• KIEAE Journal
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• v.11 no.6
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• pp.95-100
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• 2011

Although Space Syntax is a well-known technique for spatial analysis, debates have taken place among some researchers because the Space Syntax discards geometric information as both shapes and sizes of spaces, and hence may cause some inconsistencies. Therefore, this study aims at developing methods to recognize and manage spatial shapes for more precise space syntax analysis. To reach this goal, this study employed both a graph theory and binary spatial partitioning (BSP) tree to recognize and manage spatial information. As a result, spatial shapes and sizes could be recognized by checking loops in graph converted from spatial shapes of built environment. Each spatial shape could be managed sequentially by BSP tree with hierarchical structure. Through such recognition and management processes, convex maps composed of the fattest and fewest convex spaces could be drawn. In conclusion, we hope that the methods developed here will be useful for urban planning to find appropriate purposes of spaces to satisfy the sustainability of built environment on the basis of the spatial and social relationships in urban spaces.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.904-907
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• 1996

In this paper, we propose an efficient collision-free path planning method of two cooperating robot manipulators grasping a common object rigidly. For given two robots and an object, the procedure is described which constructs the reduced dimensional configuration space by the kinematic analysis of two cooperating robot manipulators. A path planning algorithm without explicit representation of configuration obstacles is also described. The primary steps of the algorithm is as follows. First, we compute a graph which represents the skeleton of the free configuration space. Second, a connection between an initial and a goal configuration to the graph is searched to find a collision-free path.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2732-2734
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• 2000

This paper proposes a path planning algorithm for mobile robots. To generate a minimum-distance path for mobile robots, we use the Genetic Algorithm(GA) and Visibility Graph. After finding a minimum-distance path between a start and a goal point, the path is revised to find the smooth subminimum-distance path by a path-smoothing algorithm. Simulation results show that the proposed algorithms are effective.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.122-129
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• 2021

For the Simultaneous Localization and Mapping (SLAM) problem, a different path results in different SLAM results. Usually, SLAM follows a trail of input data. Active SLAM, which determines where to sense for the next step, can suggest a better path for a better SLAM result during the data acquisition step. In this paper, we will use reinforcement learning to find where to perceive. By assigning entire target area coverage to a goal and uncertainty as a negative reward, the reinforcement learning network finds an optimal path to minimize trajectory uncertainty and maximize map coverage. However, most active SLAM researches are performed in indoor or aerial environments where robots can move in every direction. In the urban environment, vehicles only can move following road structure and traffic rules. Graph structure can efficiently express road environment, considering crossroads and streets as nodes and edges, respectively. In this paper, we propose a novel method to find optimal SLAM path using graph structure and reinforcement learning technique.

• Journal of Ocean Engineering and Technology
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• v.23 no.5
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• pp.61-70
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• 2009

An AUV (Autonomous Underwater Vehicle) is an unmanned underwater vessel to investigate sea environments and deep sea resource. To be completely autonomous, AUV must have the ability to home and dock to the launcher. In this paper, we consider a class of homing trajectory planning problem for an AUV with kinematic and tactical constraints in horizontal plane. Since the AUV under consideration has underactuated characteristics, trajectory for this kind of AUV must be designed considering the underactuated characteristics. Otherwise, the AUV cannot follow the trajectory. Proposed homing trajectory panning method that called VGM (Virtual Goal Method) based on visibility graph takes the underactated characteristics into consideration. And it guarantees shortest collision free trajectory. For tracking control, we propose a PD controller by simple guidance law. Finally, we validate the trajectory planning algorithm and tracking controller by numerical simulation and ocean engineering basin experiment in KORDI.

