• Journal of Korean Medical classics
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• v.32 no.2
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• pp.17-31
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• 2019

Objectives : Understanding the Ten Stems and Twelve Branches is necessary to grasp the laws of change in Heaven and Earth. Methods : Based on relevant contents in East Asian classics, the Yin Yang, Sibling Wuxing, Husband-Wife Wuxing combinations as well as Mutual Collision and Zangfu combination were examined. Results & Conclusion : Yin Yang combination of the Ten Stems are divided according to odd/evenness. The Sibling Wuxing combination is categorized according to one life cycle of vegetation, resulting in Jia Yi Wood, Bing Ding Fire, Wu Ji Earth, Geng Xin Metal, Ren Gui Water. The Husband-Wife Wuxing combination of the Ten Stems are Jia Ji Earth, Yi Geng Metal, Bing Xin Water, Ding Ren Wood, Wu Gui Fire, which corresponds to the principles of the Duihuazuoyong Theory. Within the Husband-Wife Wuxing combination lies three principles which are Yin Yang combination, Mutual Restraining combination, and the Yang Stem restraining the Yin Stem. The Mutual Collision of the Ten Stems are Jia and Geng, Yi and Xin, Ren and Bing, Gui and Ding against each other. In matching Zangfu to the Ten Stems, Jia matches with Gallbladder, Yi matches with Liver; Bing matches with Small Intestine, Ding matches with Heart; Wu matches with Stomach, Ji matches with Spleen; Geng matches with Large Intestine, Xin matches with Lung; Ren matches with Bladder, Gui matches with Kidney. : When the adjacent vectors are extracted, the count-based word embedding method derives the main herbs that are frequently used in conjunction with each other. On the other hand, in the prediction-based word embedding method, the synonyms of the herbs were derived.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.417-422
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• 1993

Robots working in the multiple robot system can perform the variety of tasks compared to the single robot system, while they are subject to the various tight constraints such as the precise coordination and the mutual collision avoidance during the task execution. In this paper, we provide an algorithm and graphical verification for collision avoidance between two robots working together. The algorithm calculates the minimum time delay for collision avoidance and the graphical verification is performed through the 3-D graphic simulator.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.32-39
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• 2022

Since the mobile platform and the manipulator mounted on it move at the same time in a mobile manipulator, the risk of mutual collision increases. Most of the studies on collision avoidance of mobile manipulators cannot be applied to differential drive type mobile platforms or the end-effector tends to deviate from the desired trajectory for collision avoidance. In this study, a collision avoidance algorithm based on null space projection (CANS) that solves these two problems is proposed. To this end, a modified repulsive force that overcomes the non-holonomic constraints of a mobile platform is generated by adding a virtual repulsive force in the direction of its instantaneous velocity. And by converting this repulsive force into a repulsive velocity and applying it to the null space, the end-effector of the robot avoids a collision while moving along its original trajectory. The proposed CANS algorithm showed excellent performance through self-collision avoidance tests and door opening tests.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2019.05a
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• pp.298-299
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• 2019

In this paper, we propose a stable mutual authentication protocol between unmanned combat systems in tactical wireless networks where long distance communications are not always guaranteed due to a poor channel condition. The proposed protocol generates an authentication code using hash collision of arbitrarily selected random data. The authentication requester encrypts and transmits it to the authenticator. They performs authentication by sharing the valid authentication code. We analyze the safety of the proposed method for various attack scenarios.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.22 no.50
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• pp.33-44
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• 1999

This paper describes the Autonomous Vehicles (AV) which are operated for their own tasks. There are chances of conflict resolution such as sharing the same path which can lead to the risk of a collision. This research represents some ways of negotiating the conflict resolution by generating cooperative actions. Negotiation while traveling the path is accomplished by using priority and by announcing the start time of the task. When there is a risk of collision, the AV tries to dissolve the situation of conflict resolution by concurrently adjusting mutual speed and by performing the algorithm of passing. If the speed of the AV cannot be adjusted, it measures the distance between the counterpart of the AV and an obstacle along the path. Then it judges either to proceed by passing the counterpart of the AV or to turn back after observing the current circumstances. The performance of the algorithm described above was proven by a simulator.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.46-57
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• 2006

It is well known that mathematical solutions for multi-agent planning problems are very difficult to obtain due to the complexity of mutual interactions among multi-agent. Most of the past research results thus are based on the probabilistic completeness. However, the practicality and effectiveness of the solution from the probabilistic completeness is significantly reduced by heavy computational burden. In this paper, we propose a practically applicable solution technique for multi-agent planning problems, which assures a reasonable computation time and a real world application for more than 3 multi-agents for the case of general shaped paths in agent movement. First, to reduce the computation time, a collision map is utilized for detecting potential collisions and obtaining collision-free solutions for multi-agents. Second, to minimize the maximum of multi-agent task execution time, a method is developed for selecting an optimal priority order. Simulations are finally provided for more than 20 agents to emphasize the effectiveness of the proposed interactive approach to multi-agent planning problems.

