• Journal of the Korea Society of Computer and Information
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• v.18 no.1
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• pp.11-19
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• 2013

For an autonomous multi-mobile robot system, path planning and collision avoidance are important functions used to perform a given task collaboratively and cooperatively. This study considers these important and challenging problems. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner selects the paths of the robots that minimize the cost function from each robot to its own target using a potential field. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. In this paper, each robot independently selects its destination and considers other robots as dynamic obstacles, and there is no need to predict the motion of obstacles. This process continues until the corresponding target of each robot is found. To test this method, an autonomous multi-mobile robot simulator (AMMRS) is developed, and both simulation-based and experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• 전자공학회논문지 IE
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• v.47 no.2
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• pp.66-72
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• 2010

In an autonomous multi-mobile robot environment, optimal path planning without collision which connects the beginning and ending point is essential and primary important. Many mobile robots should move autonomously without prior or given information about obstacles which are stationary or dynamic. Collision free optimal path planning for multi mobile robots is proposed in this paper. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner using potential field method selects the shortest path from each robot to its own target. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. To verify performance of this method, several simulation-based experimental are done and their results are discussed. These results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.323-326
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• 2006

The operation planning of multi-AUV is considered as a very difficult task. This paper proposes the qualitative method about the operation plan of multi-agents. In order to achieve this goal, it applies an extension collision map method as a tool to avoide collision between multi AUVs. This tool has been developed for the purpose of collision forecasting and collision avoidance for the multi - agents system in a land where a control is much easier. This paper analyzes the avoidance value of maximum path of AUV in order to apply this to a water environment where a tidal, a wave and disturbances are common. And it suggests the method that the maximum path avoidance can be applied to the collision avoidance on the extension collision map. Finally, the result proves that multi AUVs effectively navigates to the goal point, avoiding the collision by the suggested method.

• Journal of Navigation and Port Research
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• v.33 no.10
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• pp.723-734
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• 2009

Container Vessel is becoming larger and faster thanks to the rapid growth of global trade and development of technology. Therefore, 15,000TEU vessel is expected to be ordered in near future. Every nations in north-east Asia are facing strong competition to be logistics hub to get the initiatives of logistics in response to the rapid change of logistics environment. According to the globalization of economy and major ports in this region also are trying to catch big shipping line for their survival. Considering above circumstances of the advent of ultra-large container vessel and spoke-and-hub strategy, it is inevitably necessary to make a fast and accurate vessel job in the terminal in order to be a leading port To meet this objective, current vessel planning system has to be improved innovatively. Therefore, this thesis propose multi distributed vessel planning system which enables multi loading/discharging planning with several planner simultaneously for faster and more accurate than existing planning and enhances quality of planning through information sharing among planners. Also this thesis uses simulation through Arena to verify the efficiency of this multi-distributed vessel planning system.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.10
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• pp.163-173
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• 2010

In multi-mobile robot environment, path planning and collision avoidance are important issue to perform a given task collaboratively and cooperatively. The proposed approach is based on a potential field method and fuzzy logic system. For a global path planner, potential field method is employed to select proper path of a corresponding robot and fuzzy logic system is utilized to avoid collisions with static or dynamic obstacles around the robot. This process is continued until the corresponding target of each robot is reached. To test this method, several simulation-based experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.5
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• pp.102-111
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• 2010

This paper presents a design of seat mechanism for multi-postures controllable wheelchair. The possible seat postures are reclining, tilting, standing, which are controlled by four seat mechanisms using four linear actuators. The seat mechanisms designed in this study are reclining, tilting, forward-tilting, and elevation mechanism. Three postures except standing are controlled by corresponding mechanisms, but the standing posture is performed by combination of the reclining and the forward-tilting mechanism. Posture control system is composed of PID controllers and a planner to determine a feasible posture based on a posture transition diagram. Simulation results show that the seat mechanism and its control system are applicable to a multi-postures controllable wheelchair.

• Journal of Internet Computing and Services
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• v.8 no.1
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• pp.115-123
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• 2007

Agents in Multi-Agent System; (MAS) should make use of a common Agent Communication Language (ACL) in order to negotiate with others, and conform to negotiation protocols thatare designed to reach agreements. Therefore, agents must have suitable architectures that could cover above requirements. In this paper, we define an instructive ACL and compare it with other ACLs such as Foundation for Intelligent Physical Agents (FIPA) ACL and Knowledge Query Manipulation Language(KQML), In particular, we represent agents as logic programs with knowledge base and negotiation library. Finally, we show how the planner, which is in the negotiation library, provides the plan of actions and updates agent's knowledge base.

• Journal of Ocean Engineering and Technology
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• v.36 no.1
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• pp.41-49
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• 2022

With the advancement of intelligent vehicles and unmanned systems, there is a growing interest in underwater surveys using autonomous marine vehicles (AMVs). This study presents an automated planning strategy for a long-term survey mission using a fleet of AMVs consisting of autonomous surface vehicles and autonomous underwater vehicles. Due to the complex nature of the mission, the actions of the vehicle must be of high-level abstraction, which means that the actions indicate not only motion of the vehicle but also symbols and semantics, such as those corresponding to deploy, charge, and survey. For automated planning, the planning domain definition language (PDDL) was employed to construct a mission planner for realizing a powerful and flexible planning system. Despite being able to handle abstract actions, such high-level planners have difficulty in efficiently optimizing numerical objectives such as obtaining the shortest route given multiple destinations. To alleviate this issue, a widely known technique in operations research was additionally employed, which limited the solution space so that the high-level planner could devise efficient plans. For a comprehensive evaluation of the proposed method, various PDDL-based planners with different parameter settings were implemented, and their performances were compared through simulation. The simulation result shows that the proposed method outperformed the baseline solutions by yielding plans that completed the missions more quickly, thereby demonstrating the efficacy of the proposed methodology.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.5 no.1
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• pp.38-43
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• 2004

We designed and implemented a medical image query system, including a relational database and DBMS (database management system), which can visualize image data and can achieve spatial, attribute, and mixed queries. Image data used in querying can be visualized in slice, MPR(multi-planner reformat), volume rendering, and overlapping on the query system. To reduce spatial cost and processing time in the system. brain images are spatially clustered, by an adaptive Hilbert curve filling, encoded, and stored to its database without loss for spatial query. Because the query is often applied to small image regions of interest(ROI's), the technique provides higher compression rate and less processing time in the cases.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.701-703
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• 1996

Maintenance scheduling plays an important role in evaluating the supply reliability of power systems. Since generating units must be maintained and inspected, the generation planner must schedule planned outages during the year. Several factors entering into this scheduling analysis include: seasonal load-demand profile, amount of maintenance to bo done on all generating units, size of the units, elapsed time from last maintenance, and availability of maintenance crews. This paper proposes a new algorithm to decide the multi-year maintenance scheduling with considering the total cost. We adjust the maintenance scheduling to levelize the reliability over all period. The proposed algorithm is applied to a real size power system and the developed reliability results are obtained.