• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.381-387
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• 2009

This paper is presented simultaneous localization and mapping (SLAM) based on feature map and path-planning using modified genetic algorithm for efficient driving of autonomous vehicle. The biggest problem for autonomous vehicle from now is environment adaptation. There are two cases that its new location is recognized in the new environment and is identified under unknown or new location in the map related kid-napping problem. In this paper, SLAM based on feature map using ultrasonic sensor is proposed to solved the environment adaptation problem in autonomous driving. And a modified genetic algorithm employed to optimize path-planning. We designed and built an autonomous vehicle. The proposed algorithm is applied the autonomous vehicle to show the performance. Experimental result, we verified that fast optimized path-planning and efficient SLAM is possible.

• Journal of the Korea Society of Computer and Information
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• v.13 no.5
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• pp.179-186
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• 2008

In proportion as the growth of the wireless sensor network applications, we need for more accuracy wireless channel information. In the case of indoor or outdoor wireless sensor networks, multipath propagation causes severe problems in terms of fading. Therefore, a path-loss model for multipath environment is required to optimize communication systems. This paper deals with log-normal path loss modeling of the indoor 2.4 GHz channel. We measured variation of the received signal strength between the sender and receiver of which separation was increased from 1 to 30m. The path-loss exponent and the standard deviation of wireless channel were determined by fitting of the measured data. By using the PRR(Packet Reception Rate) of this model. Wireless sensor channel is defined CR(Connect Region), DR(Disconnected Region). In order to verify the characteristics of wireless channel, we performed simulations and experiments. We demonstrated that connection ranges are 24m in indoor, and 14m in outdoor.

• Journal of the Korea Society for Simulation
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• v.19 no.2
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• pp.91-98
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• 2010

Conventional path-finding has focused on finding short collision-free paths. However, as computer games become more sophisticated, it is required to take tactical information like ambush points or lines of enemy sight into account. One way to make this information have an effect on path-finding is to represent a heuristic function of a search algorithm as a weighted sum of tactics. In this paper we consider the problem of learning heuristic to optimize path-finding based on given tactical information. What is meant by learning is to produce a good weight vector for a heuristic function. Training examples for learning are given by a game level-designer and will be compared with search results in every search level to update weights. This paper proposes a learning algorithm integrated with search for tactical path-finding. The perceptron-like method for updating weights is described and a simulation tool for implementing these is presented. A level-designer can mark desired paths according to characters' properties in the heuristic learning tool and then it uses them as training examples to learn weights and shows traces of paths changing along with weight learning.

• Korean Journal of Construction Engineering and Management
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• v.4 no.2 s.14
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• pp.91-98
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• 2003

In Korea construction project case, architectural construction project is curtailed production because information network process within multidisciplinary isn't smooth. Particularly, the construction is not insufficient about performance, cost and material, construction process, etc. in result various question arises because of design error in construction step. And various mistake is made because communication path within multidisciplinary isn't smooth in architectural design and design change process. Therefore The final object of this study is to propose the establishment method of decision support model for the cooperative design in order to provides improved design coordination and optimize the building system.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• autumn
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• pp.315-318
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• 2003

In Korea construction project case, architectural construction project is curtailed production because information network process within multidisciplinary isn't smooth. Particularly, the construction is not insufficient about performance, cost and material, construction process, etc. in result various question arises because of design error in construction step. And various mistake is made because communication path within multidisciplinary isn't smooth in architectural design and design change process. Therefore The final object of this study is to propose the establishment method of decision support process for the cooperative design in order to provides improved design coordination and optimize the building system.

• Journal of Korea Multimedia Society
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• v.10 no.12
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• pp.1632-1644
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• 2007

Wireless Mesh Networks aim to attain large connectivity with minimum performance degradation, as network size is increase. As such, scalability is one of the main characteristics of Wireless Mesh Networks that differentiates it from other wireless networks. This characteristic creates the need for bandwidth efficiency strategies to ensure that network performance does not degrade as the size of the network increase. Several researches have been done to realize mesh networks. However, the researches conducted were mostly focused on a per TCP/IP layer basis. Also, the studies on bandwidth efficiency and bandwidth improvement are usually dealt with as separate issues. This paper aims to simultaneously study bandwidth efficiency and improvement. Aside from optimizing the bandwidth given a fixed capacity, the capacity is also increased using results of physical layer studies. In this paper, the capacity is improved by using the concept of non-overlapping channels for wireless communication. A channel allocation scheme is conceptualized to choose the transmission channel that would optimize the network performance parameters with consideration of chosen Quality of Service (QoS) parameters. Network utility maximization is used to optimize the bandwidth after channel selection. Furthermore, a routing scheme is proposed using the results of the network utilization method and the channel allocation scheme to find the optimal path that would maximize the network gain.

