• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.05a
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• pp.140-143
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• 2002

본 논문에서는 자율수중운동체(AUV, Autonomous Underwater Vehicle)의 실시간 충돌회피에 적용되는 휴리스틱 탐색기법에 적합한 퍼지조건연산자와 알파절단(aleph-cut)의 선택에 관해 논한다. 퍼지조건연산자와 알파절단은 두 퍼지관계에서 새로운 퍼지관계를 생성시키는 퍼지삼각논리곱의 연산에 적용되는데 이것은 휴리스틱탐색기법의 이론적 기반이 된다. 본 논문은 평가함수를 이용한 새로운 휴리스틱탐색기법을 설계하고, 이에 가장 적합한 퍼지조건연산자와 알파절단을 제안한다. 제안된 퍼지조건연산자와 알파절단의 검증을 위해 경로경비와 합리적인 경로를 생성하는 알파절단의 개수 관점에서 모든 경우의 퍼지조건연산자와 알파절단에 대해 시뮬레이션 한다. .

• Korean Journal of Digital Imaging in Medicine
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• v.5 no.1
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• pp.130-136
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• 2002

One of current trends of medical technology is analog to digital. Moreover, The Government put a premium on PACS(Picture Archiving and Communication System) for Medical Insurance in November, 1999. Therefore many hospitals are installing(or planning to install) PACS facilities on their buildings. However most of hospitals didn't consider PACS facilities in the beginning of construction. In particular, the Networking is one of the most difficult things for PACS installation. There is no space for network equipments, and no path for network lines, etc. To solve these problems, wireless network is proposed. The wireless network is divided to three parts mainly. One is the wireless communication for Local Area Network, another is the data transmission through a satellite for Tele-Radiology, and the last one is the technology using Bluetooth for each sub-system of PACS. But there are other problems in wireless systems, i.e., network bandwidth, system stability, interference with other devices. The purpose of this paper is to suggest the future and new trend of PACS including all the problems.

• Annual Conference of KIPS
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• 2022.05a
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• pp.702-704
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• 2022

자율주행 시뮬레이터를 위한 대체재로 게임 엔진을 통한 가상 환경 모의 연구가 수행되고 있다. 하지만 게임 엔진에서는 자율 주행에 필요한 센서를 기기에 맞게 사용자가 직접 모델링을 해줘야 하기 때문에 개발 비용이 크게 작용된다. 특히, Ray 를 활용한 3D LIDAR 는 GPU(Graphics Processing Unit) 사용량이 많은 작업이기 때문에 저비용 시뮬레이터를 위해서는 저비용 3D LIDAR 모의가 필요하다. 본 논문에서는 낮은 컴퓨터 연산을 사용하는 C++ 기반 3D LIDAR 모의 프레임 워크를 제안한다. 제안된 3D LIDAR 는 다수의 언덕으로 이루어진 비포장 Map 에서 성능을 검증 하였으며, 성능 검증을 의해 본 논문에서 생성된 3D LIDAR 로 간단한 LPP(Local Path Planning) 생성 방법도 소개한다. 제안된 3D LIDAR 프레임 워크는 저비용 실시간 모의가 필요한 자율 주행 분야에 적극 활용되길 바란다.

• Journal of Korean Society of Transportation
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• v.32 no.6
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• pp.638-650
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• 2014

The objective of this study is to identify the causes of pedestrian volume path to the destination by investigating the influential levels of regional and planning features in the central area of Seoul. Regional characteristics can be classified from the result of the analysis and through the spatial characteristics of pedestrian volume. For global scale analysis, Ordinary Least Squares (OLS) regression is used for the degree of influence of each characteristics to pedestrian volume. For the local scale, Geographically Weighted Regression (GWR) is used to identify regional influential factors with consideration for spatial differences. The results of OLS indicate that boroughs with transportation facilities, commercial business districts, universities, and planning features with education research facilities and planning facilities have a positive effect on pedestrian volume path to the destination. Correspondingly, transportation hubs and congested areas, commercial and business centers, and university towns and research facilities in the Seoul central area can be identified through the results of GWR. The results of this study can provide information with relevance to existing plans and policies about the importance of regional characteristics and spatial heterogeneity effects on pedestrian volume, as well as significance in the establishment of regional development plans.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.174-179
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• 2003

