• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.88-93
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• 1998

This paper presents a new solution approach to moving obstacle avoidance problem for a mobile robot. A new concept avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terns of the VDF, an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived form the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• ETRI Journal
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• v.33 no.2
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• pp.283-286
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• 2011

Path loss plays fundamental roles in system design, spectrum management, and performance evaluation. The traditional path loss model has a slight inconvenience; it depends on the unknown distance. In this letter, we explore the probability distribution function (PDF) of path loss in an indoor office environment by randomizing out the distance variable. It is shown that the resulting PDF is not Gaussian-like but is skewed to the right, and both the PDF and the moments are related to the size of the office instead of the unknown distance. To be specific, we incorporate the IEEE 802.15.4a channel parameters into our model and tabulate the cumulative distribution function with respect to different room sizes. Through a simple example, we show how our model helps a cognitive spectrum user to infer path loss information of primary users without necessarily knowing their transmitter-receiver distance.

• Current Optics and Photonics
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• v.7 no.4
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• pp.354-361
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• 2023

We present the optical design and experimental verification of resolving performance of a 3× long wavelength infrared (LWIR) zoom camera for drones. The effective focal length of the system varies from 24.5 mm at the wide angle position to 75.1 mm at the telephoto position. The design specifications of the system were derived from ground resolved distance (GRD) to recognize 3 m × 6 m target at a distance of 1 km, at the telephoto position. To satisfy the system requirement, the aperture (f-number) of the system is taken as F/1.6 and the final modulation transfer function (MTF) should be higher than 0.1 (10%). The measured MTF in the laboratory was 0.127 (12.7%), exceeds the system requirement. Outdoor targets were used to verify the comprehensive performance of the system. The system resolved 4-bar targets corresponding to the spatial resolution at the distance of 1 km, 1.4 km and 2 km.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.5
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• pp.137-144
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• 2000

In this paper, a longitudinal control of the lead vehicle for a platoon in IVHS Regulation Layer is proposed. The backstepping method has been used for the controller design. This method has an advantage in that its stability need not be proven since the controller is designed based on the Lyapunov Function. The control object is that the lead vehicle tracks a reference velocity and maintains a safe distance between the inter-platoons while the followers are keeping the speed of the lead vehicle of a platoon. The coordinate of system is transformed to a new coordinate system for its convenience to design controller. The new coordinate system is composed of error and new error variable. The error is the difference between the safe distance and the actual distance of inter-platoons. A new error variable is the difference between the velocity of vehicle and the estimated state of a system operated by the virtual input. The Lyapunov function is obtained based on the variables of new coordinate system. In the computer simulation, several cases have been studied such as when the lead vehicle is tracking the optimal speed. or a lead vehicle of the following platoon tracks the velocity of the previous platoon while maintaining a safe distance. Also a nonlinear engine time constant case has been investigated. All the simulation results show that the designed controller satisfies the control object sufficiently.

• Journal of The Korean Astronomical Society
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• v.22 no.1
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• pp.63-79
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• 1989

Current estimates, based on the same star-count analysis, of the distance to the globule Bamard 361 range from 300 pc to 650 pc. All the problems associated with the estimates have been fully rectified in this study, and a modification has been made to the classical Wolf diagram to improve the accuracy in the distance determination. A reference field was carefully selected close to the globule but well outside the globule boundary, and star counts for this field were performed on the blue POSS plate in order to set up the reference magnitude sequence appropriate to the general area of B 361. From the reference sequence, the stellar density function has been derived specifically for the direction toward the globule. Correction was made for the general interstellar extinction, and the luminosity function with the Wielen's dip was adopted. The resulting density function clearly reveals the existence of the local Cygnus-Orion arm in the direction of B 361 at about 700 pc away from the Sun. Analysis of the star-count data for the program field locates the globule at distance $600{\pm}50$ pc ; thus, the globule is an object located in the Cygnus-Orion arm, residing somewhat toward its leading edge.

• Communications of the Korean Mathematical Society
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• v.33 no.1
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• pp.85-101
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• 2018

Let S be a polynomial ring over a field K, with a monomial order ${\prec}$, and let I be an unmixed graded ideal of S. In this paper we study two functions associated to I: The minimum distance function ${\delta}_I$ and the footprint function $fp_I$. It is shown that ${\delta}_I$ is positive and that $fp_I$ is positive if the initial ideal of I is unmixed. Then we show that if I is radical and its associated primes are generated by linear forms, then ${\delta}_I$ is strictly decreasing until it reaches the asymptotic value 1. If I is the edge ideal of a Cohen-Macaulay bipartite graph, we show that ${\delta}_I(d)=1$ for d greater than or equal to the regularity of S/I. For a graded ideal of dimension ${\geq}1$, whose initial ideal is a complete intersection, we give an exact sharp lower bound for the corresponding minimum distance function.

