• Journal of IKEEE
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• v.13 no.2
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• pp.150-158
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• 2009

For the autonomous movement, the optimal path planning connecting between current and target positions is essential, and the optimal path of mobile robot means obstacle-free and the shortest length path to a target position. Many actual mobile robots should move without any information of surrounded obstacles. Thus, this paper suggests new methods of path planning and obstacle avoidment, suitable in unknown environments. This method of path planning always tracks the local target expected as the optimal one, and the result of continuous tracking becomes the first generated moving path. This path, however, do not regard the collision with obstacles. Thus, this paper suggests a new method of obstacle avoidance resembled with the Potential Field method. Finally, a simulation confirms the performance and correctness of the path planning and obstacle avoidance, suggested in this paper.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.295-301
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• 2017

Recently, autonomous navigation technology, obstacle recognition, and obstacle collision avoidance technology are actively being developed for an unmanned surface vehicle (USV). The path to move from the current location to the destination should be planned, in order for an USV to autonomously operate safely to its destination. The dynamic window approach (DWA) is a well-known navigation scheme as a local path planning. The DWA algorithm derives the linear velocity and angular velocity by evaluating the destination direction, velocity, and distance from the obstacle. However, because DWA algorithm does not consider tracking the path, when using only the DWA algorithm, the ship may navigate away from the path line after avoiding obstacles. In this paper, we propose an improved DWA algorithm that can follow path line. And we implemented the simulation and compared the existing DWA algorithm with the improved DWA algorithm proposed in this paper. As a result, it is confirmed that the proposed DWA algorithm follows the path line better.

• Journal of Mechanical Science and Technology
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• v.18 no.8
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• pp.1435-1450
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• 2004

Experimental data are presented which describe the effects of a combustor-level high free-stream turbulence on the near-wall flow structure and heat/mass transfer on the endwall of a linear high-turning turbine rotor cascade. The end wall flow structure is visualized by employing the partial- and total-coverage oil-film technique, and heat/mass transfer rate is measured by the naphthalene sublimation method. A turbulence generator is designed to provide a highly-turbulent flow which has free-stream turbulence intensity and integral length scale of 14.7% and 80mm, respectively, at the cascade entrance. The surface flow visualizations show that the high free-stream turbulence has little effect on the attachment line, but alters the separation line noticeably. Under high free-stream turbulence, the incoming near-wall flow upstream of the adjacent separation lines collides more obliquely with the suction surface. A weaker lift-up force arising from this more oblique collision results in the narrower suction-side corner vortex area in the high turbulence case. The high free-stream turbulence enhances the heat/mass transfer in the central area of the turbine passage, but only a slight augmentation is found in the end wall regions adjacent to the leading and trailing edges. Therefore, the high free-stream turbulence makes the end wall heat load more uniform. It is also observed that the heat/mass transfers along the locus of the pressure-side leg of the leading-edge horseshoe vortex and along the suction-side corner are influenced most strongly by the high free-stream turbulence. In this study, the end wall surface is classified into seven different regions based on the local heat/mass transfer distribution, and the effects of the high free-stream turbulence on the local heat/mass transfer in each region are discussed in detail.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.23 no.4
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• pp.1035-1044
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• 1998

A new multi-channel access scheme and the associated network architecture for a single-hop WDM local area network is proposed in this paper. The proposed architecture has Central Scheduling Node (CSN) for the transmission coordination among many users, which is one of the key issues in single-hop WDM networks. The data channels, source nodes, and destination nodes are selected at CSN in very simple menner. Our scheme can relive the control processing overhead at all nodes in the network which is caused in existing distributed scheduling algorithms. CSN is simple in the architecture can be implemented easily. in respect to the network performance, the maximum obtainable throughput is up to that of the ideal output queuing because of collision free scheduling. We use the MQMS (multi-queue multi-server) model for performance analaysis.

• The Journal of the Korea Contents Association
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• v.15 no.12
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• pp.222-233
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• 2015

In this study, the fact that the influx of multi-cultural society impact on local communities are examined to analysis the negative impact and positive impact with four types of political (government), economic, social and cultural saw classified. Although some have a negative evaluation, most of the respondents said the influx of multi-cultural society had a positive impact on South Korea's development and believes a positive impact in the future. In the results of the analysis, areas where multicultural society gives the most positive impact of local communities in political (administrative), economic, social, of the four segments of culture has been rated as the field of culture, on the other hand, areas that have the most negative impact has been evaluated as social sector. Though we live in nationalism culture for a long time and heterogeneous foreign residents has so rapidly increased that conflicts due to collision of values of differences and culture of each other have occurred, foreign residents are generally, have a positive impact on our society. Substantially marriage immigrants who successfully solve the rural bachelor of marriage problem are willing to prevent population decline phenomenon and reduce the crime rate in the society, of course. In addition, foreign workers who employed at low wages in the 3D industry which is avoided by the South Korean people have contributed to our country's economic development.

