• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1047-1055
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• 2009

Since nuclear and chemical materials could damage people and disturb battlefield missions in a wide region, nuclear/chemical reconnaissance systems utilizing multiple mobile robots are highly desirable for rapid and safe reconnaissance. In this paper, we design a nuclear/chemical reconnaissance system including mobile robots. Also we propose time-efficient trajectory planning algorithms using grid coverage and contour finding methods for reconnaissance operation. For grid coverage, we performed in analysis on time consumption for various trajectory patterns generated by straight lines and arcs. We proposed BCF (Bounded Contour Finding) and BCFEP (Bounded Contour Finding with Ellipse Prediction) algorithms for contour finding. With these grid coverage and contour finding algorithms, we suggest trajectory planning algorithms for single, two or four mobile robots. Various simulations reveal that the proposed algorithms improve time-efficiency in nuclear/chemical reconnaissance missions in the given area. Also we conduct basic experiments using a commercial mobile robot and verify the time efficiency of the proposed contour finding algorithms.

• ETRI Journal
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• v.36 no.1
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• pp.80-88
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• 2014

Recently, the idea of the smart grid has been gaining significant attention and has become a hot research topic. The purpose of this paper is to present a novel smart grid management scheme that uses game theory principles. In our proposed scheme, power appliances in the smart grid adaptively form groups according to the non-cooperative hedonic game model. By exploiting multi-appliance diversity, appliances in each group are dynamically scheduled in a cooperative manner. For efficient smart grid management, the proposed coopetition game approach is dynamic and flexible to adaptively respond to current system conditions. The main feature is to maximize the overall system performance while satisfying the requirements of individual appliances. Simulation results indicate that our proposed scheme achieves higher energy efficiency and better system performance than other existing schemes.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.12 s.177
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• pp.61-69
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• 2005

This paper presents an efficient method of extracting line segments from the occupancy grids in a grid map. The grid map is composed of 2-D grids that have both the occupancy and orientation probabilities using sonar sensors. We evaluate the orientation information of every grid when the occupancy probability of the grid is updated from sonar range data. To find the shape of an object in the map from orientation information, the orientations are clustered into several groups according to their values. The line segments are, then, extracted from the clusters based on Hough transform. Finally, a feature-based map is built with these line segments. The proposed method is illustrated with the results produced by sets of experiments in an indoor environment.

• Journal of computational fluids engineering
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• v.12 no.4
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• pp.68-73
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• 2007

Computational Fluid Dynamics (CFD) approach is now playing an important role in the engineering process in these days. Generating proper grid system in time for the region of interest is prerequisite for the efficient numerical calculation of flow physics using CFD approach. Grid generation is, however, usually considered as a major obstacle for a routine and successful application of numerical approaches in the engineering process. CFD approach based on the unstructured grid system is gaining popularity due to its simplicity and efficiency for generating grid system compared to the structured grid approaches, especially for complex geometries. In this paper an automated triangular surface grid generation using CAD(Computer Aided Design) surface data is proposed. According to the present method, the CAD surface data imported in the STL(Stereo-lithography) format is processed to identify feature edges defining the topology and geometry of the surface shape first. When the feature edges are identified, node points along the edges are distributed. The initial fronts which connect those feature edge nodes are constructed and then they are advanced along the CAD surface data inward until the surface is fully covered by triangular surface grid cells using Advancing Front Method. It is found that this approach can be implemented in an automated way successfully saving man-hours and reducing human-errors in generating triangular surface grid system.

• 한국신재생에너지학회:학술대회논문집
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• 2006.06a
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• pp.199-201
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• 2006

A lot of researches and experiments have been performed to make more efficient dye-sensitized solar cell. Among them, insertion of a grid electrode in DSC is one method to increase overall performance as being shortened distance of electrons' movement by diffusion. In this paper, we measured overall characteristics which is included voltage-current characteristic curve, efficiency, fill factor by comparison between DSC without and with grid electrode. As a result, we got maximum 1.8 times increase of efficiency and approximately 1.7 times rise of fill factor. And we experimented 8, 10, 12, 14mm of grid gap and compared their results to optimize grid gap which is able to incite the most effective movement of electrons. Consequently, we got the result that electrons' movement is the most effect ive when grid gap is approximately 12mm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.2
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• pp.617-636
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• 2021

