• Journal of the Institute of Convergence Signal Processing
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• v.6 no.4
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• pp.182-190
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• 2005

In the paper, we propose an intelligent automatic parking assist system. To realize an automatic parking, first, the prospective parking position and the location of a vehicle should be recognized. Second, the system should compute a path which introduces the parking position precisely with avoiding any obstacles. Third, the handle should be controlled so that the vehicle moves through the path. To calculate the location of the vehicle and its surroundings, the system applies the camera image method to transforming input images to the plane map. It also uses the inertial navigation method which recognizes the position and the direction of a moving vehicle by using a kinematic model of the vehicle. To generate a path of the vehicle, the simple path method and the Bezier spline method are tested. The divided arc method which generates multiple paths is also tested. We apply a method which makes the system choose the best path with multiple objective functions. We introduce the virtual road method, as a solution for the problem of mechanical time delay, to have the vehicle followed the designated path.

• KIPS Transactions on Software and Data Engineering
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• v.3 no.9
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• pp.369-374
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• 2014

Path generation methods are required for safe and efficient driving in unmanned autonomous vehicles. There are two kinds of paths: global and local. A global path consists of all the way points including the source and the destination. A local path is the trajectory that a vehicle needs to follow from a way point to the next in the global path. In this paper, we propose a novel method for local path generation through machine learning, with an effective curve function used for initializing the trajectory. First, reinforcement learning is applied to a set of candidate paths to produce the best trajectory with maximal reward. Then the optimal steering angle with respect to the trajectory is determined by training an artificial neural network. Our method outperformed existing approaches and successfully found quality paths in various experimental settings, including the cases with obstacles.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.46 no.6
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• pp.19-25
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• 2009

The performance of a cognitive radio system with cooperative diversity which includes the direct and indirect path is analysed. The selection relay cooperation which selects the best relay, the relay with the best received signal-to-noise ratio(SNR) in destination node, is considered and derived the performance degradation caused by the CSI(Channel State Information) delay analytically. Numerical examples show that the cooperative diversity which have the direct and the indirect paths effectively improves the system performance in Rayleigh fading; the performance improves 4.4 dB with 1/10 of SNR of the indirect path. And the system performance is more degraded with the less frequency acquisition probability and with the high CSI delay.

• Journal of Internet Computing and Services
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• v.18 no.6
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• pp.15-23
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• 2017

Wireless power transmission (WPT) for wireless charging is currently attracting much attention as a promising approach to miniaturize batteries and increase the maximum total range of an electric vehicle. The main advantage of the laser power beam (LPB) approach is its high power transmission efficiency (PTE) over long distance. In this paper, we present the design of a laser power beam based WPT system, which has a best WPT channel selection technique at the receiver end when multiple power transmitters and single power receiver are operated simultaneously. The transmitters send their transmission channel information via optically modulated laser pulses. The receiver uses the received signal strength indicator and digitized data to choose an optimum power transmission path. We modeled a vertical multi-junction photovoltaic cell array, and conducted an experiment and simulation to test the feasibility of this system. From the experimental result, the standard deviation between the mathematical model and the measured values of normalized energy distribution is 0.0052. The error between the mathematical model and measured values are acceptable, thus the validity of the model is verified.

• Journal of applied mathematics & informatics
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• v.30 no.3_4
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• pp.571-591
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• 2012

To the best of our knowledge, there is no method, in the literature, to find the fuzzy optimal solution of fully fuzzy shortest path (FFSP) problems i.e., shortest path (SP) problems in which all the parameters are represented by fuzzy numbers. In this paper, a new method is proposed to find the fuzzy optimal solution of FFSP problems. Kumar and Kaur [Methods for solving unbalanced fuzzy transportation problems, Operational Research-An International Journal, 2010 (DOI 10.1007/s 12351-010-0101-3)] proposed a new method with new representation, named as JMD representation, of trapezoidal fuzzy numbers for solving fully fuzzy transportation problems and shown that it is better to solve fully fuzzy transportation problems by using proposed method with JMD representation as compare to proposed method with the existing representation. On the same direction in this paper a new method is proposed to find the solution of FFSP problems and it is shown that it is also better to solve FFSP problems with JMD representation as compare to existing representation. To show the advantages of proposed method with this representation over proposed method with other existing representations. A FFSP problem solved by using proposed method with JMD representation as well as proposed method with other existing representations and the obtained results are compared.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38B no.2
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• pp.146-153
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• 2013

