• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.6 s.312
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• pp.1-8
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• 2006

Many researches on path planning and obstacle avoidance for the fundamentals of mobile robot have been done recently. Informations from various sensors can be used to find obstacles and plan feasible path. In spite of many solutions of finding optimal path, each can be applied in only a constrained condition. This means that it is difficult to find university good algorithm. An optimal path with a complicated computation generates a time delay which cannot avoid moving obstacles. In this paper, we propose an algorithm of path planning and obstacle avoidance for mobile robot. We call the proposed method Random Access Sequence(RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors, then the path is selected using these numbers and cumulative numbers. It has an advantage of fast planning time and completeness of path if one exists. This means that new path selection may be possible within short time and that helps a robot to avoid obstacle in dynamic environments. Using the information of the start and destination position, the RAS can be performed for collision-free navigation by reforming feasible paths repeatedly in dynamic environments.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.11
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• pp.763-770
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• 2022

In an environment where multiple drones are operated, collisions can occur when path points overlap, and collision avoidance in preparation for this is essential. When multiple drones perform multiple tasks, it is not appropriate to use a method to generate a collision-avoiding path in the path planning phase because the path of the drone is complex and there are too many collision prediction points. In this paper, we generate a path through a commonly used path generation algorithm and propose a collision avoidance method using speed profile optimization from that path segment. The safe distance between drones was considered at the expected point of collision between paths of drones, and it was designed to assign a speed profile to the path segment. The optimization problem was defined by setting the distance between drones as variables in the flight time equation. We constructed the constraints through linearize and convexification, and compared the computation time of SQP and convex optimization method in multiple drone operating environments. Finally, we confirmed whether the results of performing convex optimization in the 20 drone operating environments were suitable for the multiple drone operating system proposed in this study.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.26 no.1
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• pp.162-169
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• 2022

In a dynamically changing time-varying network environment, the optimal moving pattern of edge devices can be applied to distributing computing resources to edge cloud servers or deploying new edge servers in the FEC(Fog/Edge Computing) environment. In addition, this can be used to build an environment capable of efficient computation offloading to alleviate latency problems, which are disadvantages of cloud computing. This paper proposes an algorithm to extract the optimal moving pattern by analyzing the moving path of multiple edge devices requiring application services in an arbitrary spatio-temporal environment based on frequency. A comparative experiment with A^* and Dijkstra algorithms shows that the proposed algorithm uses a relatively fast execution time and less memory, and extracts a more accurate optimal path. Furthermore, it was deduced from the comparison result with the A^* algorithm that applying weights (preference, congestion, etc.) simultaneously with frequency can increase path extraction accuracy.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.3
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• pp.245-256
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• 2017

In this study, we describe a new approach to real-time implementation of working path control for the forging and casting manufacturing process by vertical type articulated robot system. The proposed control scheme is simple in structure, fast in computation, and useful for real-time control of factory automation based on robot system. Moreover, this scheme does not require any accurate parameter information, nor values of the uncertain parameters and payload variations. Reliability of the proposed controller is proved by simulation and experimental results for robot manipulator consisting of arm with six degrees of freedom under the variation of payloads and tracking trajectories in Cartesian space and joint space. The vertical type articulated robot manipulator with six axes made in SMEC Co., Ltd. has been used for real-time implementation test to illustrate the enhanced working path control performance for unmanned automation of the forging and casting manufacturing process.

• Journal of the military operations research society of Korea
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• v.36 no.3
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• pp.135-145
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• 2010

The submarine is very threatening and secretive weapon system that achieves missions under the sea. However, the submarine is faced with danger that can be attacked from the enemy when is detected by sensor or rose to the surface. This study will be planned optimal path to maximize the survival rate that considers submarine navigation capability in underwater and search activity of hostile warships. A mathematical programming model and a heuristic algorithm will be suggested in this study. The mathematical programming model is verified by using ILOG CPLEX. The submarine path, unit time(distance) of navigation, survival rate, and computation time is computed by using a heuristic algorithm.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.4
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• pp.39-47
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• 2004

