• Journal of Navigation and Port Research
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• v.47 no.6
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• pp.401-409
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• 2023

This study compared and analyzed the performance of a distributed area search algorithm and a distributed probability search algorithm based on information exchange between ships. The distributed algorithm is a method that can search for an optimal avoidance route based on information exchange between ships. In the distributed area search algorithm, only a ship with the maximum cost reduction among neighboring ships has priority, so the next expected location can be changed. The distributed stochastic search algorithm allows a non-optimal value to be searched with a certain probability so that a new value can be searched. A circular-based ship collision avoidance model was used for the ship-to-ship collision avoidance experiment. The experimental method simulated the distributed area search algorithm and the distributed stochastic search algorithm while increasing the number of ships from 2 to 50 that were the same distance from the center of the circle. The calculation time required for each algorithm, sailing distance, and number of message exchanges were compared and analyzed. As a result of the experiment, the DSSA(Distributed Stochastic Search Algorithm) recorded a 25%calculation time, 88% navigation distance, and 84% of number of message exchange rate compared to DLSA.

• Journal of Advanced Navigation Technology
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• v.21 no.5
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• pp.443-449
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• 2017

Swarm of low-cost UAVs for search mission has benefit in the sense of rapid search compared to use of single high-end UAV. As the number of UAVs forming swarm increases, not only the time for the mission planning increases, but also the system to operate UAVs has excessive burden. This paper addresses a decentralized area search algorithm adequate for multiple UAVs which takes advantages of flexibility, robustness, and simplicity. To down the cost, it is assumed that each UAV has limited ability: close-communication, basic calculation, and limited memory. In close-communication, heath conditions and search information are shared. And collision avoidance and consensus of next search direction are then done. To increase weight on un-searched area and to provide overlapped search, the score function is introduced. Performance and operational characteristics of the proposed search algorithm and mission planning logic are verified via numerical simulations.

• Journal of the Korea Society of Computer and Information
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• v.18 no.1
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• pp.11-19
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• 2013

For an autonomous multi-mobile robot system, path planning and collision avoidance are important functions used to perform a given task collaboratively and cooperatively. This study considers these important and challenging problems. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner selects the paths of the robots that minimize the cost function from each robot to its own target using a potential field. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. In this paper, each robot independently selects its destination and considers other robots as dynamic obstacles, and there is no need to predict the motion of obstacles. This process continues until the corresponding target of each robot is found. To test this method, an autonomous multi-mobile robot simulator (AMMRS) is developed, and both simulation-based and experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.93-100
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• 2007

The mobile robots to rescue a life in a disaster area and to explore planets demand high mobility as well as recognition of the environment. To avoid unknown obstacles exactly in unknown environment, accurate sensing is required. This paper proposes a sensor fusion to recognize unknown obstacles accurately by using low-cost sensors. Ultrasonic sensors and infrared sensors are used in this paper to avoid obstacles. If only one of these sensors is used alone, it is not useful fer the mobile robots to complete their tasks in the real world since the surrounding environment in the real world is complex and composed of many kinds of materials. So infrared sensor may not recognize transparent or reflective obstacles and ultrasonic sensor may not recognize narrow obstacles, far example, columns of small diameter. Therefore, I selected six ultrasonic sensors and five infrared sensors to detect obstacles. Then, I fused ultrasonic sensors with infrared sensors in order that both advantages and disadvantages of each sensor are utilized together. In fusing sensors, fuzzy algorithm is used to cope with the uncertainties of each sensor. TAMRY which is terrain-adaptive mobile robot is used as the mobile robot for experiments.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.11
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• pp.1151-1157
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• 2009

Ensuring both product quality and reducing material cost are important issue for the design of the piping system of an air conditioner outdoor unit. This paper describes a shape optimization that achieves mass reduction of an air conditioner piping system while satisfying two design constraints on resonance avoidance and the maximum stress in the pipes. In order to obtain optimized design results with various analysis fields considered simultaneously, an automated multidisciplinary analysis system was constructed using PIAnO v.2.4, a commercial process integration and design optimization(PIDO) tool. As the first step of the automated analysis system, a finite element model is automatically generated corresponding to the specified shape of the pipes using a morphing technique included in HyperMesh. Then, the performance indices representing various design requirements (e.g. natural frequency, maximum stress and pipe mass) are obtained from the finite element analyses using appropriate computer-aided engineering(CAE) tools. A sequential approximate optimization(SAO) method was employed to effectively obtain the optimum design. As a result, the pipe mass was reduced by 18 % compared with that of an initial design while all the constraints were satisfied.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.112-121
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• 2021