• International Journal of Highway Engineering
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• v.13 no.4
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• pp.1-8
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• 2011

The purpose of this study is to suggest the optimized transfer algorithm of earthwork considering the precluded area such as the lake, bogs. The earthwork transfer plan in massive cutting and banking should be established because of affecting the construction cost highly. Until now, there was the study about the optimized earthwork transfer model considering the OR(Operating Research). but isn't the study about the model considering the precluded area such as the lake, bogs. In most cases, the engineer adjusts the earthwork transfer path considering the precluded area, manually. The presented model suggests to calculate various visibility paths with $A^*$algorithm after converting the precluded area to polygon topology. By using this paths, the minimum cost path to optimize the earthwork transfer can be obtained. In this study, the validity of the model was proved as implementing the system for the optimized earthwork transfer considering the precluded area.

• Journal of the Institute of Convergence Signal Processing
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• v.8 no.1
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• pp.78-83
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• 2007

Robot collects surrounding information to recognize tile unknown environment by using various sensors such as visual, infrared ray and ultra sonic sensors. Although visual sensor is the most popular one, it has some difficulties in collecting data in dark or too bright environment due to sensitivity of the light. It also requests significant amount of calculation on collecting data from certain images with marked, straight and curved ones. As an alternative, ultra sonic sensor can simply overcome this visual sensing system's flaw and easily be used. It is easier than visual system, especially in case of collecting data on object and distance in dark environment. Ultra sonic sensor can replace the expensive visual sensing system not only in avoiding obstacles but also in reaching to the target area smoothly. The purpose of this paper is to develop the algorithm to optimize the environmental recognition, path planning and free-ranging by minimizing errors caused by inaccurate information and by considering characteristics of the ultra sonic rays such as refraction and diffusion. This paper also realizes the system that can recognize the environment and make the appropriate path planning by applying the algorithm on this moving robot.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.12A
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• pp.994-1005
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• 2011

In this paper, we propose a novel approach to optimize the movement of mobile sink node, called AMSP(Adaptive Mobile Sink Path) for mobile sensor network environments. Currently available studies usually suffer from unnecessary data transmission resulting from random way point approach. To address the problem, we propose a method which uses the Hilbert curve to create a path. The proposed method guarantees shorten transmission distance between the sink node and each sensor node by assigning orders of the curve according to sensor node density. Furthermore, The schedule of the sink node is informed to all of the sensing nodes so that the Duty Cycle helps the network be more energy efficient. In our experiments, the proposed method outperforms the existing works such as TTDD and CBPER by up to 80% in energy consumption.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.12
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• pp.5744-5764
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• 2018

In Wireless Sensor Networks (WSNs) for Internet of Things (IoT) environment, fault tolerance is a most fundamental issue due to strict energy constraint of sensor node. In this paper, a robust energy saving data dissemination protocol for IoT-WSNs is proposed. Minimized energy consumption and dissemination delay time based on signal strength play an important role in our scheme. The representative dissemination protocol SPIN (Sensor Protocols for Information via Negotiation) overcomes overlapped data problem of the classical Flooding scheme. However, SPIN never considers distance between nodes, thus the issue of dissemination energy consumption is becoming more important problem. In order to minimize the energy consumption, the shortest path between sensors should be considered to disseminate the data through the entire IoT-WSNs. SPMS (Shortest Path Mined SPIN) scheme creates routing tables using Bellman Ford method and forwards data through a multi-hop manner to optimize power consumption and delay time. Due to these properties, it is very hard to avoid heavy traffic when routing information is updated. Additionally, a node failure of SPMS would be caused by frequently using some sensors on the shortest path, thus network lifetime might be shortened quickly. In contrast, our scheme is resilient to these failures because it employs energy aware concept. The dissemination delay time of the proposed protocol without a routing table is similar to that of shortest path-based SPMS. In addition, our protocol does not require routing table, which needs a lot of control packets, thus it prevents excessive control message generation. Finally, the proposed scheme outperforms previous schemes in terms of data transmission success ratio, therefore our protocol could be appropriate for IoT-WSNs environment.