The IR-UWB radar system radiates a pulse whose width is several hundred pico sec at Tx antenna and check the time to receive the pulse that reflected from target to measure the TOA. In this paper, we present a new algorithm which supplement the conventional ranging algorithm for more accurate estimation. We get received signal data using IR-UWB Radar module which equipped a NVA6000 UWB Transceiver and analysis the data of multi-path. Consequently, we found the property of UWB multi-path signal, which best fit a Gamma distribution. so we present a algorithm using Gamma-distribution and compared a performance with conventional ranging algorithm.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.150-159
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• 2012

In this paper, we propose a cost-aware Rapidly-exploring Random Tree (RRT) path planning algorithm for mobile robots. A mobile robot is presented with a cost map of the field of interest and assigned to move from one location to another. As a robot moves, the robot is penalized by the cost at its current location according to the cost map. The overall cost of the robot is determined by the trajectory of the robot. The goal of the proposed cost-aware RRT algorithm is to find a trajectory with the minimal cost. The cost map of the field can represent environmental parameters, such as temperature, humidity, chemical concentration, wireless signal strength, and stealthiness. For example, if the cost map represents packet drop rates at different locations, the minimum cost path between two locations is the path with the best possible communication, which is desirable when a robot operates under the environment with weak wireless signals. The proposed cost-aware RRT algorithm extends the basic RRT algorithm by considering the cost map when extending a motion segment. We show that the proposed algorithm gives an outstanding performance compared to the basic RRT method. We also demonstrate that the use of rejection sampling can give better results through extensive simulation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.1
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• pp.305-321
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• 2012

Since Internet Protocol (IP) is the most important protocol in Next Generation Networks (NGNs), 3rd Generation Partnership Project (3GPP) utilizes Session Initial Protocol (SIP) based on IP as the base protocol for negotiating sessions in IP Multimedia Subsystem (IMS). Different from traditional circuit-switched network, in IMS, the media traffic and signaling are delivered through IP transport. The media traffic may affect the signaling efficiency in core network, due to traffic collisions and best effort packets delivery. This paper proposes a novel path-migration mechanism for enhancing the traffic efficiency in integrated NGN-IMS. The simulation results show that the interference and traffic collision can be reduce by applying proposed path-migration mechanism and the signaling efficiency in core network can be improved with higher system capability and voice quality.

• Journal of Information Processing Systems
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• v.10 no.2
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• pp.176-192
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• 2014

The realization of Wireless Multimedia Sensor Networks (WMSNs) has been fostered by the availability of low cost and low power CMOS devices. However, the transmission of bulk video data requires adequate bandwidth, which cannot be promised by single path communication on an intrinsically low resourced sensor network. Moreover, the distortion or artifacts in the video data and the adherence to delay threshold adds to the challenge. In this paper, we propose a two stage Quality of Service (QoS) guaranteeing scheme called Prioritized Multipath WMSN (PMW) for transmitting H.264 encoded video. Multipath selection based on QoS metrics is done in the first stage, while the second stage further prioritizes the paths for sending H.264 encoded video frames on the best available path. PMW uses two composite metrics that are comprised of hop-count, path energy, BER, and end-to-end delay. A color-coded assisted network maintenance and failure recovery scheme has also been proposed using (a) smart greedy mode, (b) walking back mode, and (c) path switchover. Moreover, feedback controlled adaptive video encoding can smartly tune the encoding parameters based on the perceived video quality. Computer simulation using OPNET validates that the proposed scheme significantly outperforms the conventional approaches on human eye perception and delay.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.7
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• pp.3511-3532
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• 2019

Coverage-guided fuzzing is an efficient solution that has been widely used in software testing. By guiding fuzzers through the coverage information, seeds that generate new paths will be retained to continually increase the coverage. However, we observed that most samples follow the same few high-frequency paths. The seeds that exercise a high-frequency path are saved for the subsequent mutation process until the user terminates the test process, which directly affects the efficiency with which the low-frequency paths are tested. In this paper, we propose a fuzzing solution, ER-Fuzz, that truncates the recording of a high-frequency path to influence coverage. It utilizes a deep learning-based classifier to locate the high and low-frequency path transfer points; then, it instruments at the transfer position to promote the probability low-frequency transfer paths while eliminating subsequent variations of the high-frequency path seeds. We implemented a prototype of ER-Fuzz based on the popular fuzzer AFL and evaluated it on several applications. The experimental results show that ER-Fuzz improves the coverage of the original AFL method to different degrees. In terms of the number of crash discoveries, in the best case, ER-Fuzz found 115% more unique crashes than did AFL. In total, seven new bugs were found and new CVEs were assigned.