• 한국군사과학기술학회지
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• 제20권6호
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• pp.803-812
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• 2017

This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.

• 제어로봇시스템학회논문지
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• 제19권11호
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• pp.1036-1042
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• 2013

In this paper, an elderly assistance system is developed based on Xenomai, a real-time development framework cooperating with the Linux kernel. A Kinect sensor is used to recognize the behavior of the elderly and A-star search algorithm is implemented to find the shortest path to the person. The mobile robot also generates a trajectory using a digital convolution operator which is based on a Bezier curve for smooth driving. In order to follow the generated trajectory within the control period, we developed real-time tasks and compared the performance of the tracking trajectory with that of non real-time tasks. The real-time task has a better result on following the trajectory within the physical constraints which means that it is more appropriate to apply to an elderly assistant system.

• 정보처리학회논문지A
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• 제16A권6호
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• pp.501-508
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• 2009

본 논문에서는 상호연결망 폴디드 하이퍼-스타 연결망 FHS(2n,n)이 노드 대칭임을 증명하고, 이분할 연결망임을 증명한다. FHS(2n,n)이 오 드 연결망 On+1에 연장율 2, 밀집율 1로 임베딩 가능함을 보이고, 오드 연결망 Od이 FHS(2d,d)에 연장율 2, 밀집율 1로 임베딩 가능함을 보인 다. 또한 $2n{\time}n$ 토러스가 FHS(2n,n)에 연장율 2, 밀집율 2로 임베딩 가능함을 보인다.

• Journal of Power Electronics
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• 제16권3호
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• pp.982-993
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• 2016

A method for the fault-tolerant vector control of star-connected 3-phase Induction Motor (IM) drive systems based on Field-Oriented Control (FOC) is proposed in this paper. This method enables the control of a 3-phase IM in the presence of an open-phase failure in one of its phases without the need for control structure changes to the conventional FOC algorithm. The proposed drive system significantly reduces the speed and torque pulsations caused by an open-phase fault in the stator windings. The performance of the proposed method was verified using MATLAB (M-File) simulation as well experimental tests on a 1.5kW 3-phase IM drive system. This paper experimentally compares the operation of the proposed fault-tolerant vector controller and a conventional vector controller during open-phase fault.

• 대한방사선기술학회지:방사선기술과학
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• 제30권4호
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• pp.419-426
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• 2007

본 논문에서는 맛 인식을 위한 입력패턴벡터를 추출하고 패턴인식을 위한 맛(쓴맛, 단맛, 신맛, 짠맛)학습 알고리즘을 설계하였다. 입력패턴벡터의 구성을 위해 맛 활성화 신호의 세기가 사용되었고, 맛 패턴인식을 위한 알고리즘은 초기 참조벡터의 학습을 위해 SOM을 이용하였고, 종속 부류층의 출력뉴런의 부류지정을 위하여 out-star 학습법을 사용하였다. 제안된 알고리즘의 입력 층과 종속 클래스 층 사이의 연결강도는 SOM과 LVQ 알고리즘을 이용하여 초기 참조벡터의 설정 및 학습이 가능하게 하였다. 패턴벡터는 종속 부류층의 뉴런에 의해 종속 클래스로 분류하고, 종속 클래스 층과 출력 층 사이의 연결강도는 분류된 종속 부류를 클래스로 지정하는 학습을 하게 하였다. 패턴 분류를 위하여 제안된 학습알고리즘을 이용하여 시뮬레이션 되었고 기존의 LVQ 학습방식보다 우수한 분류성공률을 확인하였다.

• International Journal of Computer Science & Network Security
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• 제23권8호
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• pp.85-90
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• 2023

The Ant Colony System (ACS) is a variant of Ant colony optimization algorithm which is well-known in Traveling Salesman Problem. This paper proposed a hybrid method based on genetic algorithm (GA) and ant colony system (ACS), called GACS, to solve traffic routing problem. In the GACS, we use genetic algorithm to optimize the ACS parameters that aims to attain the shortest trips and time through new functions to help the ants to update global and local pheromones. Our experiments are performed by the GACS framework which is developed from VANETsim with the ability of real map loading from open street map project, and updating traffic light in real-time. The obtained results show that our framework acquired higher performance than A-Star and classical ACS algorithms in terms of length of the best global tour and the time for trip.

