• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
• /
• pp.434-439
• /
• 1994

Recently neural networks leave been proposed as new computational tools for solving constrained optimization problems because of its computational power. In this paper, the shortest path finding algorithm is proposed by rising a Hopfield type neural network. In order to design a Hopfield type neural network, an energy function must be defined at first. To obtain this energy function, the concept of a vector-represented network is introduced to describe the connected path. Through computer simulations, it will be shown that the proposed algorithm works very well in many cases. The local minima problem of a Hopfield type neural network is discussed.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제53권7호
• /
• pp.465-472
• /
• 2004

Analog CPPN-based optimal road boundary detection algorithm for autonomous vehicle is proposed. The CPPN is a massively connected analog parallel array processor. In the paper, the dynamic programming which is an efficient algorithm to find the optimal path is implemented with the CPPN algorithm. If the image of road-boundary information is utilized as an inter-cell distance, and goals and start lines are positioned at the top and the bottom of the image, respectively, the optimal path finding algorithm can be exploited for optimal road boundary detection. By virtue of the parallel and analog processing of the CPPN and the optimal solution of the dynamic programming, the proposed road boundary detection algorithm is expected to have very high speed and robust processing if it is implemented into circuits. The proposed road boundary algorithm is described and simulation results are reported.

• 스마트미디어저널
• /
• 제7권2호
• /
• pp.9-14
• /
• 2018

The k-ary n-cube $Q^k_n$ is widely used in the design and implementation of parallel and distributed processing architectures. It consists of $k^n$ identical nodes, each node having degree 2n is connected through bidirectional, point-to-point communication channels to different neighbors. On $Q^k_n$ we would like to transmit packets from a source node to 2n destination nodes simultaneously along paths on this network, the $i^{th}$ packet will be transmitted along the $i^{th}$ path, where $0{\leq}i{\leq}2n-1$. In order for all packets to arrive at a destination node quickly and securely, we present an $O(n^3)$ routing algorithm on $Q^k_n$ for generating a set of one-to-many node-disjoint and nearly shortest paths, where each path is either shortest or nearly shortest and the total length of these paths is nearly minimum since the path is mainly determined by employing the Hungarian method.

• ETRI Journal
• /
• 제43권6호
• /
• pp.1013-1023
• /
• 2021

In this study, we propose a practical path planning method that combines the A^* search algorithm and minimum snap trajectory generation. The A^* search algorithm determines a set of waypoints to avoid collisions with surrounding obstacles from a starting to a destination point. Only essential waypoints (waypoints necessary to generate smooth trajectories) are extracted from the waypoints determined by the A^* search algorithm, and an appropriate time between two adjacent waypoints is allocated. The waypoints so determined are connected by a smooth minimum snap trajectory, a dynamically executable trajectory for the quadrotor. If the generated trajectory is invalid, we methodically determine when intermediate waypoints are needed and how to insert the points to modify the trajectory. We verified the performance of the proposed method by various simulation experiments and a real-world experiment in a forested outdoor environment.

• Journal of applied mathematics & informatics
• /
• 제42권1호
• /
• pp.77-83
• /
• 2024

Chung defined a pebbling move on a graph G as the removal of two pebbles from one vertex and the addition of one pebble to an adjacent vertex. The monophonic pebbling number guarantees that a pebble can be shifted in the chordless and the longest path possible if there are any hurdles in the process of the supply chain. For a connected graph G a monophonic path between any two vertices x and y contains no chords. The monophonic pebbling number, µ(G), is the least positive integer n such that for any distribution of µ(G) pebbles it is possible to move on G allowing one pebble to be carried to any specified but arbitrary vertex using monophonic a path by a sequence of pebbling operations. The aim of this study is to find out the monophonic pebbling numbers of the sun graphs, (C_n × P₂) + K₁ graph, the spherical graph, the anti-prism graphs, and an n-crossed prism graph.

• 한국정보과학회논문지:시스템및이론
• /
• 제31권1_2호
• /
• pp.86-94
• /
• 2004

이 논문에서는 재귀원형군 $ G(2^m, 4), m{\geq}3$은 고장인 요소의 수가 m-2개 이하일 때, 임의의 1, 4 ${\leq}1{\leq}2^m-f_v$에 대하여 길이 1인 고장 없는 사이클을 가짐을 보인다. 여기서, f$_{v}$ 는 고장 정점의 수이다. 이를 위하여, ｜F｜$\leq$k인 임의의 고장 요소 집합 F에 대해서 G-F가 임의의 두 정점을 잇는 길이가 해밀톤 경로보다 하나 작은 경로를 가질 때, G를 k-고장 하이포해밀톤 연결된 그래프라고 정의하고, $ G(2^m, 4), m{\geq}3$은 m-3-고장 하이포해밀톤 연결된 그래프임을 보인다.

