• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3160-3172
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• 1996

A search algorithm for the collision free, time optimal transport path of overhead cranes has been proposed in this paper. The map for the working environment of overhead cranes was constructed in the form of three dimensional grid. The obstacle occupied region and unoccupied region of the map has been represented using the octree model. The best-first search method with a suitable estimation function was applied to select the knot points on the collision free transport path to the octree model. The optimization technique, minimizing the travel time required for transporting objects to the goal while subjected to the dynamic constraints of the crane system, was developed to find the smooth time optimal path in the form of cubic spline functions which interpolate the selected knot points. Several simulation results showed that the selected estimation function worked effectively insearching the knot points on the collision free transport path and that the resulting transport path was time optimal path while satisfying the dynamic constraints of the crane system.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.817-822
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• 2004

This paper provides a global path planning method using self-organizing feature map which is a method among a number of neural network. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.3 s.180
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• pp.94-101
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• 2006

A global path planning method using self-organizing feature map which is a method among a number of neural network is presented. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are moved toward the input vector On the other hand, the modified method in this research uses a predetermined initial weight vectors of 1-dimensional string and 2-dimensional mesh, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are moved toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.473-479
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• 2006

A global path planning algorithm using modified self-organizing feature map(SOFM) which is a method among a number of neural network is presented. The SOFM uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors of the 2-dimensional mesh, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the opposite direction of input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.137-143
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• 2005

Autonomous mobile robot has an ability to navigate using both map in known environment and sensors for detecting obstacles in unknown environment. In general, autonomous mobile robot navigates by global path planning on the basis of already made map and local path planning on the basis of various kinds of sensors to avoid abrupt obstacles. This paper provides a global path planning method using self-organizing feature map which is a method among a number of neural network. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.7
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• pp.3393-3412
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• 2017

As a main challenge in network virtualization, virtual network embedding problem is increasingly important and heuristic algorithms are of great interest. Aiming at the problems of poor correlation in node embedding and link embedding, long distance between adjacent virtual nodes and imbalance resource consumption of network components during embedding, we herein propose a two-stage virtual network embedding algorithm NA-PVNM. In node embedding stage, resource requirement and breadth first search algorithm are introduced to sort virtual nodes, and a node fitness function is developed to find the best substrate node. In link embedding stage, a path fitness function is developed to find the best path in which available bandwidth, CPU and path length are considered. Simulation results showed that the proposed algorithm could shorten link embedding distance, increase the acceptance ratio and revenue to cost ratio compared to previously reported algorithms. We also analyzed the impact of position constraint and substrate network attribute on algorithm performance, as well as the utilization of the substrate network resources during embedding via simulation. The results showed that, under the constraint of substrate resource distribution and virtual network requests, the critical factor of improving success ratio is to reduce resource consumption during embedding.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.11C
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• pp.1055-1063
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• 2002

In this paper, we have studied path selection problem using multiple metric. Current Internet selects a path using only one metric. The path selected by one metric is a best-effort service that can satisfy one requirements. In order to satisfy a call with various Qualify-of-Service(QoS) requirements, the path must satisfy multiple constraints. In many cases, path selection is NP-complete. The proposed algorithm is widest-least cost routing algorithm that selects a path based on cost metric which is basically a delay metric influenced by the network status. The proposed algorithm is a multiple metric path selection algorithm that has traffic distribution ability to select shortest path when network load is light and move traffic to other alternate path when the link load is high. We have compared the results with other routing algorithms.

• Journal of KIISE:Information Networking
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• v.31 no.5
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• pp.519-531
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• 2004

Ad-hoc networks are temporary wireless systems composed of mobile nodes without any fixed infrastructure. The life time of each node in the ad-hoc network significantly affects the life time of whole ad-hoc network. A node which drained out its battery may incur the partition of whole network in some network topology The life time of each node depends on the battery capacity of each node. Therefore if all mobile nodes in the network live evenly long, the life time of the network will be longer. In this paper, we propose Power-Aware Dynamic Source Routing (PADSR) which selects the best path to make the life time of the network be longer. In PADSR, when a source node finds a path to the destination node, it selects the best path that makes nodes in the network live evenly long. To find the best path, PADSR considers the consumption of transmission energy and residual battery capacity of nodes upon the path. Consequently the network lives longer if we use PADSR.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.3
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• pp.46-55
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• 2020

Ad Hoc network is a special wireless network, mainly because the nodes are no control center, the topology is flexible, and the networking could be established quickly, which results the transmission stability is lower than other types of networks. In order to guarantee the transmission of data packets in the network effectively, an improved Queue Ad Hoc On-demand Distance Vector Routing protocol (Q-AODV) for node detection by using blockchain technology is proposed. In the route search process. Firstly, according to the node's daily communication record the cluster is formed by the source node using the smart contract and gradually extends to the path detection. Then the best optional path nodes are chained in the form of Merkle tree. Finally, the best path is chosen on the blockchain. Simulation experiments show that the stability of Q-AODV protocol is higher than the AODV protocol or the Dynamic Source Routing (DSR) protocol.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2606-2615
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• 1994

Sorting time is one of the most important issues for auto IC test handling systems. In actual system, because of too much path, reducing the computing time for finding a sorting path is the key way to enhancing the system performance. The exhaustive path search technique can not be used for real systems. This paper proposes heuristic sorting algorithm to find the minimal sorting time. The suggested algorithm is basically based on the best-first search technique and multi-level search technique. The results are close to the optimal solutions and computing time is greately reduced also. Therefore the proposed algorthm can be effectively used for real-time sorting process in auto IC test handling systems.