• Journal of Korean Society of Industrial and Systems Engineering
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• v.42 no.2
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• pp.62-68
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• 2019

The growth and employment effects of R&D investment were analyzed according to business size, export value and manufacturing sectors so as to suggest improvement directions for effective industry policies. The effect of R&D investment was considered simultaneously from the two perspectives of growth and employment effect, and the causality analysis was carried out by using a path analysis. The result of the path analysis confirmed significant differences in the growth effect of R&D investment depending on business size. However, the effect of increasing employment was difficult to obtain statistically significant results for any various combinations of business size and export value. This is a mixture of directions for the effects of R&D investment on employment, which could be due to the failure to consider appropriate time lags between investment and effect. Efficiency analysis by industry sectors confirmed significant differences in efficiency depending on business size, but differences depending on export value were difficult to identify. In order to derive improvement policy by industry sector according to business size and export value, the direction of selective support policy and universal support policy was derived for six industry groups by combining the return to scale in the efficiency analysis and R&D concentration. Hirschman-Herfindahl index is used for calculating R&D concentration.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.192-198
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• 2016

Motion planning problem is still one of the important issues in robotic applications. In many real-time motion planning problems, it is advisable to find a feasible solution quickly and improve the found solution toward the optimal one before the previously-arranged motion plan ends. For such reasons, sampling-based approaches are becoming popular for real-time application. Especially the use of a rapidly exploring random $tree^*$ ($RRT^*$) algorithm is attractive in real-time application, because it is possible to approach an optimal solution by iterating itself. This paper presents a modified version of informed $RRT^*$ which is an extended version of $RRT^*$ to increase the rate of convergence to optimal solution by improving the sampling method of $RRT^*$. In online motion planning, the robot plans a path while simultaneously moving along the planned path. Therefore, the part of the path near the robot is less likely to be sampled extensively. For a better solution in online motion planning, we modified the sampling method of informed $RRT^*$ by combining with the sampling method to improve the path nearby robot. With comparison among basic $RRT^*$, informed $RRT^*$ and the proposed $RRT^*$ in online motion planning, the proposed $RRT^*$ showed the best result by representing the closest solution to optimum.

• Journal of Korean Society for Geospatial Information Science
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• v.15 no.3
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• pp.27-32
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• 2007

3D based information is demanded increasingly as cities grow three dimensionally and buildings become large and complex. The use of 3D GIS is also getting attention as fundamental data for ubiquitous computing applications such as location-based guidance, path finding and emergency escaping. However, most 3D modeling techniques are focused on the visualization of buildings or terrains and do not have topological structures required in spatial analyses. In this paper, we introduce a method to incorporate topological relationship into 3D models by combining 2D GIS layers and 3D model. We divide indoor spaces of a 3D model into discrete objects and then define the relationship with corresponding features in 2D GIS layers through database records. We also show how to construct hallways network in the 2D-3D integrated building model. Finally, we test different cases of route finding situations inside a building such as normal origin-destination path finding and emergency evacuation.

• Journal of KIISE:Databases
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• v.28 no.3
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• pp.449-457
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• 2001

As XML has become an emerging standard for information exchange on the World Wide Web, it has gained attention in database communities to extract information from XML seen as a database model. XML queries are based on regular path queries, which find objects reachable by given regular expressions. To answer many kinds of user queries, it is necessary to evaluate queries that have multiple regular path expressions. However, previous work such as query rewriting and query optimization in the frame work of semistructured data has dealt with a single regular expression. For queries that have multiple regular expressions we suggest a two phase optimizing technique: 1. query rewriting using views by finding the mappings from the view's body to the query's body and 2. for rewritten queries, evaluating each query conjunct and combining them. We show that our rewriting algorithm is sound and our query evaluation technique is more efficient than the previous work on optimizing semistructured queries.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.6
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• pp.385-391
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• 2022

This paper presents to develop a path planning algorithm combining gradient descent-based path planning (GBPP) and particle swarm optimization (PSO) for considering prohibited flight areas, terrain information, and characteristics of fixed-wing unmmaned aerial vehicle (UAV) in 3D space. Path can be generated fast using GBPP, but it is often happened that an unsafe path can be generated by converging to a local minimum depending on the initial path. Bio-inspired swarm intelligence algorithms, such as Genetic algorithm (GA) and PSO, can avoid the local minima problem by sampling several paths. However, if the number of optimal variable increases due to an increase in the number of UAVs and waypoints, it requires heavy computation time and efforts due to increasing the number of particles accordingly. To solve the disadvantages of the two algorithms, hierarchical path planning algorithm associated with hierarchical particle swarm optimization (HPSO) is developed by defining the initial path, which is the input of GBPP, as two variables including particles variables. Feasibility of the proposed algorithm is verified by software-in-the-loop simulation (SILS) of flight control computer (FCC) for UAVs.