• Current Optics and Photonics
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• v.7 no.4
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• pp.398-407
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• 2023

We explored a method to evaluate imaging performance for the optimal assembly of an endoscopic miniature lens and a sensor constituting an imaging module at the distal end of gastrointestinal endoscopy. For the assembly of the imaging module, the image sensor was precisely located at the focal plane when collimated light passed through the endoscopic lens. As another method, the distance between the lens and sensor was adjusted to obtain the highest focus index from images measured the star chart of the International Organization for Standardization (ISO) standard at various positions. We analyzed the slanted-edge modulation transfer function (MTF), corresponding depth of field, and number of line pairs for MTF 50% and 20% at each working distance within the range of 5-100 mm for imaging modules assembled in different ways. Assembly conditions of the imaging module with better MTF performance were defined for each working distance range of 5-30 mm and 30-100 mm, respectively. In addition to the MTF performance, the focus index of each assembled module was also compared. In summary, we examined the performance of imaging modules assembled with different methods within the suggested working distance and tried to establish the optimal assembly protocol.

• Journal of Korean Society of Transportation
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• v.24 no.5 s.91
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• pp.45-56
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• 2006

In order to construct an information pool on the production characteristics and efficiency of Korean railroad industry, various alternative approaches have to be applied. In this paper we present an empirical application of the distance function to measure the technical efficiency and the production characteristics of Korean railroad industry, The distance function firstly introduced by Shephard (1953) provides the advantage that it does not need information about prices, so it can accommodate the multiple output nature of the railway only using the quantifies as data. This is of great relevance in the context of the public sector such as railroad industry where there are often distinct control mechanisms on input prices. Also the distance function allows us to obtain a measure of technical efficiency as well as a measure of production characteristics. From annual data on Korean railroad industry during 1964-2004, multiple output distance function is estimated using quadratic programming model. The resulting technical efficiency estimates has tended to be improved over the period $1980{\sim}2004$. The indirect Morishima elasticities of substitution indicate that the substitutabilities for labor are relatively very low or impossible. The average scale elasticity is 2.7 which means that increasing the scale by 1per cent will result in an output increase by 2.7 percent. This result indicates that economies of scale are present in the Korean railroad industry.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.2
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• pp.174-179
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• 1999

In this paper, we propose an optimal algorithm for finding the shortest connection of two kinds of parts to pairs. If total part numbers are of size N, then there are order 2ㆍ(N/2)$^{N}$ possible solutions, of which we want the one that minimizes the energy function. The appropriate dynamic rule and parameters used in network are proposed by a new energy function which is minimized when 3-constraints are satisfied. This dynamic nile has three important parameters, an enhancement variable connected to pairs, a normalized distance term and a time variable. The enhancement variable connected to pairs have to a perfect connection of two kinds of parts to pairs. The normalized distance term get rids of a unstable states caused by the change of total part numbers. And the time variable removes the un-optimal connection in the case of distance constraint and the wrong or not connection of two kinds of parts to pairs. First of all, we review the theoretical basis for Hopfield model and present a new energy function. Then, the connection matrix and the offset bias created by a new energy function and used in dynamic nile are shown. Finally, we show examples through computer simulation with 20, 30 and 40 parts and discuss the stability and feasibility of the resultant solutions for the proposed connection algorithm.m.

• The KIPS Transactions:PartA
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• v.11A no.5
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• pp.391-400
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• 2004

Within multimodal medical image registration techniques, which correlate different images and Provide integrated information, surface registration methods generally minimize the surface distance between two modalities. However, the features of two modalities acquired from one subject are similar. So, it can improve the accuracy of registration result to match two images based on optimization of both surface distance and shape feature. This research proposes a registration method which optimizes surface distance and surface curvature of two brain modalities. The registration process has two steps. First, surface information is extracted from the reference images and the test images. Next, the optimization process is performed. In the former step, the surface boundaries of regions of interest are extracted from the two modalities. And for the boundary of reference volume image, distance map and curvature map are generated. In the optimization step, a transformation minimizing both surface distance and surface curvature difference is determined by a cost function referring to the distance map and curvature map. The applying of the result transformation makes test volume be registered to reference volume. The suggested cost function makes possible a more robust and accurate registration result than that of the cost function using the surface distance only. Also, this research provides an efficient means for image analysis through volume visualization of the registration result.