This paper presents a privacy-preserving data aggregation scheme deals with the multidimensional data. It is essential that the multidimensional data is rarely mentioned in all researches on smart grid. We use the Paillier Cryptosystem and blinding factor technique to encrypt the multidimensional data as a whole and take advantage of the homomorphic property of the Paillier Cryptosystem to achieve data aggregation. Signature and efficient batch verification have also been applied into our scheme for data integrity and quick verification. And the efficient batch verification only requires 2 pairing operations. Our scheme also supports fault tolerance which means that even some smart meters don't work, our scheme can still work well. In addition, we give two extensions of our scheme. One is that our scheme can be used to compute a fixed user's time-of-use electricity bill. The other is that our scheme is able to effectively and quickly deal with the dynamic user situation. In security analysis, we prove the detailed unforgeability and security of batch verification, and briefly introduce other security features. Performance analysis shows that our scheme has lower computational complexity and communication overhead than existing schemes.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.24 no.1
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• pp.1-22
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• 2020

An accurate and efficient gradient estimation method on unstructured grid is presented by proposing a switching process between two Least-Square methods. Diverse test cases show that the gradient estimation by Least-Square methods exhibit better characteristics compared to Green-Gauss approach. Based on the investigation, switching between the two Least-Square methods, whose merit complements each other, is pursued. The condition number of the Least-Square matrix is adopted as the switching criterion, because it shows clear correlation with the gradient error, and it can be easily calculated from the geometric information of the grid. To illustrate switching process on general grid, condition number is analyzed using stencil vectors and trigonometric relations. Then, the threshold of switching criterion is established. Finally, the capability of Switching Weighted Least-Square method is demonstrated through various two- and three-dimensional applications.

• International journal of advanced smart convergence
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• v.8 no.2
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• pp.199-203
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• 2019

In this paper, we propose the efficient impulsive noise mitigation scheme for power line communication (PLC) systems in smart grid applications. The proposed scheme estimates the channel impulsive noise information of receiver by applying machine learning. Then, the estimated impulsive noise is updated in data base. In the modulator, the impulsive noise which reduces the PLC performance is effectively mitigated through proposed technique. As an impulsive noise model, Middleton Class A interference model was employed. The performance is evaluated in terms of bit error rate (BER). From the simulation results, it is confirmed that the proposed scheme has better BER performance compared to the conventional model. As a result, the proposed noise mitigation improves the signal quality of PLC systems by effectively removing the channel noise. The results of the paper can be applied to PLC systems for smart grid.

• Journal of KIISE:Computer Systems and Theory
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• v.32 no.11_12
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• pp.639-645
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• 2005

GRID environments have been developed in distributed heterogeneous computing infrastructure for advanced science and engineering Therefore efficient scheduling algorithms for allocating user job to resources in the GRID environment are required. Many scheduling algorithms have been proposed, but these algorithms are not suitable for the GRID environment. That is the previous scheduling algorithm does not consider network bandwidth between multiple resources. In this paper, we propose a new scheduling algorithm for Global GRID environment and show that our algorithm has better performance than other scheduling algorithms through extensive simulation.

• Proceedings of the Korea Society for Simulation Conference
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• 2005.11a
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• pp.65-70
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• 2005

Recently, Grid is embossed as a new issue according to the need of cooperation related to distributed resources, data sharing, Interaction and so on. It focuses on sharing of large scale resources, high-performance, applications of new paradigms, which improved more than established distributed computing. Because of the environmental specificity distributed geographically and dynamic, the most important problem in grid environment is to share and to allocate distributed grid resources. This paper proposes supply-driven strategies model that is applicable for resource management in grid environment and presents a optimal resource allocation algorithm based on resource demands. Supply-driven strategies model can offer efficient resource management by transaction allocation based on user demand and provider strategy. This paper implements the supply-driven strategies model on the DEVS modeling and simulation environment and shows the efficiency and excellency of this model by comparing with established models.