• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.11
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• pp.2569-2574
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• 2013

In 13.56MHz RFID system of Auto-ID center, STAC protocol is defined as an anti-collision algorithm for multiple tag reading. In STAC protocol, the reader uses the tag number estimation scheme to determine the number of slots for the next reply round. If errors occur in the estimated number of tags, the identification performances will be degraded due to a lot of collision or idle slots. Therefore, in this paper, we propose an ERPB algorithm that the reader cancels the reply round when it experiences a series of collision or idle slots during the current round. The transmission probability control for the tag is also applied to the proposed algorithm. Through simulations, it is demonstrated that the collision rate for the proposed scheme is about 39% lower than STAC protocol. Therefore, the proposed scheme can achieve faster tag identification time compared with STAC protocol due to the low collision rate.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.712-714
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• 2016

The PS algorithm divides the tags within the identification range of reader into smaller groups by increasing the transmission power incrementally and identifies them. In 13.56MHz RFID system of Auto-ID center, STAC protocol is defined as an anti-collision algorithm for multiple tag reading. In this paper, we propose a STAC/PS algorithm that the PS algorithm is applied in the STAC protocol. The simulation results show that the STAC/PS algorithm can achieve faster tag identification speed compared with STAC protocol due to the low collision rate.

• Journal of Navigation and Port Research
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• v.28 no.6
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• pp.475-480
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• 2004

Author presented some study with regard to “automatic control for ship collision avoidance system” before. Those papers are to deal with unsolved problem,; in the previous study. In this paper, two issues relating to ship collision avoidance were investigated. One is to suggest a new algorithm of avoidance of a group ship. This algorithm is useful when a ship takes avoiding action for a group fish boats and a group of merchant vessels. In the stage of taking avoidance action, newly-developed algorithm was used. the other is to develop a unified model of collision risk. Generally collision risk changes according to various type of encounters. The new model is to take into account of these situations. The above-mentioned algorithm and model were verified through simulation under various encounters between ships.

• Journal of the Society of Naval Architects of Korea
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• v.38 no.4
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• pp.23-29
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• 2001

An Obstacle Avoidance System(OAS) of Underwater Vehicle(UV) in diving and steering plane is investigated. The concept of Imaginary Reference Line(IRL), which acts as the seabed in the diving plane, is introduced to apply the diving plane avoidance algorithm to the steering plane algorithm. Furthermore, the distance to the obstacle and the slope information of the obstacle are used for more efficient and safer avoidance. As for the control algorithm, the sliding mode controller is adopted to consider the nonlinearity of the equations of motion and to get the robustness of the designed system. To verify the obstacle avoidance ability of the designed system, numerical simulations are carried out on the cases of some presumed three-dimensional obstacles. The effects of the sonar and the clearance factor used in avoidance algorithm are also investigated. Through these, it is found that the designed avoidance system can successfully cope with various obstacles and the detection range of sonar is proven to bea significant parameter to the performance of the avoidance.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.498-504
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• 2005

A fuzzy logic for collision avoidance of underwater robots is proposed in this paper. The VFF(Virtual Force Field) method, which is widely used in the field of mobile robots, is modified for application to the autonomous navigation of underwater robots. This Modified Virtual Force Field(MVFF) method using the fuzzy logic can be used in either track keeping or obstacle avoidance. Fuzzy logics are devised to handle various situations which can be faced during autonomous navigation of underwater robots. The obstacle avoidance algorithm has the ability to handle multiple static obstacles. Results of simulation show that the proposed method can be efficiently applied to obstacle avoidance of the underwater robots.

• Proceedings of the Korea Information Processing Society Conference
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• 2003.05b
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• pp.1063-1066
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• 2003

지능형 게임 개발을 위하여 게임 이론의 정의, 게임의 구성요소, 전략적 게임의 분석을 통해 게임에 대한 배경 환경을 살펴보고, 보다 사실적 느낌 전달을 위한 게임 애니메이션과 게임에 적용되는 인공지능 기술을 퍼지 이론, 뉴럴네트웍으로 분류하여 적용 현황을 살펴보았다. 즉 게임처럼 수학적 표현이 어려운 경우 해결점을 퍼지 이론에서, 캐릭터의 움직임을 제어하는 퍼지 Rule Base를 찾아내는 연구를 신경망 인공지능을 통해 해결하는 과정을 살펴보고 국부해의 단점을 갖는 신경망 인공지능의 불투명성 해결 방법을 유전자 알고리즘에서 찾았다. 결론적으로 게임에서 이루어지는 물리적 특성인 충돌에 대한 충돌검사 알고리즘, 충돌반응에 대한 최적화를 유전자 알고리즘을 적용하여 해결하였다.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.48 no.3
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• pp.74-82
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• 2011

This paper describes a control system for positioning the real-time locations of the autonomous warfare vehicles and infantry, and for avoiding collisions between them. The control system utilizes the low-cost RSSI (Received Signal Strength Indication) for positioning the locations of the wireless devices. The mathematical mean filtering processes are applied to the calculation of the RSS matrix to improve the performance for positioning the wireless devices in the multi-path propagation environment. A fuzzy rule is proposed to recover and replace the broken packets occurring in the wireless communication. The gradient and geometric triangulation algorithms are proposed to trace the real-time locations of wireless devices, based on the distances between them. The estimated location results of the geometric triangulation algorithm are compared with the results of the GPS and the gradient algorithm.