• ETRI Journal
• /
• 제39권1호
• /
• pp.41-50
• /
• 2017

In connection-oriented data transport services, data loss can occur when a service experiences a problem in its end-to-end path. To resolve the problem promptly, the data transport systems providing the service must quickly modify their internal configurations, which are distributed among different locations within each system. The configurations are modified through a series of problem (event) handling procedures, which are carried out by multiple control processors in the system. This paper proposes a provisioning-to-signaling method for inter-control-processor messaging to improve the time efficiency of event processing. This method simplifies the sharing of the runtime event, and minimizes the time variability caused by the amount of event data, which results in a decrease in the latency time and an increase in the time determinacy when processing global events. The proposed method was tested for an event that required 4,000 internal path changes, and was found to lessen the latency time of global event processing by about 50% compared with the time required for general methods to do the same; in addition, it reduced the impact of the event data on the event processing time to about 30%.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집B
• /
• pp.618-623
• /
• 2001

In a practical vibration isolation system, vibration is transmitted from the source to the receiver through several paths such as more than one inter-connected point and multi-degree of freedom at each connection point. Therefore, the major path investigation for vibration transmission among them is often required in a point of view of isolation. For the path analysis of multi-dimensional vibration isolation system, it is useful to employ the concept of vibration power in high frequency range where radiation of noise from the receiver structure is concerned. The idea is simple to understand and formulate but rather complicated to apply in practice. For an accurate estimation of power flow especially over a high frequency range, it is well known in theory that rotational motions should be taken into consideration together with translational motions at inter-connected points. In reality, however, power transmissions related to rotational terms are often neglected mainly due to difficulties in the instrumentation. In this paper, necessary formula and measurable mechanical quantities for vibration power analysis will be reviewed and experimental results with rotational terms included for compressor system in a commercial air conditioner will be shown.

• 한국전자통신학회논문지
• /
• 제9권8호
• /
• pp.907-914
• /
• 2014

본 논문에서는 실내 환경에서 작업하는 로봇의 무 충돌 경로계획을 위하여 휴리스틱 작업 경로계획 방법을 제안한다. 이 방법은 모양공간을 격자로 분할하여 작은 크기의 격자를 여러개 합한 큰 격자로 장애물 모양공간을 재구성 하여 시작점의 노드와 목표점의 노드간의 연결을 노드와 노드사이의 거리와 장애물의 확률적 분포 같은 지역적인 정보를 이용하여 통로를 만들고 그 공간에서 작은 격자의 모양공간에서 그래프 연결을 찾는 방법으로 경로 및 작업을 계획하는 방법이다. 이 방법은 전체 모양공간에 대한 그래프를 기억시킬 필요가 없어 모양공간 내에서 노드나 격자의 증가에 따른 기억용량의 증가가 크지 않으며 전체 그래프에 대한 탐색을 하지 않으므로 계산량이 많지 않다. 제안한 알고리즘의 평가를 위하여 이동 로봇이 격자화된 실내지형에 대하여 최단거리의 경로계획을 성공적으로 수행하였음을 확인하였다.

• 전기전자학회논문지
• /
• 제11권1호통권20호
• /
• pp.30-37
• /
• 2007

본 논문은 직렬로 연결된 스위치의 OFF-위치를 감지할 수 있는 방법을 제안한다. 각각의 스위치에는 병렬로 각기 다른 주파수 특성을 갖는 수동 소자가 병렬로 연결되어 있다. ON된 스위치에는 병렬로 연결된 수동 소자의 주파수 특성에 관계없이 평탄한 특성을 갖으며, OFF된 스위치의 경우에는 연결된 수동소자의 주파수 특성이 스위치의 양 단자에 나타난다. OFF된 스위치의 위치 인식은 직렬로 연결된 스위치의 양 단자에 백색 잡음(Maximum-Length Sequence)을 입력하고, 각각의 스위치를 OFF한 상태에서 출력 단자에서 스펙트럼을 계산하여 미리 참조 스펙트럼을 작성하고, 작성된 참조 스펙트럼과 입력 스펙트럼 간의 유사도를 계산하여 가장 근접한 참조 스펙트럼을 OFF된 스위치의 스펙트럼으로 인식한다. 이를 위한 디지털 신호처리 시스템을 설계하고, 설계된 시스템을 이용하여 스펙트럼 매칭으로 OFF-스위치의 위치를 감지한다.