Unlike a typical small-sized robot navigating in a free space, an autonomous vehicle has to travel in a designated road which has lanes to follow and traffic rules to obey. High-Definition (HD) maps, which include road markings, traffic signs, and traffic lights with high location accuracy, can help an autonomous vehicle avoid the need to detect such challenging road surroundings. With space constraints and a pre-built HD map, a new type of path planning algorithm can be conceived as a substitute for conventional grid-based path planning algorithms, which require substantial planning time to cover large-scale free space. In this paper, we propose an obstacle-avoiding, cost-based planning algorithm in a continuous space that aims to pursue a globally-planned path with the help of HD map information. Experimentally, the proposed algorithm is shown to outperform other state-of-the-art path planning algorithms in terms of computation complexity in a typical urban road setting, thereby achieving real-time performance and safe avoidance of obstacles.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.1
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• pp.65-71
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• 2020

Recently, interest in the DC transmission is rapidly increasing worldwide. In many countries and leading companies are prior to the aggressive development of HVDC technology and application. Especially, VSC-HVDC system has been widely applied to transfer power at long distance between power plant and power consumption area. Therefore in this paper, we analyzed the benefit-cost of VSC-HVDC system which has more advantages than existing transmission system. The proposed system is MMC(Modular Multilevel Converter) VSC-HVDC system that have stability of Power Grid, interconnect Large-scale New Power Generation Plants by prevents Blackout. And MMC VSC-HVDC system Reduced the loss importing foreign systems. And the benefits were calculated in four stages, and the costs were applied to the actual project. By evaluating the various avoidance costs compared to the benefit-cost, it was confirmed that MMC VSC-HVDC system was advantageous in system stability and economic and social benefits.

• Journal of the Korean Dietetic Association
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• v.9 no.1
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• pp.32-39
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• 2003

Although medical nutrition therapy (MNT) is considered as a cornerstone of medical treatment for hypercholesterolemia, few studies have evaluated medical and economical outcome of MNT. This study was conducted to identify whether MNT administered by registered dieticians could lead to a beneficial clinical and cost outcome in persons with hypercholesterolemia. A prospective clinical trial was carried out at outpatient clinics, which involved an initial visit with a dietitian followed by another visit at first 4 weeks during the 6 weeks study periods. Thirty-nine subjects took part in a 6 weeks nutrition intervention program. Clinical and economical outcomes were compared before and after MNT. Medical nutrition therapy lowered total serum cholesterol level 6.1% (P<0.05), low-density lipoprotein cholesterol (LDL-C) 9.4% (P<0.05) and high-density lipoprotein cholesterol (HDL-C) 3.0% (P<0.05). The cost-effective ratio was ￦ 1,520/cholesterol mg/dl and ￦ 1,441/LDL-cholesterol mg/dl, respectively. After dietitian's intervention, lipid drug eligibility was obviated in 16 of 39(41%) subjects. The cost savings from the avoidance of lipid medications was ￦ 151,107 per patient annually. In conclusion, it is suggested that provision of systemic intensive nutritional care for persons with hypercholesterolemia has significant effects on serum cholesterol reduction and clinical cost savings.

• The Journal of Fisheries Business Administration
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• v.33 no.1
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• pp.1-18
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• 2002

The observer program is being utilized In various fishing areas and fisheries internationally and nationally due to the its expected effectiveness in fisheries management and the collection of bioeconomic data necessary in fisheries management policy. The timely gathered data by observers play substantially a major role in decision-making fisheries policy such as the change in management measures, the application of season closure and area closure and etc. The expected effectiveness of the observer program In fisheries management, generally mentioned, is that it would lead to the increase in stock size from which the level of harvest would consequently increases. This study is aimed to analyze this tentatively expected effectiveness of the observer program in fisheries management. The changes in stock size and the level of harvest over time are analyzed under the observer program assuming the fishermen bear the cost of the observer program by investigating the change in fisherman's fishing activity under the observer program and by combining this changed activity with the biological model. The level of fishing efforts of fishermen was decreased from the results of the increase in fishing cost caused by the observer cost and the decrease in catchable stock size restricted by observers. This reduced level of fishing efforts enables stock size to increase over time and therefore, the expected level of harvest increases as time goes on. Another benefit under the observer program is to reduce management costs from the fact that fishermen are responsible for the cost of the observer program and the avoidance cost of fisherman responding to the fisheries regulation could be eliminated from the surveillance of observer. Therefore, it may possible to accomplish the cost-efficient fisheries management policy.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.1
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• pp.12-22
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• 2016

Lidar-based hazard avoidance landing system for lunar lander calculates hazard cost with respect to the desired local landing area in order to identify hazard and designate safe landing point where the cost is minimum basically using slope and roughness of the landing area. In this case, if the parameters are only considered, chosen landing target can be designated near hazard threatening the lander. In order to solve this problem and select optimal safe landing point, hazard cost based on relative distance to hazard should not be considered as well as cost based on terrain parameters. In this paper, the effect of hazard cost based on relative distance to hazard on safe landing performance was analyzed and it was confirmed that landing site designation with two relative distances to hazard results in the best safe landing performance by an experiment using three-dimensional depth camera.