• Journal of Information Processing Systems
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• v.3 no.1
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• pp.8-15
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• 2007

Grid environments provide the mechanism to share heterogeneous resources among nodes. Because of the similarity between grid environments and P2P networks, the structures of P2P networks can be adapted to enhance scalability and efficiency in deployment and to search for services. In this paper, we present a membership management based on a hierarchical ring which constructs P2P-like Grid environments. The proposed approach uses only a limited number of connections, reducing communication cost. Also, it only keeps local information for membership, which leads to a further reduction in management cost. This paper analyzes the performance of the approach by simulation and compares it with other approaches.

• 한국전산유체공학회:학술대회논문집
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• 2005.10a
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• pp.157-162
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• 2005

Parallel implementation and performance assessment of the grid assembly in a structured chimera grid approach is studied. The grid assembly process, involving hole cutting and searching donor, is parallelized on the PC cluster. A message passing programming model based on the MPI library is implemented using the single program multiple data(SPMD) paradigm. The coarse-grained communication is optimized with the minimized memory allocation because that the parallel grid assembly can access the decomposed geometry data in other processors by only message passing in the distributed memory system such as a PC cluster. The grid assembly workload is based on the static load balancing tied to flow solver. A goal of this work is a development of parallelized grid assembly that is suited for handling multiple moving body problems with large grid size.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1411-1422
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• 2003

The detection of free spaces between obstacles in a scene is a prerequisite for navigation of a mobile robot. Especially for stereo vision-based navigation, the problem of correspondence between two images is well known to be of crucial importance. This paper describes multi-range approach of area-based stereo matching for grid mapping and visual navigation in uncertain environment. Camera calibration parameters are optimized by evolutionary algorithm for successful stereo matching. To obtain reliable disparity information from both images, stereo images are to be decomposed into three pairs of images with different resolution based on measurement of disparities. The advantage of multi-range approach is that we can get more reliable disparity in each defined range because disparities from high resolution image are used for farther object a while disparities from low resolution images are used for close objects. The reliable disparity map is combined through post-processing for rejecting incorrect disparity information from each disparity map. The real distance from a disparity image is converted into an occupancy grid representation of a mobile robot. We have investigated the possibility of multi-range approach for the detection of obstacles and visual mapping through various experiments.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.26 no.11
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• pp.1521-1530
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• 2002

This article proposes a pressure based method for predicting flows at all speeds. The compressible SIMPLE algorithm is extended to unstructured grid framework. Convection terms are discretized using second-order scheme with deferred correction approach. Diffusion term discretization is based on structured grid analogy that can be easily adopted to hybrid unstructured grid solver. This method also uses node centered scheme with edge based data structure for memory and computing time efficiency of arbitrary grid types. Both incompressible and compressible benchmark problems are solved using the above methodology. The demonstration of this method is extended to slip flow problem that has low Reynolds number but compressibility effect. It is shown that the proposed method can improve efficiency in memory usage and computing time without losing any accuracy.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.487-495
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• 2023

This paper presents a method for autonomous exploration of indoor environments using a 2-dimensional Light Detection And Ranging (LiDAR) scanner. The proposed frontier-based exploration method considers navigability from the current robot position to extracted frontier targets. An approach to constructing the point cloud grid map that accurately reflects the occupancy probability of glass obstacles is proposed, enabling identification of safe frontier grids on the safety grid map calculated from the point cloud grid map. Navigability, indicating whether the robot can successfully navigate to each frontier target, is calculated by applying the skeletonization-informed rapidly exploring random tree algorithm to the safety grid map. While conventional exploration approaches have focused on frontier detection and target position/direction decision, the proposed method discusses a safe navigation approach for the overall exploration process until the completion of mapping. Real-world experiments have been conducted to verify that the proposed method leads the robot to avoid glass obstacles and safely navigate the entire environment, constructing the point cloud map and calculating the navigability with low computing time deviation.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.95-104
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• 2007