• 한국컴퓨터정보학회논문지
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• 제9권4호
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• pp.33-39
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• 2004

본 논문에서는 LVQ 네트워크의 분류성능을 향상시키기 위하여 F.C.P. Net.을 이용하여 LVQ 학습알고리즘을 설계하였다. F.C.P. Net.의 입력층과 부류층 사이의 연결강도는 SOM과 LVQ 알고리즘을 이용하여 초기 참조벡터의 설정 및 학습이 가능하게 하였다. 마지막으로 패턴벡터를 부류층의 뉴런에 의해 종속부류로 분류하고, F.C.P. Net.의 부류층과 출력층 사이의 연결강도는 분류된 종속부류를 부류로 지정하는 학습을 하게 된다. 또한 부류의 수가 결정되기만 하면 입력층, 부류층, 출력층의 뉴런의 수를 결정 할 수 있도록 하였다. 제안된 학습알고리즘의 성능을 검증하기 위하여 Fisher의 Iris 데이터를 학습벡터 및 시험 벡터로 사용하여 시뮬레이션 하였고, 제안된 학습방식의 분류 성능은 기존의 LVQ와 비교되어 기존의 학습방식보다 우수한 분류성공률을 확인하였다.

• 천문학회보
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• 제44권2호
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• pp.75.4-75.4
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• 2019

We present a quantitative analysis of the relationship between the gas dynamics and star formation history of DDO 210 which is an irregular dwarf galaxy in the local Universe. We perform profile analysis of an high-resolution neutral hydrogen (HI) data cube of the galaxy taken with the large Very Large Array (VLA) survey, LITTLE THINGS using newly developed algorithm based on a Bayesian Markov Chain Monte Carlo (MCMC) technique. The complex HI structure and kinematics of the galaxy are decomposed into multiple kinematic components in a quantitative way like 1) bulk motions which are most likely to follow the underlying circular rotation of the disk, 2) non-circular motions deviating from the bulk motions, and 3) kinematically cold and warm components with narrower and wider velocity dispersion. The decomposed kinematic components are then spatially correlated with the distribution of stellar populations obtained from the color-magnitude diagram (CMD) fitting method. The cold and warm gas components show negative and positive correlations between their velocity dispersions and the surface star formation rates of the populations with ages of < 40 Myr and 100~400 Myr, respectively. The cold gas is most likely to be associated with the young stellar populations. Then the stellar feedback of the young populations could influence the warm gas. The age difference between the populations which show the correlations indicates the time delay of the stellar feedback.

• 로봇학회논문지
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• 제1권2호
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• pp.117-124
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• 2006

In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2004년도 한국우주과학회보 제13권2호
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• pp.296-299
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• 2004

KARI precision attitude determination system has been developed for high accurate geo-coding of KOMPSAT-2 image. Sensor data from two star trackers and a IRU are used as measurement and dynamic data. Sensor data from star tracker are composed of QUEST and unit vector filter. Filter algorithms consists of extended Kalman filter, unscented Kalman filter, and least square batch filter. The type of sensor data and filter algorithm can be chosen by user options. Estimated parameters are Euler angle from 12000 frame to optical bench frame, gyro drift rate bias, gyro scale factor, misalignment angle of star tracker coordinate frame with respect to optical bench frame, and misalignment angle of gyro coordinate frame with respect to optical bench frame. In particular, ground control point data can be applied for estimating misalignment angle of star tracker coordinate frame. Through the simulation, KPADS is able to satisfy the KOMPSAT-2 mission requirement in which geo-location accuracy of image is 80 m (CE90) without ground control point.