Through the simultaneous localization and map building (SLAM) technique, a robot can create maps about its unknown environment while it continuously localizes its position. Grid maps and feature maps have been widely used for SLAM together with application of probability methods and POMDP (partially observed Markov decision process). But this approach based on grid maps suffers from enormous computational burden. Topological maps, however, have drawn more attention these days because they are compact, provide natural interfaces, and are easily applicable to path planning in comparison with grid maps. Some topological SLAM techniques like GVG (generalized Voronoi diagram) were introduced, but it enables the robot to decide only whether the current position is part of GVG branch or not in the GVG algorithm. In this paper, therefore, to overcome these problems, we present a method for updating a global topological map from the local topological maps. These local topological maps are created through a labeled Voronoi diagram algorithm from the local grid map built based on the sensor information at the current robot position. And the nodes of a local topological map can be utilized as the features of the environment because it is robust in light of visibility problem. The geometric information of the feature is applied to the extended Kalman filter and the SLAM in the indoor environment is accomplished. A series of simulations have been conducted using a two-wheeled mobile robot equipped with a laser scanner. It is shown that the proposed scheme can be applied relatively well.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2033-2038
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• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.68-79
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• 1999

This paper describes an approach to collaborative design which focuses on the effects of individual activities on the overall design process. We utilize a new process modeling tool to define the process and then analyze and refine the process based on critical paths. This information is then shared over the Internet with all participants. The goal of this system is to detect critical errors at initial design stage and guide the designers to make better decisions based on the knowledge of the overall process. This system enables participating designers to publish his local process through an Internet bulletin board. Other members of the team can then provide feedback based on how the proposed process impacts their activities. The system provides a context-rich, persistent forum for collecting, preserving, and refining corporate expertise of the team. For example, designers can select any process from the bulletin board and use it as a template for his current project and then use it to maintain his own design history. This paper is based on the process modeling concepts of Design Roadamap and describe several key extensions in the area of CPM calculations and collaborative interfaces.

• Journal of the Architectural Institute of Korea Planning & Design
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• v.34 no.3
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• pp.93-104
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• 2018

This study is about occurrence pattern of vacant spaces as a urban decline indicator to consider a decline of old hillside residential area from spatial structure perspective. For investigation based upon vacant space and the street structure, this study selects Ami Chojang-dong in Seo-gu, Busan, of which 79.7% of total area is over a gradient of $10^{\circ}$. Focused on relationship between occurrence pattern of vacant spaces and 'vertical alleys(link)' serving as main movement path of local residents in hillside residential area, the length, numbers, slopes, and use characteristic of vertical alleys were analyzed using Arc GIS 9.3 program to classify characteristic zone types of spacial structure in hillside residential area. After the occurrence pattern of vacant space are interpreted in relation with building density, vertical alleys' number length slope, the social and economic issues have been considered as well. After analyzing the occurrence pattern of vacant space, this study argues that the occurrence pattern of vacant space in old hillside residential area is rather affected by street structure system consisting of vertical alleys than the impacts of social economical issues.

• Journal of Internet of Things and Convergence
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• v.10 no.5
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• pp.27-37
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• 2024

In the context of multi-vehicle and multi-task logistics distribution within a park, traditional algorithms are often hindered by high computational complexity and slow convergence rates. Particle Swarm Optimization (PSO) has gained popularity in path planning for autonomous delivery vehicles due to its straightforward algorithmic principles, broad applicability, and comprehensive search capabilities. However, the conventional PSO is susceptible to premature convergence, leading to local optima. To address this, this study incorporates the Tent map into the PSO to enhance the algorithm's global search ability and prevent premature convergence. Benchmark function tests demonstrate that the improved Particle Swarm Optimization algorithm (TPSO), as proposed in this study, exhibits faster convergence and greater accuracy.In the instance verification section, X Park was selected as an example to construct a multi-vehicle and multi-task model for the logistics distribution within the park. The TPSO algorithm proposed in this paper was used to solve the model, and finally, the superiority of the TPSO algorithm was verified through comparative simulation.