• 대한한의학원전학회지
• /
• 제32권2호
• /
• pp.17-31
• /
• 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
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.417-422
• /
• 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.

• 로봇학회논문지
• /
• 제17권1호
• /
• pp.32-39
• /
• 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.

• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2019년도 춘계학술대회
• /
• pp.298-299
• /
• 2019

본 논문에서 장거리 통신이 항상 보장될 수 없는 전술 무선 네트워크 환경에서 무인전투체계들간의 안정한 상호 인증 프로토콜을 제안한다. 제안하는 프로토콜은 임의로 선택된 데이터의 해시 충돌을 이용하여 인증코드를 생성한다. 인증요청자는 이를 인증자의 공개키로 암호화여 전송한다. 인증요청자와 인증자가 정당한 인증코드를 상호 공유함으로써 인증을 수행한다. 다양한 공격 시나리오를 대상으로 제안하는 기법의 안전성을 분석한다.

• 산업경영시스템학회지
• /
• 제22권50호
• /
• pp.33-44
• /
• 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.

• 로봇학회논문지
• /
• 제1권1호
• /
• pp.46-57
• /
• 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.

• 혜화의학회지
• /
• 제27권1호
• /
• pp.9-20
• /
• 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
• /
• 제5권3호
• /
• pp.295-306
• /
• 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.

• 항공우주시스템공학회지
• /
• 제18권2호
• /
• pp.56-63
• /
• 2024

무인 이동체의 안전성이 점차 증대되면서 빌딩과 같은 장애물이 많은 도심환경에서의 무인 이동체의 활용이 증가할 것으로 예상된다. 도심 환경에서 다수의 무인 이동체가 운용될 경우, 임무 할당 뿐만 아니라 정적 및 동적 장애물 회피와 더불어 상호 충돌 회피가 가능한 경로를 생성하는 알고리듬이 필요하다. 본 논문에서는 임무 할당 및 경로 계획을 수행하는 알고리듬을 제안한다. 장애물 및 경로 계획을 효율적으로 수행하기 위해 맵을 격자 기반으로 구성한 다음 경로를 도출하였다. 동적인 환경에서 빠르게 재계획하기 위해 계산 시간 단축에 집중하였다. 시뮬레이션을 통해 작은 규모의 문제에서 장애물 회피 및 상호 충돌 회피 방안에 대해 설명하였고, 큰 규모의 문제에서 임무 전체 종료 시간(Makespan)을 관찰하여 성능을 확인하였다.

• 한국통신학회논문지
• /
• 제25권1B호
• /
• pp.62-70
• /
• 2000

본 논문에서는 지능형 차량에서 사용되는 레이더 센서 사이의 상호 간섭 억제 방법을 제안한다. 이 연구는 표준화된 펄스형 레이더에서 동기형 간섭 신호의 억제 방안에 관한 것이다. 레이더 펄스의 방사는 ON-OFF 제어되며, OFF 구간에서 수신된 간섭 신호는 각 레이진 별로 분석되어 저장되며 이를 이용하여 ON 구간에서의 거짓 반사파의 위치를 예측하며, 이로써 ON 구간에서의 동기형 간섭 신호를 제거한다. I-Q 변복조 방식의 레이더 시스템에서, Rayleigh 분포와 Rician 분포의 잡음에서의 오경보 확률과 미탐지 확률을 유도하였다. 펄스 신호 유무의 판별 시의 임계값을 적응적으로 조절함으로써 오경보 확률은 감소시키고 미탐지 확률의 저하를 억제하는 방법을 제시하였으며, 시뮬레이션 결과 오경보 확률은 최고 10\sup 4\배 감소하였고 미탐지 확률의 저하는 무시할 정도였다.