문에서는 Myrinet 스위치를 사용하여 선형으로 구성한 클러스터링 시스테과 2차원 메쉬 형태로 구성한 클러스터링 시스템의 두 가지 모델을 가정하고 이들 모델 상에서 특성 시간에 주어지는 통신요청들에 대하여 순위차원 라우팅을 사용하여 메시지들을 최단시간에 전송할 수 있는 최적 통신스케줄링 알고리즘을 제안한다. 시스템 상에서 같은 방향으로 동시에 링크를 공유한는 통신들의 개수의 최대값을 $L_{MAX}$로 시스템에서 하나의 메시지가 전달되는데 걸리는 시간을 T로 정의하면 알고리즘에 의해 선형 네트워크에서의 통신 요청 집합에 대한 메시지 전송 완료 시간은 최대 $L_{MAX}{\cdot}T$, 메쉬 네트워크에서의 통신요청 집합에 대한 메시지 전송 완료시간은 최대 $frac{3}{2}{\cdot}T$임을 증명하였다.

• Journal of Navigation and Port Research
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• v.43 no.6
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• pp.377-383
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• 2019

Naval ships that are navigating always have the possibility of colliding, but there is no clear maneuvering procedure for collision avoidance, and there is a tendency to depend entirely on the intuitive judgment of the Officer Of Watch (OOW). In this study, we conducted a questionnaire survey when and how to avoid collision for the OOW in a Constant Bearing, Decreasing Range (CBDR) situation wherein the naval ships encountered obstacles. Using the results of the questionnaire survey, we analyzed the CBDR situation of encountering obstacles, and how to avoid collision in day/night. The most difficult to maneuver areas were Pyeongtaek, Mokpo, and occurred mainly in narrow channels. The frequency appeared on average about once every four hours, and there were more of a large number of ships encountering situations than the 1:1 situation. The method of check of collision course confirmation was more reliable with the eye confirmation results, and priority was given to distance at closest point of approach (DCPA) and time at closest point of approach (TCPA). There was not a difference in DCPA between the give-way ship and stand-on ship, but a difference between day and night. Also, most navigators prefer to use maneuvering & shifting when avoiding collisions, and steering is 10-15°, shifting ±5knots, and the drift course was direction added stern of the obstacles to the direction of it. These results will facilitate in providing officers with standards for collision avoidance, and also apply to the development of AI and big data based unmanned ship collision avoidance algorithms.