• Journal of Korea Multimedia Society
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• v.18 no.9
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• pp.1091-1097
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• 2015

Internet-of-Things (IoT) becomes one of the most promising future paradigms, which foresees enormous amounts of interoperable things and heterogeneous services. The goal of IoT is to enable all things connected and brings all kinds information and services to people. However, such a great deal of information may lead to cognitive overload or restrain in productivity of people. Thus, it is a necessity to build intelligent mechanisms to assist people in accessing the information or services they needed in a proactive manner. Most of previous related mechanisms are built on well-defined web services and lack of consideration of constrained resources. This paper suggests a services composition method by adapting a hierarchical model, which is a graph-based model composed of four layers: Context Layer, Event Layer, Service Layer and Device Layer. With a such multi-layer graph, service composition can be achieved by the iteration of layer by layer. Then, to evaluate the effectiveness of this proposed hierarchical model, a real-life emergency response dataset is applied and the experimental results are composed with the general probabilistic method and indicate that the proposed method is help for compositing multiple services while considering given context and constrained resources.

• The Transactions of the Korea Information Processing Society
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• v.6 no.3
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• pp.781-791
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• 1999

DD(Decision Diagrams) is an efficient operational data structure for an optimal expression of boolean functions. In a graph-based synthesis using DD, the goal of optimization decreases representation space for boolean functions. This paper represents boolean functions using OPKFDD(Ordered Pseudo-Kronecker Functional Decision Diagrams) for a graph-based synthesis and is based on the number of nodes as the criterion of DD size. For a property of OPKFDD that is able to select one of different decomposition types for each node, OPKFDD is variable in its size by the decomposition types selection of each node and input variable order. This paper proposes a method for generating OPKFDD efficiently from the current BDD(Binary Decision Diagram) Data structure and an algorithm for minimizing one. In the multiple output functions, the relations of each function affect the number of nodes of OPKFDD. Therefore this paper proposes a method to decide the input variable order considering the above cases. Experimental results of comparing with the current representation methods and the reordering methods for deciding input variable order are shown.

• International Journal of Computer Science & Network Security
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• v.23 no.1
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• pp.140-146
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• 2023

Resource allocation is one of the top challenges in Internet of Things (IoT) networks. This is due to the scarcity of computing, energy and communication resources in IoT devices. As a result, IoT devices that are not using efficient algorithms for resource allocation may cause applications to fail and devices to get shut down. Owing to this challenge, this paper proposes a novel algorithm for managing computing resources in IoT network. The fog computing devices are placed near the network edge and IoT devices send their large tasks to them for computing. The goal of the algorithm is to conserve energy of both IoT nodes and the fog nodes such that all tasks are computed within a deadline. A bi-partite graph-based algorithm is proposed for stable matching of tasks and fog node computing units. The output of the algorithm is a stable mapping between the IoT tasks and fog computing units. Simulation results are conducted to evaluate the performance of the proposed algorithm which proves the improvement in terms of energy efficiency and task delay.

• The Journal of the Korea institute of electronic communication sciences
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• v.9 no.8
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• pp.907-914
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• 2014

A heuristic search algorithm is proposed to plan a collision free path for robots in an indoor environment. The proposed algorithm is to find a collision free path in the gridded configuration space by proposed heuristic graph search algorithm. The proposed algorithm largely consists of two parts : tunnel searching and path searching in the tunnel. The tunnel searching algorithm finds a thicker path from start grid to goal grid in grid configuration space. The tunnel is constructed with large grid defined as a connected several minimum size grids in grid-based configuration space. The path searching algorithm then searches a path in the tunnel with minimum grids. The computational time of the proposed algorithm is less than the other graph search algorithm and we analysis the time complexity. To show the validity of the proposed algorithm, some numerical examples are illustrated for robot.

• The KIPS Transactions:PartB
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• v.15B no.2
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• pp.159-170
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• 2008

Nowadays, one of the important functionalities required from robot task planners is to generate plans to compose existing component services into a new service. In this paper, we introduce the design and implementation of a heuristic search planner, JPLAN, as a kernel module for component service composition. JPLAN uses a local search algorithm and planning graph heuristics. The local search algorithm, EHC+, is an extended version of the Enforced Hill-Climbing(EHC) which have shown high efficiency applied in state-space planners including FF. It requires some amount of additional local search, but it is expected to reduce overall amount of search to arrive at a goal state and get shorter plans. We also present some effective heuristic extraction methods which are necessarily needed for search on a large state-space. The heuristic extraction methods utilize planning graphs that have been first used for plan generation in Graphplan. We introduce some planning graph heuristics and then analyze their effects on plan generation through experiments.