• Journal of Haehwa Medicine
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• v.27 no.1
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• pp.9-20
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• 2018

Objectives : Ten heavenly stems(10天干) and Twelve earthly branches(12地支) are symbols exposing change order in heaven and earth, and are a very important sign in studying oriental philosophy and oriental medicine. Especially, 10 heavenly stems(10天干) and 12 earthly branches(12地支) are indispensable for the study of Five Circuits And Six Qi(오운육기), and a deep study is needed. Methods : I have examined Yin Yang combination(음양배합), Five elements combination(오행배합), Six Qi 3Yin 3Yang combination(육기삼음삼양배합), viscera combination(장부배합), Mutual collision(상충), Six combination(육합), Three combination(삼합), etc. of 12 earthly branches(12지지) by referring to books such as "Yellow Emperor Internal Classic" ("黃帝內經") and "Principle of universe change" ("우주변화의 원리"). Results & Conclusions : Zi Yin Chen Wu Shen Xu(子 寅 辰 午 申 戌) become Yang(陽), Chou Mao Si Wei You Hai(丑 卯 巳 未 酉 亥) become Yin(陰), Zi Si Yin Mao Chen Si(子 丑 寅 卯 辰 巳) become Yang, and Wu Wei Shen You Xu Hai(午 未 申 酉 戌 亥) become Yin. Twelve earthly branches can be divided into five movements by its original meaning, where YinMao(인묘) is tree, SiWu(사오) is a fire, ShenYou(신유) is a gold, HaiZi(해자) is water, and ChenXuChouWei(진술축미) mediate in the middle of four movements So they become soil(土). SiHai(巳亥) is JueYin Wind Tree(궐음 풍목), ZiWu(子午) is ShaoYin Monarch Fire(소음 군화), ChouWei(丑未) is TaiYin Humid Soil(태음 습토), YinShen(寅申) is ShaoYang Ministerial Fire(소양 상화), MaoYou(卯酉) is YangMing Dry Gold(양명 조금), and ChenXu(辰戌) is TaiYang Cold Water(태양 한수). Viscera combination(장부배합) combines Zi(子) and Bile(膽), Chou(丑) and Liver(肝), Yin(寅) and Lung(肺), Mao(卯) and Large intestine(大腸), Chen(辰) and Stomach(胃), Si(巳) and Spleen(脾), Wu(午) and Heart(心), Wei(未) and Small intestine(小腸), Shen(申) and Bladder(膀胱), You(酉) and Kidney(腎), Xu(戌) and Pericardium(心包), Hai(亥) and Tri-energizer(三焦), Which means that the function of the viscera and channels is the most active at that time. Twelve earthly branches mutual collisions collide with Zi(子) and Wu(午), Chou(丑) and Wei(未), Yin(寅) and Shen(申), Mao(卯) and You(酉), Chen(辰) and Xu(戌), and Si(巳) and Hai(亥). The two colliding earthly branches are on opposite sides, facing each other and restricting each other by the relation of Yin-Yin and Yang-Yang it rejects each other so a collision occurs. Six Correspondences(六合) coincide with Zi(子) and Chou(丑), Yin(寅) and Hai (亥), Mao(卯) and Xu(戌), Chen(辰) and You(酉) and Si(巳) and Shen(申) Wu(午) and Wei(未). Three combination(三合) is composed of ShenZiChen(申子辰), SiYouChou(巳酉丑), YinWuXu(寅午戌), and HaiMaoWei(亥卯未). Three combination(三合) is composed of ShenZiChen(申子辰), SiYouChou(巳酉丑), YinWuXu(寅午戌), and HaiMaoWei(亥卯未). This is because the time Six Qi(六氣) shifts in these three years are the same.

• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.295-306
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• 2007

It is well known that mathematical solutions for multi-agent planning problems are very difficult to obtain due to the complexity of mutual interactions among multi-agents. Most of the past research results are thus based on the probabilistic completeness. However, the practicality and effectiveness of the solution from the probabilistic completeness is significantly reduced by heavy computational burden. In this paper, we propose a practically applicable solution technique for multi-agent planning problems, which assures a reasonable computation time and a real world application for more than 3 multi-agents, for the case of general shaped paths in agent movement. First, to reduce the computation time, an extended collision map is developed and utilized for detecting potential collisions and obtaining collision-free solutions for multi-agents. Second, a priority for multi-agents is considered for successive and interactive modifications of the agent movements with lower priority. Various solutions using speed reduction and time delay of the relevant agents are investigated and compared in terms of the computation time. A practical implementation is finally provided for three different types of agents to emphasize the effectiveness of the proposed interactive approach to multi-agent planning problems.

• Journal of Aerospace System Engineering
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• v.18 no.2
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• pp.56-63
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• 2024

As the safety of unmanned vehicles continues to improve, their usage in urban environments, which are full of obstacles such as buildings, is expected to increase. When numerous unmanned vehicles are operated in such environments, an algorithm that takes into account mutual collision avoidance, as well as static and dynamic obstacle avoidance, is necessary. In this paper, we propose an algorithm that handles task assignment and path planning. To efficiently plan paths, we construct a grid-based map and derive the paths from it. To enable quick re-planning in dynamic environments, we focus on reducing computational time. Through simulation, we explain obstacle avoidance and mutual collision avoidance in small-scale problems and confirm their performance by observing the entire mission completion time (Makespan) in large-scale problems.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.1B
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• pp.62-70
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• 2000

Intelligent vehicles are equipped with radar sensors for collision avoidance. We present a method of suppressing mutual interference among pulse-type radars, where all the radars are standardized. We developed a method of separating the true self-reflection from the false one by controlling the pulse emission of a radar in anorhogonal ON, OFF pattern. Interference signal identified in OFF-intervals is recorded to indicate the positions of the expected ghosts in ON-intervals. PFA and PM are derived for a radar system with I-Q demodulation scheme, where Gaussian noise alone is Rayleigh-distributed and Gaussian noise plus reflected radar pulse are Rician-distributed. The value of the threshold adaptively updated in order to prevent the deterioration of PM. In the experimental result, PFA decreases by an order of 10,000, when compared with the conventional M of N majority voting method.