• Journal of Navigation and Port Research
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• v.40 no.5
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• pp.257-263
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• 2016

Mombasa is the principle port of Kenya, serving inland countries in Eastern and central Africa. Mombasa port has undergone a massive infrastructure upgrade and dredging works with an expectation that more vessels and large post Panamax ships will be able to enter Mombasa port. Therefore, it is vital to carry out a marine traffic risk assessment in order to quantify the degree of navigation safety needed in the Mombasa approach channel and also to evaluate the navigation risk imposed on transit traffic by local ferry traffic. In this paper, a marine traffic risk assessment is carried out using the IWRAP mk2, Environmental Stress (ES) model, and the PARK model. Risk assessment results show that Likoni area has an unacceptable stress/risk ranking at 20.7% by the ES model and 38.89% by the PARK model. The IWRAP mk2 model shows that the crossing area has the highest risk of crossing collision and the area at the entrance to the inner channel has a high risk of grounding. The conclusions derived from this study will provide the basis for proposing the most effective countermeasure to improve navigation safety in the Mombasa approach channel.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1102-1107
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• 2009

An ultrasonic sensor has been widely used as a range sensor for its low cost and capability of detecting some obstacles, such as glasses and black surfaces, which are not well detected by a laser scanner and an IR sensor. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to obstacle avoidance using low-cost anisotropic ultrasonic sensors with wide beam angle. In this paper, obstacles can be detected by the proposed sensor configuration which consists of one transmitter and three receivers. Because even wide obstacles are represented by a point, which corresponds to the intersection of range data from each receiver of the anisotropic sensor, a robot cannot avoid wide obstacles successfully. This paper exploits the probabilistic mapping technique to avoid collision with various types of obstacles. The experimental results show that the proposed method can robustly avoid obstacles in most indoor environments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2016.05a
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• pp.81-84
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• 2016

Mombasa is the principle port of Kenya, serving hinter countries in Eastern and central Africa. Mombasa port has undergone a massive infrastructure upgrade and dredging works with an expectation that more vessels and large post Panamax ships will be able to call at Mombasa port. Therefore, it is vital to carry out a marine traffic risk assessment so as to quantify the degree of navigation safety on Mombasa approach channel and also to evaluate navigation risk imposed on transit traffic by local ferry traffic. In this paper marine traffic risk assessment is carried out using IWRAP mk2, Environmental Stress model, and PARK model. Risk assessment results show that Likoni area has unacceptable stress/ risk ranking at 20.7% on ES model and 38.89% by PARK model. IWRAP mk2 model shows that crossing area has the highest risk of crossing collision and the area at the entrance to inner channel has a high risk of grounding. The conclusions derived from this study will provide the basis for proposing the most effective countermeasure so as to improve navigation safety in Mombasa approach channel.

• International Journal of Advanced Culture Technology
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• v.8 no.3
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• pp.223-230
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• 2020

Companies have made an investment of cost and time to optimize processing of a new business model in a cloud environment, applying collaboration technology utilizing business processes in a social network. The collaborative processing method changed from traditional BPM to the cloud and a mobile cloud environment. We proposed a collaborative system for operating processes in social networks using MOXMDR-DAI+ (eXtended Metadata Registry-Data Access & Integration based multimedia ontology). The system operating cloud-based collaborative processes in application of MOXMDR-DAI+, which was suitable for data interoperation. MOXMDR-DAI+ applied to this system was an agent effectively supporting access and integration between multimedia content metadata schema and instance, which were necessary for data interoperation, of individual local system in the cloud environment, operating collaborative processes in the social network. In operating the social network-based collaborative processes, there occurred heterogeneousness such as schema structure and semantic collision due to queries in the processes and unit conversion between instances. It aimed to solve the occurrence of heterogeneousness in the process of metadata mapping using MOXMDR-DAI+ in the system. The system proposed in this study can visualize business processes. And it makes it easier to operate the collaboration process through mobile support. Real-time status monitoring of the operation process is possible through the dashboard, and it is possible to perform a collaborative process through expert search using a community in a social network environment.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.6
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• pp.711-720
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• 2015

Recently many studies of Radar systems mounted on ground vehicles for autonomous driving, SLAM (Simultaneous localization and mapping) and collision avoidance have been reported. Since several pixels per an object may be generated in a close-range radar application, a width of an object can be estimated automatically by various signal processing techniques. In this paper, we tried to attempt to develop an algorithm to estimate obstacle width using Radar images. The proposed method consists of 5 steps - 1) background clutter reduction, 2) local peak pixel detection, 3) region growing, 4) contour extraction and 5)width calculation. For the performance validation of our method, we performed the test width estimation using a real data of two cars acquired by commercial radar system - I200 manufactured by Navtech. As a result, we verified that the proposed method can estimate the widths of targets.