• Journal of the Korea Computer Graphics Society
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• v.21 no.5
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• pp.11-19
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• 2015

Our research introduces a novel system for creating 3D vehicle animation. Our system is for intuitively authoring vehicle accident scenes according to videos or based on user-drawn trajectories. Our system has been implemented by combining three existing ideas. The first part is for obtaining 3D trajectory of a vehicle from black-box videos. The second part is a tracking algorithm that controls a vehicle to follow a given trajectory with small errors. The last part optimizes the vehicle control parameters so that the error between the input trajectory and simulated vehicle trajectory is minimized. We also simulate the deformation of the car due to an impact to achieve believable results in real-time.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1890-1891
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• 2011

본 논문은 변형 가능한 타원형의 포메이션을 유지하기 위한 군집 로봇의 행동 동기화 알고리즘을 제안한다. 알고리즘은 매개 변수 함수를 이용한 타원형 포메이션에서의 포텐셜 필드 생성 부분과 개별 로봇이 타원으로 이동하기 위한 인력 및 충돌 회피를 위한 척력 함수 부분으로 나누어진다. 제안한 알고리즘은 시뮬레이션을 통해 군집 로봇의 행동을 제어하는데 효과적임을 입증하였다.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.37-38
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• 2017

최근 방제 및 예찰과 같은 농작업에 단일 UAV(Unmanned Aerial Vehicle)시스템이 적용되고 있지만, 가반하중과 체공시간 등 기존시스템의 문제가 점차 대두되면서 작업 시간을 보다 단축시키고 작업 효율을 극대화 할 수 있는 농업용 멀티 UAV시스템의 필요성이 증대되고 있다. 본 논문에서는 작업자가 다수의 농업용 UAV를 효과적으로 제어할 수 있는 분산군집제어 알고리즘을 제안하며 알고리즘 검증 및 평가를 위한 시뮬레이터를 소개한다. 분산군집제어는 UAV 제어 계층, VP(Virtual Point) 제어 계층, 원격제어 계층으로 이루어진 3계층 제어구조를 가진다. UAV 제어 계층에서 각 UAV는 point mass로 모델링 되는 VP의 이상적인 경로를 추종하도록 제어한다. VP 제어 계층에서 각 VP는 입력 $p_i(t)=u^c_i+u^o_i+u^{co}_i+u^h_i$-(1)을 받아 제어되는데 여기서, $u^c_i{\in}{\mathbb{R}}^3$는 VP 사이의 충돌방지제어, $u^o_i{\in}{\mathbb{R}}^3$는 장애물과의 충돌방지제어, $u^{co}_i{\in}{\mathbb{R}}^3$는 UAV 상호간의 협조제어, $u^h_i{\in}{\mathbb{R}}^3$는 작업자로부터의 원격제어명령이다. (1)의 제어입력에서 충돌방지제어는 각 $u^i_c:=-{\sum\limits_{j{\in}{\eta}_i}}{\frac {{\partial}{\phi}_{ij}^c({\parallel}p_i-p_j{\parallel})^T}{{\partial}p_i}}$-(2), $u^o_c:=-{\sum\limits_{r{\in}O_i}}{\frac {{\partial}{\phi}_{ir}^o({\parallel}p_i-p^o_r{\parallel})^T}{{\partial}p_i}}$-(3)로 정의되면 ${\phi}^c_{ij}$와 ${\phi}^o_{ir}$는 포텐셜 함수를 나타낸다. 원격제어 계층에서 작업자는 햅틱 인터페이스를 통해 VP의 속도를 제어하게 된다. 이때 스케일변수 ${\lambda}$에 대하여 VP의 원격제어명령은 $u^t_i(t)={\lambda}q(t)$로 정의한다. UAV 시뮬레이터는 리눅스 환경에서 ROS(Robot Operating Systems)를 기반한 3차원 시뮬레이터인 Gazebo상에 구축하였으며, 마스터와 슬레이브 간의 제어 명령은 TCPROS를 통해 서로 주고받는다. UAV는 PX4 기반의 3DR Solo 모델을 사용하였으며 MAVROS를 통해 MAVLink 통신 프로토콜에 접속하여 UAV의 고도, 속도 및 가속도 등의 상태정보를 받을 수 있다. 현재 멀티 드론 시스템을 Gazebo 환경에 구축하였으며, 추후 시뮬레이터 상에 분산군집제어 알고리즘을 구현하여 검증 및 평가를 진행하고자 한다.