• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.316-322
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• 2023

The increasing popularity of autonomous unmanned aerial vehicles (UAVs) can be attributed to their wide range of applications. 3D path planning is one of the crucial components enabling autonomous flight. In this paper, we present a novel 3D path planning algorithm that generates and utilizes curvature-based trajectories. Our approach leverages circular properties, offering notable advantages. First, circular trajectories make collision detection easier. Second, the planning procedure is streamlined by eliminating the need for the spline process to generate dynamically feasible trajectories. To validate our proposed algorithm, we conducted simulations in Gazebo Simulator. Within the simulation, we placed various obstacles such as pillars, nets, trees, and walls. The results demonstrate the efficacy and potential of our proposed algorithm in facilitating efficient and reliable 3D path planning for UAVs.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.165-166
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• 2008

Bistatic spotlight synthetic aperture radar(BSSAR) with single track configuration uses the transmitter and the receiver which travel along the single track such as the leader-follower. For the BSSAR imaging, we modify the range migration algorithm. In time domain, we make the monostatic SAR using shifting of path, Then, in frequency domain, we compensate the separated distance between the scene center and the flight path using the principle of the stationary phase (PSP).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.6C
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• pp.487-497
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• 2008

This paper proposes a new adaptive QRD-M algorithm for MIMO systems. The proposed scheme controls the number of survivor paths,0 based on the channel condition at each layer. The original QRD-M algorithm used fixed M at each layer and it needs large M to achieve near-MLD (maximum-likelihood detection) performance. However, using the large M increases the computation complexity. In this paper, we further effectively control M by employing the channel indicator which includes not only the channel gain, but also instantaneous noise information without necessity of SNR measurement. We found that the ratio of the minimum path metric to the second minimum is good reliability indicator for the channel condition. By adaptively changing M based on this ratio, the proposed scheme effectively achieves near MLD performance and computation complexity of the proposed scheme is significantly smaller than the conventional QRD-M algorithms.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.11A
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• pp.862-869
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• 2009

We propose a new adaptive K-best Sphere Decoding (SD) algorithm for Multiple Input Multiple Output (MIMO) systems where the number of survivor paths, K is changed based on the characteristics of path metrics which contain the instantaneous channel condition. In order to overcome a major drawback of Maximum Likelihood Detection (MLD) which exponentially increases the computational complexity with the number of transmit antennas, the conventional adaptive K-best SD algorithms which achieve near to MLD performance have been proposed. However, they still have redundant computation complexity since they only employ the channel fading gain as a channel condition indicator without instantaneous Signal to Noise Ratio (SNR) information. hi order to complement this drawback, the proposed algorithm use the characteristics of path metrics as a simple channel indicator. It is found that the ratio of the minimum path metric to the other path metrics reflects SNR information as well as channel fading gain. By adaptively changing K based on this ratio, the proposed algorithm more effectively reduce the computation complexity compared to the conventional K-best algorithms which achieve same performance.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.6A
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• pp.614-623
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• 2008

A very low complexity QRD-M algorithm based on adaptive search area is proposed for MIMO systems. The conventional QRD-M scheme extends each survivor paths to all constellation symbols at each layer and selects M paths of minimum path metrics. We found that performance will not be degraded even if we adaptively restrict the survivor path extension only to the neighboring points of temporary detection symbol according to the channel condition at each layer. By employing this feature, we propose a new QRD-M algorithm achieving the near MLD performance with a reduced complexity. We employ the channel gain ratio among the layers as a channel condition indicator, which does not require SNR estimation. The simulation results show that the proposed scheme effectively achieves near MLD performance while maintaining the overall average computation complexity much smaller than the conventional QRD-M algorithm.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.5
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• pp.601-614
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• 2012

Since the optimized use of sonar systems available for detection is a very practical problem for a given ocean environment, the measure of mission achievability is needed for operating the sonar system efficiently. In this paper, a theory on Measure Of Effectiveness(MOE) for specific mission such as detection is described as the measure of mission achievability, and a recursive Cumulative Detection Probability(CDP) algorithm is found to be most efficient from comparing three CDP algorithms for discrete glimpses search to reduce computation time and memory for complicated scenarios. The three CDPs which are MOE for sonar-maneuver pattern are calculated as time evolves for comparison, based on three different formula depending on the assumptions as follows; dependent or independent glimpses, unimodal or non-unimodal distribution of Probability of Detection(PD) as a function of observation time interval for detection. The proposed CDP algorithm which is made from unimodal formula is verified and applied to OASPP(Optimal Acoustic Search Path Planning) with complicated scenarios.

• Journal of The Korean Digital Architecture Interior Association
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• v.8 no.2
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• pp.13-20
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• 2008

As buildings have been constructed higher and more complicated recently, the activities of the residents occurred in those multiplex buildings have also become more various. As a result, possibility and the size of the damage from the disaster like a fire are getting larger. So, many studies for preventing the damage in refuge situation are being conducted. In this study, a new process for finding the optimum refuge path is presented, which is different from existing methods. This new method operates by using the human movement detection system in the building for real time. And the process also shows the new way which can shorten the number of calculation for deciding the optimum refuge path. That new way is to make variables such as the velocity of smoke and person movement into a constant. Finally it will be applied to a multiplex building.

• Proceedings of the IEEK Conference
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• 2002.06c
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• pp.143-146
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• 2002

The aim of this work is the real-time road edge detection using the fast processing of Cellular Analogic Parallel Processing Networks(CAPPN). The CAPPN is composed of 2D analog cell way. If the dynamic programming is implemented with the CAPPN, the optimal path can be detected in parallel manner Provided that fragments of road edge are utilized as the cost inverse(benefit) in the CAPPN-based optimal path algorithm, the CAPPN determines the most plausible path as the road edge line. Benefits of the proposed algorithm are the fast processing and the utilization of optimal technique to determine the road edge lines.

• The Journal of the Acoustical Society of Korea
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• v.25 no.3E
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• pp.123-130
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• 2006

The adaptive echo canceller (AEC) has become an important component in speech communication systems, including mobile station. In these applications, the acoustic echo path has a long impulse response. We propose a running-average least mean square (RALMS) algorithm with a detection method for acoustic echo cancellation. Using colored input models, the result clearly shows that the RALMS detection algorithm has a convergence performance superior to the least mean square (LMS) detection algorithm alone. The computational complexity of the new RALMS algorithm is only slightly greater than that of the standard LMS detection algorithm but confers a major improvement in stability.

• Journal of Satellite, Information and Communications
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• v.7 no.2
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• pp.97-103
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• 2012

A very low complexity QRD-M algorithm based on limited search area is proposed for MIMO systems. The conventional QRD-M algorithm calculates Euclidean distance between all constellation symbols and the temporary detection symbol at each layer. We found that performance will not be degraded even if we adaptively restrict the search area of the candidate symbols only to the neighboring points of temporary detection symbol according to the channel condition at each layer. As a channel condition indicator, we employ the channel gain ratio among the layers without necessity of SNR estimation. The simulation results show that the proposed scheme effectively achieves near optimal performance while maintaining the overall average computation complexity much smaller than the conventional QRD-M algorithm.