A new design approach of complex geometries such as wing/body configuration is arranged by using overset mesh techniques under large scale computing environment. For an in-depth study of the flow physics and highly accurate design, several special overlapped structured blocks such as collar grid, tip-cap grid, and etc. which are commonly used in refined drag prediction are adopted to consider the applicability of the present design tools to practical problems. Various pre- and post-processing techniques for overset flow analysis and sensitivity analysis are devised or implemented to resolve overset mesh techniques into the design optimization problem based on Gradient Based Optimization Method (GBOM). In the pre-processing, the convergence characteristics of the flow solver and sensitivity analysis are improved by overlap optimization method. Moreover, a new post-processing method, Spline-Boundary Intersecting Grid (S-BIG) scheme, is proposed by considering the ratio of cell area for more refined prediction of aerodynamic coefficients and efficient evaluation of their sensitivities under parallel computing environment. With respect to the sensitivity analysis, discrete adjoint formulations for overset boundary conditions are derived by a full hand-differentiation. A smooth geometric modification on the overlapped surface boundaries and evaluation of grid sensitivities can be performed by mapping from planform coordinate to the surface meshes with Hicks-Henne function. Careful design works for the drag minimization problems of a transonic wing and a wing/body configuration are performed by using the newly-developed and -applied overset mesh techniques. The results from design applications demonstrate the capability of the present design approach successfully.

• Wind and Structures
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• v.8 no.6
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• pp.407-426
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• 2005

A hybrid RANS/LES approach, based on the Limited Numerical Scales concept, is applied to the numerical simulation of the flow around a square cylinder. The key feature of this approach is a blending between two eddy-viscosities, one given by the $k-{\varepsilon}$ RANS model and the other by the Smagorinsky LES closure. A mixed finite-element/finite-volume formulation is used for the numerical discretization on unstructured grids. The results obtained with the hybrid approach are compared with those given by RANS and LES simulations for three different grid resolutions; comparisons with experimental data and numerical results in the literature are also provided. It is shown that, if the grid resolution is adequate for LES, the hybrid model recovers the LES accuracy. For coarser grid resolutions, the blending criterion appears to be effective to improve the accuracy of the results with respect to both LES and RANS simulations.

• Advances in aircraft and spacecraft science
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• v.4 no.5
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• pp.555-571
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• 2017

The description of transitional flows by means of RANS equations is sometimes based on non-local approaches which require the computation of some boundary layer properties. In this work a non-local Laminar Kinetic Energy model is used to predict transitional and separated flows. Usually the non-local term of this model is evaluated along the grid lines of a structured mesh. An alternative approach, which does not rely on grid lines, is introduced in the present work. This new approach allows the use of fully unstructured meshes. Furthermore, it reduces the grid-dependence of the predicted results. The approach is employed to study the transitional flows in the T106c turbine cascade and around a NACA0021 airfoil by means of a discontinuous Galerkin method. The local nature of the discontinuous Galerkin reconstruction is exploited to implement an adaptive algorithm which automatically refines the mesh in the most significant regions.

• Journal of Mechanical Science and Technology
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• v.16 no.3
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• pp.302-309
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• 2002

This paper presents a technique for localization of a mobile robot using sonar sensors. Localization is the continual provision of knowledges of position that are deduced from its a priori position estimation. The environment of a robot is modeled by a two-dimensional grid map. We define a physically based sonar sensor model and employ an extended Kalman filter to estimate positions of the robot. Since the approach does not rely on an exact geometric model of an object, it is very simple and offers sufficient generality such that integration with concurrent mapping and localizing can be achieved without major modifications. The performance and simplicity of the approach are demonstrated with the results produced by sets of experiments using a mobile robot equipped with sonar sensors.

• International Journal of Advanced Culture Technology
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• v.2 no.2
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• pp.7-10
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• 2014

In order to develop smart grid communications infrastructure, a high level of interconnectivity and reliability among its nodes is required. Sensors, advanced metering devices, electrical appliances, and monitoring devices, just to mention a few, will be highly interconnected allowing for the seamless flow of data. Reliability and security in this flow of data between nodes is crucial due to the low latency and cyber-attacks resilience requirements of the Smart Grid. In particular, Artificial Intelligence techniques such as Fuzzy Logic, Bayesian Inference, Neural Networks, and other methods can be employed to enhance the security gaps in conventional IDSs. A distributed FPGA-based network with adaptive and cooperative capabilities can be used to study several security and communication aspects of the smart grid infrastructure both from the attackers and defensive point of view. In this paper, the vital issue of security in the smart grid is discussed, along with a possible approach to achieve this by employing FPGA based Radial Basis Function (RBF) network intrusion.