• Journal of Korea Water Resources Association
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• v.49 no.12
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• pp.1015-1025
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• 2016

In general, manholes installed as urban drainage facilities are a variety forms such as straight path manholes, 90 degree bend manhole, three-way combining manhole, and four-way combining manhole. In particular, the surcharged flow at a four-way manholes installed in the downstream of urban sewer system is the main cause of the urban inundation caused by the energy loss. Therefore, it is necessary to analyze the flow characteristics and estimate the head loss coefficients at surcharged four-way combining manholes. The hydraulic experimental apparatus which can change the manhole shapes (square, circle) and flow ratios were installed to estimate the head loss coefficients. In the experiments, two inflows ($Q_m$, $Q_{lat}$) were varied from 0 to $4.8{\ell}/sec$ and 24 combinations were tested in total. The flow ratios $Q_{lat}/Q_{out}$ were varied from 0 to 1 for a total flow $Q_{out}$ ($Q_{out}=Q_m+2Q_{lat}$) of 2, 3, 4, and $4.8{\ell}/sec$, respectively. The variation of head losses were strongly influenced by the lateral inflow because the head loss coefficient increases as the flow ratios $Q_{lat}/Q_{out}$ increases. It was estimated head loss coefficients of the circular manhole is slightly lower than those of the square manhole. However, there was no significant difference of head loss as discharges change. The range of head loss coefficients at four-way combining manhole according to the change of the lateral inflow ratio was estimated to be 0.4 to 0.8. Also, the relation equations between the head loss coefficients (K) and the lateral inflow ratios ($Q_{lat}/Q_{out}$) were suggested in this paper.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.2
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• pp.360-367
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• 2006

In this paper, we design the complementary code keying (CCK) modulation/demodulation structure that is proposed in the IEEE 820.11b and IEEE 802.11g. And, this paper proposes the CCK Rake receiver to be fitted for the large delay spread case like the inter-vehicle communications. The channel estimation of each path in the multipath Rayleigh fading channel is done using the packet preamble and, the combining of the multipath signals in the coherent CCK Rake receiver is achieved as the symbol level combining type. In this paper, in order to validate the utilization of CCK modem for the inter-vehicle communications of the telematics communications, we suggest the CCK modem performance that is made for the multipath Rayleigh fading channel with the mobile speed of 300km/h.

• Journal of Korean Society of Transportation
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• v.27 no.5
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• pp.209-221
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• 2009

Travel time estimation under given traffic conditions is important for providing drivers with travel time prediction information. But the present expressway travel time estimation process cannot calculate a reliable travel time. The objective of this study is to estimate the path travel time spent in a through lane between origin tollgates and destination tollgates on an expressway as a prerequisite result to offer reliable prediction information. Useful and abundant toll collection system (TCS) data were used. When estimating the path travel time, the path travel time is estimated combining the link travel time obtained through a preprocessing process. In the case of a lack of TCS data, the TCS travel time for previous intervals is referenced using the linear interpolation method after analyzing the increase pattern for the travel time. When the TCS data are absent over a long-term period, the dynamic travel time using the VDS time space diagram is estimated. The travel time estimated by the model proposed can be validated statistically when compared to the travel time obtained from vehicles traveling the path directly. The results show that the proposed model can be utilized for estimating a reliable travel time for a long-distance path in which there are a variaty of travel times from the same departure time, the intervals are large and the change in the representative travel time is irregular for a short period.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.4
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• pp.57-63
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• 2004

This paper describes a method for digitizing the compound surfaces which are comprised of several unknown feature shapes such as base surface, and draft wall. From the reverse engineering's point of view, the main step is to digitize or gather three-dimensional points on an object rapidly and precisely. As well known, the non-contact digitizing apparatus using a laser or structured light can rapidly obtain a great bulk of digitized points, while the touch or scanning probe gives higher accuracy by directly contacting its stylus onto the part surface. By combining those two methods, unknown features can be digitized efficiently. The paper proposes a digitizing methodology using the approximated surface model obtained from laser-scanned data, followed by the use of a scanning probe. Each surface boundary curve and the confining area is investigated to select the most suitable digitizing path topology, which is similar to generating NC tool-paths. The methodology was tested with a simple physical model whose shape is comprised of a base surface, draft walls and cavity volumes.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.4
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• pp.441-448
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• 2012

This paper describes the optimal home positioning algorithm of Eclipse-II, a new conceptual parallel mechanism for motion simulator. Eclipse-II is capable of translation and 360 degrees continuous rotation in all directions. In unexpected situations such as emergency stop, riders have to be resituated as soon as possible through a shortest translational and rotational path because the return paths are not unique in view of inverse kinematic solution. Eclipse-II is man riding. Therefore, the home positioning is directly related to the safety of riders. To ensure a least elapsed time, ZYX Euler angle inverse kinematics is applied to find an optimal home orientation. In addition, the subsequent decrease of maximum acceleration and jerk values is achieved by combining the optimal return path function with cubic spline, which consequently reduces delivery force and vibration to riders.