• Journal of KIISE:Software and Applications
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• v.34 no.4
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• pp.368-376
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• 2007

How to represent the search space is as important as which search algorithm to use for finding natural-looking paths for moving NPC (non-player character) in computer games. Recently, various state space representation methods which have been developed for computer games are being used while A* algorithm dominates as the preferred search algorithm. These representation methods show some drawbacks such as the size of state space is too large, there is no guarantee for optimality, the path found is not natural-looking, and the generation of nodes and links is not automatic by depending on a level designer. In this paper the requirements for natural-looking paths are introduced and to find paths satisfying these requirements, the use of the generalized visibility graphs which is the extended version of the visibility graph in Robotics is proposed.

• 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.

• Journal of the Korean Institute of Oriental Medical Informatics
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• v.15 no.1
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• pp.1-10
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• 2009

In these days everyone search the information easily with the Internet as the rapid distribution and active usage of the Internet. The search engines were developed specially to accuracy of information retrieval. User search the information more quickly and variously with them. The search portal system will be embossed with representation and basic services. The Internet user needs the result of text, image and video, knowledge search. The keyword based search is used generally for getting result of the information retrieval and another method is category based search. This paper investigates the classification of knowledge search structure for oriental medicine in market leader of search portal system by ranking web site. As a result, each classification system is unified and there is a possibility of getting up a many confusion to the user who approaches with classification systematic search method. This treatise proposed the improved oriental medicine classification system of internet information retrieval in knowledge search area. if the service provider amends about the classification system, there will be able to guarantee the compatibility of data. Also the proper access path of the knowledge which seeks is secured to user.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.23 no.2
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• pp.1-14
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• 2024

The most optimal route-search algorithm thus far has introduced a method of applying node labels and link labels. Node labels consider two nodes simultaneously in the optimal route-search process, while link labels consider two links simultaneously. This study proposes a turn-label-based optimal route-search technique that considers two turns simultaneously in the process. Turn-label-based optimal route search guarantees the optimal solution of dynamic programming based on Bellman's principle as it considers a two-turn search process. Turn-label-based optimal route search can accommodate the advantages of applying link labels because the concept of approaching the limit of link labels is applied equally. Therefore, it is possible to reflect rational cyclic traffic where nodes allow multiple visits without expanding the network, while links do not allow visits. In particular, it reflects the additional cost structure that appears in two consecutive turns, making it possible to express the structure of the travel-cost function more flexibly. A case study was conducted on the metropolitan urban railway network consisting of transportation card terminal readers, aiming to examine the scalability of the research by introducing parameters that reflect psychological resistance in travel with continuous pedestrian transfers into turn label optimal path search. Simulation results showed that it is possible to avoid conservative transfers even if the travel time and distance increase as the psychological resistance value for continuous turns increases, confirming the need to reflect the cost structure of turn labels. Nevertheless, further research is needed to secure diversity in the travel-cost functions of road and public-transportation networks.

• ETRI Journal
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• v.43 no.4
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• pp.580-593
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• 2021

When operating in confined spaces or near obstacles, collision-free path planning is an essential requirement for autonomous exploration in unknown environments. This study presents an autonomous exploration technique using a carefully designed collision-free local planner. Using LiDAR range measurements, a local end-point selection method is designed, and the path is generated from the current position to the selected end-point. The generated path showed the consistent collision-free path in real-time by adopting the Euclidean signed distance field-based grid-search method. The results consistently demonstrated the safety and reliability of the proposed path-planning method. Real-world experiments are conducted in three different mines, demonstrating successful autonomous exploration flights in environment with various structural conditions. The results showed the high capability of the proposed flight autonomy framework for lightweight aerial robot systems. In addition, our drone performed an autonomous mission in the tunnel circuit competition (Phase 1) of the DARPA Subterranean Challenge.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.337-345
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• 2023