In mold machining, there are many concave machining regions where chatter and tool deflection occur since MRR(material removal rate) increases as curvature increases even though cutting speed and depth of cut are constant. Boolean operation between stock and tool model is widely used to compute MRR in NC milling simulation. In finish cutting, the side step is reduced to about 0.3mm and tool path length is sometimes over loom, so Boolean operation takes long computation time and includes much error if the resolution of stock and tool model is larger than the side step. In this paper, curvature of CL (cutter location) surface and side step of tool path is used to compute the feedrate for constant MRR machining. The data structure of CL surface is Z-map generated from NC tool path. The algorithm to get local curvature from discrete data was developed and applied to compute local curvature of CL surface. The side step of tool path was computed by point density map which includes cutter location point density at each grid element. The feedrate computed from curvature and side step is inserted to new tool path to regulate MRR. The resultants were applied to feedrate optimization system which generates new tool path with feedrate from NC codes for finish cutting. The system was applied to the machining of speaker and cellular phone mold. The finishing time was reduced to 12.6%, tool wear was reduced from 2mm to 1.1mm and chatter marks and over cut on corner were reduced, compared to the machining by constant feedrate. The machining time was shorter to 17% and surface quality and tool was also better than the conventional federate regulation using curvature of the tool path.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.10
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• pp.918-926
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• 2007

Military aircrafts usually operate at the area with lots of threats such as radars and surface-to-air missiles. Aircraft also faces with the unexpected or pop-up threats. Under this environment, a safe flight path should be generated to lead a mission successful. In this paper, a new path planning algorithm is proposed to provide less dangerous flight path efficiently. Of many path planning algorithms, a potential method is considered, because it has advantages of computation efficiency and smooth path generation. Trajectory generation under the condition of maximum range is studied so that the aircraft may reach the target area without refueling. The algorithm to cope with an unexpected situation is also proposed by adopting the concept of initial direction vector, additional force, and a new mapping function. The performance of the proposed algorithms is demonstrated for SEAD (Suppression of Enemy Air Defences) mission by numerical simulation.

• Journal of the Korea Society of Computer and Information
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• v.20 no.4
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• pp.25-32
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• 2015

The Genetic algorithm is a search algorithm using evaluation, genetic operator, natural selection to populational solution iteratively. The convergence and divergence characteristic of genetic algorithm are affected by selection strategy, generation replacement method, genetic operator when genetic algorithm is designed. This paper proposes fast convergence genetic algorithm for time-limited robot path planning. In urgent situation, genetic algorithm for robot path planning does not have enough time for computation, resulting in quality degradation of found path. Proposed genetic algorithm uses fast converging selection strategy and generation replacement method. Proposed genetic algorithm also uses not only traditional crossover and mutation operator but additional genetic operator for shortening the distance of found path. In this way, proposed genetic algorithm find reasonable path in time-limited situation.

• Journal of Internet Computing and Services
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• v.19 no.2
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• pp.33-41
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• 2018

In recent years, technology is rapidly changing to support new service consumption and distribution models in multimedia service systems and hybrid delivery of media services is a key factor for enabling next generation multimedia services. This phenomenon can lead to rapidly increasing network traffic and ultimately has a direct and aggravating effect on the user's quality of service (QOS). To address the issue, we propose a novel system architecture to provide smart hybrid media services efficiently. The architecture is designed to apply the software-defined networking (SDN) method, detect changes in traffic, and combine the data, including user data, service features, and computation node status, to provide a service schedule that is suitable for the current state. To this end, the proposed architecture is based on 2-level scheduling, where Level-1 scheduling is responsible for the best network path and a computation node for processing the user request, whereas Level-2 scheduling deals with individual service requests that arrived at the computation node. This paper describes the overall concept of the architecture, as well as the functions of each component. In addition, this paper describes potential scenarios that demonstrate how this architecture could provide services more efficiently than current media-service architectures.

• Proceedings of the Acoustical Society of Korea Conference
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• 1992.06a
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• pp.66-70
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• 1992

This paper describes the simplified DTW algorithm for real time korean digit recognition and construct the digit recognition system using that algorithm. The DTW algorithm which is used nowadays have problems on real time recognition because of its massive computation. But, simplified DTW algorithm, which is proposed in this paper, solved these problems. In the case of single syllable, we use the characteristic of uniform distribution of epansion and contraction on time ais, compare distance of input pattern and reference pattern using constrainedly restricted path. As a result, we can reduce a great deal of computation and achieved that the real time korean digit recognition system.