• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1122-1131
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• 2012

This paper presents obstacle avoidance method for scout robot or industrial robot in unknown environment by using IR sensor and vision system. In the proposed method, robots share the information where the obstacles are located in real-time, thus the robots can choose the best path for obstacle avoidance. Using IR sensor and vision system, multiple robots efficiently evade the obstacles by the proposed cooperation method. No landmark is used at wall or floor in experiment environment. The obstacles don't have specific color or shape. To get the information of the obstacle, vision system extracts the obstacle coordinate by using an image labeling method. The information obtained by IR sensor is about the obstacle range and the locomotion direction to decide the optimal path for avoiding obstacle. The experiment was conducted in $7m{\times}7m$ indoor environment with two-wheeled mobile robots. It is shown that multiple robots efficiently move along the optimal path in cooperation with each other in the space where obstacles are located.

• International Journal of Computer Science & Network Security
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• v.22 no.4
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• pp.17-26
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• 2022

Sensor Nodes play a major role to monitor and sense the variations in physical space in various real-time application scenarios. These nodes are powered by limited battery resources and replacing those resource is highly tedious task along with this it increases implementation cost. Thus, maintaining a good network lifespan is amongst the utmost important challenge in this field of WSN. Currently, energy efficient routing techniques are considered as promising solution to prolong the network lifespan where multi-hop communications are performed by identifying the most energy efficient path. However, the existing scheme suffer from performance related issues. To solve the issues of existing techniques, a novel hybrid technique by merging particle swarm optimization and game theory model is presented. The PSO helps to obtain the efficient number of cluster and Cluster Head selection whereas game theory aids in finding the best optimized path from source to destination by utilizing a path selection probability approach. This probability is obtained by using conditional probability to compute payoff for agents. When compared to current strategies, the experimental study demonstrates that the proposed GTPSO strategy outperforms them.

• ETRI Journal
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• v.26 no.6
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• pp.545-554
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• 2004

In this paper, we propose an efficient design method for area optimization in a digital filter. The conventional methods to reduce the number of adders in a filter have the problem of a long critical path delay caused by the deep logic depth of the filter due to adder sharing. Furthermore, there is such a disadvantage that they use the transposed direct form (TDF) filter which needs more registers than those of the direct form (DF) filter. In this paper, we present a hybrid structure of a TDF and DF based on the flattened coefficients method so that it can reduce the number of flip-flops and full-adders without additional critical path delay. We also propose a resource sharing method and sharing-pattern searching algorithm to reduce the number of adders without deepening the logic depth. Simulation results show that the proposed structure can save the number of adders and registers by 22 and 26%, respectively, compared to the best one used in the past.

• Journal of IKEEE
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• v.13 no.1
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• pp.94-100
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• 2009

In recent years, the wireless mesh network (WMN) has been an emerging technology to provide Internet access to fixed and mobile wireless devices. The main goal of this paper is the design and simulation of a new MAC protocol based on the multi-path routing information for wireless mesh networks. The information about multiple paths discovered in the network layer is exploited by the MAC layer in order to forward a frame over the best hop out of multiple hop choices. The performance of our approach is compared with conventional 802.11 MAC through the simulation. The results show that our scheme exhibits a significantly better performance rather than conventional 802.11 MAC protocol in terms of packet overhead, end-to-end throughput and delay.

• The Journal of the Korea institute of electronic communication sciences
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• v.4 no.3
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• pp.197-203
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• 2009

Finite field arithmetic is very important in the area of cryptographic applications and coding theory, and it is efficient to use normal bases in hardware implementation. Using the fact that $GF(2^{mk})$ having a type-I optimal normal basis becomes the extension field of $GF(2^m)$, we, in this paper, propose a new serial multiplier which reduce the critical XOR path delay of the best known Reyhani-Masoleh and Hasan's serial multiplier by 25% and the number of XOR gates of Kwon et al.'s multiplier by 2 based on the Reyhani-Masoleh and Hasan's serial multiplier for type-I optimal normal basis.

• Journal of the Korean Vacuum Society
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• v.5 no.4
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• pp.278-283
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• 1996

We constructed a single path cylindrical mirror analyser(CMA) using field terminator methods. With computer simulation, the best fit voltage ratio and position of the field terminaor was determined with maintain log-scale equipotential line near both end of the CMA. Then we construct field terminator with voltage divider of metal-oxide resisters which reduces the fringe field effect. The resolving power of the CMA was better than $\Delta$E/E=0.4%.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.76-81
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• 1993

This paper presents an Auto-Drive-Guidance System which provides a path to the destination with the shortest driving distance(or time), as well as service information such as the location of gas stations, hospitals, or police stations. This system displays on the monitor screen the best driving path to the destination, points the current car position on the map, informs the driver of current position by voice whenever the car passes well-known places, or displays the map the driver wishes to view. With this system, driving becomes more comfortable, and traffic jams will be greatly reduced. As a result, gasoline consumption will be reduced and so air pollution. The system can also be applied to such areas as communication network, geographic map, and tour information.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.44-47
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• 1996

Bang-bang control law provides the optimal solution for a minimum-time control problem, but ignores the intermediate path except for the initial and final points. In this paper, a near minimum-time suboptimal fuzzy logic controller is introduced that can control the intermediate path. A dynamic model for a system is established using the average dynamics method of linearization. System model is continuously updated over the control time periods. This makes it suitable for high speed or variable payload applications. Bang-bang control theory is modified and used to derive the preliminary control law. A fuzzy logic algorithm is then applied to adjust and find the best solution. The solution will provide the suboptimal minimum-time control law which can avoid obstacles in the workspace.

• Proceedings of the IEEK Conference
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• 2001.06b
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• pp.257-260
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• 2001

Routing region modeling methods for PCB auto-routing system in Shape based type(non-grid method) used region process type and the shape located in memory as a individual element, and this element consumed small memory due to unique data size. In this paper we design PCB(Printed Circuit Board) auto-routing system using the auction algorithm method that 1) Could be reached by solving the shortest path from single original point to various destination, and 2) Shaped based type without any memory dissipation with the best speed. Also, the auto-routing system developed by Visual C++ in Window environment, and can be used in IBM Pentium computer or in various individual PC system.

• Proceedings of the IEEK Conference
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• 2000.11c
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• pp.37-40
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• 2000

A fast method of Hangul address word verification is presented in this Paper. Pre-segmentation and recognition by DP matching is adopted in this paper. An address line image is over-segmented by analyzing the topology of connected components and the projection profile. A fast individual Hangul character verifier was developed by applying SVM (Support Vector Machine). The segmentation hypothesis was represented by lattice structure, and a best path search by dynamic programming generates the most probable segmentation path and the final verification score. The word verifier was tested on 310 address image DB, and it show the possibility of improvements of this method.