In this paper, we propose a 3D LiDAR sensor-based costmap generation and path planning algorithm using it for reliable autonomous flight in complex indoor environments. 3D path planning is essential for reliable operation of UAVs. However, existing grid search-based or random sampling-based path planning algorithms in 3D space require a large amount of computation, and UAVs with weight constraints require reliable path planning results in real time. To solve this problem, we propose a method that divides a 3D space into several 2D spaces and a path planning algorithm that considers the distance to obstacles within each space. Among the paths generated in each space, the final path (Best path) that the UAV will follow is determined through the proposed objective function, and for this purpose, we consider the rotation angle of the 2D space, the path length, and the previous best path information. The proposed methods have been verified through autonomous flight of UAVs in real environments, and shows reliable obstacle avoidance performance in various complex environments.

• KIPS Transactions on Software and Data Engineering
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• v.3 no.5
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• pp.179-186
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• 2014

Current networks such as social network, web page link, traffic network are big data which have the large numbers of nodes and edges. Many applications such as social network services and navigation systems use these networks. Since big networks are not fit into the memory, existing in-memory based analysis techniques cannot provide high performance. Frontier-Expansion-Merge (FEM) framework for graph search operations using three corresponding operators in the relational database (RDB) context. FEM exploits an index table that stores pre-computed partial paths for efficient shortest path discovery. However, the index table of FEM has low hit ratio because the indices are determined by distances of indices rather than the possibility of containing a shortest path. In this paper, we propose an method that construct index table using high degree nodes having high hit ratio for efficient shortest path discovery. We experimentally verify that our index technique can support shortest path discovery efficiently in real-world datasets.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1939-1944
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• 2003

This paper presents a global path planning algorithm based on a visibility graph method, and applies additionally various constraints for constructing the reduced visibility graph. The modification algorithm for generating the rounded path is applied to the globally shortest path of the visibility graph using the robot size constraint in order to avoid the obstacle. In order to check the visibility in given 3D map data, 3D CAD data with VRML format is projected to the 2D plane of the mobile robot, and the projected map is converted into an image for easy map analysis. The image processing are applied to this grid map for extracting the obstacles and the free space. Generally, the tree size of visibility graph is proportional to the factorial of the number of the corner points. In order to reduce the tree size and search the shortest path efficiently, the various constraints are proposed. After short paths that crosses the corner points of obstacles lists up, the shortest path among these paths is selected and it is modified to the combination of the line path and the arc path for the mobile robot to avoid the obstacles and follow the rounded path in the environment. The proposed path planning algorithm is applied to the mobile robot LCAR-III.

• Proceedings of the IEEK Conference
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• 2000.11a
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• pp.73-76
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• 2000

We investigate the stepwise parallel processing of the serial search which can success the co]1 search at low Ec/Io. The single path Rayleigh fading channel which is worst-case channel model is considered. The typical 3-step cell search is used. The probabilities of detection, miss and false alarm for each step are used in closed forms based on the statistics of CDMA noncoherent demodulator output. The optimal power allocation to each channel and The optimal number of post-detection integrations for each step is obtained. Also, the cumulative probability distribution of the average eel] search time for serial search methods are compared.

• Journal of KIISE
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• v.42 no.8
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• pp.961-971
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• 2015

As a representative area-decomposed algorithm, an area-based quad-trie (AQT) has an issue of search performance. The search procedure must continue to follow the path to its end, due to the possibility of the higher priority-matching rule, even though a matching rule is encountered in a node. A leaf-pushing AQT improves the search performance of the AQT by making a single rule node exist in each search path. This paper proposes a new algorithm to further improve the search performance of the leaf-pushing AQT. The proposed algorithm implements a leaf-pushing AQT using a hash table and an on-chip Bloom filter. In the proposed algorithm, by sequentially querying the Bloom filter, the level of the rule node in the leaf-pushing AQT is identified first. After this procedure, the rule database, which is usually stored in an off-chip memory, is accessed. Simulation results show that packet classification can be performed through a single hash table access using a reasonable sized Bloom filter. The proposed algorithm is compared with existing algorithms in terms of the memory requirement and the search performance.