• Journal of Mechanical Science and Technology
• /
• v.15 no.8
• /
• pp.1119-1131
• /
• 2001

In this paper we formulate an optimization based approach to determining the maximally inscribed rectangle in a robots workspace. The size and location of the maximally inscribed rectangle is an effective index for evaluating the size and quality of a robots workspace. Such information is useful for, e. g., optimal worktable placement, and the placement of cooperating robots. For general robot workspaces we show how the problem can be formulated as a constrained nonlinear optimization problem possessing a special structure, to which standard numerical algorithms can be applied. Key to the rapid convergence of these algorithms is the choice of a starting point; in this paper we develop an efficient computational geometric algorithm for rapidly obtaining an approximate solution suitable as an initial starting point. We also develop an improved version of the algorithm of Haug et al. for calculating a robots workspace boundary.

• Journal of information and communication convergence engineering
• /
• v.10 no.4
• /
• pp.390-395
• /
• 2012

This paper describes an implementation of automatic mutual localization of swarm robots using a particle filter. Each robot determines the location of the other robots using wireless sensors. The measured data will be used for determination of the movement method of the robot itself. It also affects the other robots' self-arrangement into formations such as circles and lines. We discuss the problem of a circle formation enclosing a target that moves. This method is the solution for enclosing an invader in a circle formation based on mutual localization of the multi-robot without infrastructure. We use trilateration, which does require knowing the value of the coordinates of the reference points. Therefore, specifying the enclosure point based on the number of robots and their relative positions in the coordinate system. A particle filter is used to improve the accuracy of the robot's location. The particle filter is operates better for mutual location of robots than any other estimation algorithms. Through the experiments, we show that the proposed scheme is stable and works well in real environments.

• Journal of applied mathematics & informatics
• /
• v.27 no.1_2
• /
• pp.175-182
• /
• 2009

Microscopic imaging system often requires the algorithm to adjust location of camera lenses automatically in machine level. An effort to detect the best focal point is naturally interpreted as a mathematical inverse problem [1]. Following Wiener's point of view [2], we interpret the focus level of images as the quantified factor appeared in image degradation model: g = $f{\ast}H+{\eta}$, a standard mathematical model for understanding signal or image degradation process [3]. In this paper we propose a simple, very fast and robust method to compare the degradation parameters among the multiple images given by introducing outlier analysis of histogram.

• Journal of Korean Institute of Industrial Engineers
• /
• v.41 no.3
• /
• pp.296-304
• /
• 2015

Vessel Traffic Service (VTS) is the service that provides ships navigating on a sea transportation route with guidance and advice about geographical environment and other attentive information for their safety. In this study we point out that currently, constructing additional VTSs is required to prevent ships from unexpected accident on their navigation. We first select several candidate locations for constructing VTSs, based on the amount of marine transportation and its potential development possibility. Then, we present an optimization model in which the maximum area coverage is achieved by determining new locations of VTS subject to budget limitation. The problem can be modeled as a binary integer program and it provides an optimal solution for new VTS locations to be constructed under the consideration of the currently located VTSs in Korea.

• Journal of Information Technology Applications and Management
• /
• v.18 no.1
• /
• pp.125-141
• /
• 2011

As the sales volume of online shops increases, the job burden in the back-offices of the online shops also increases. Order picking is the most labor-intensive operation among the jobs in a back-office and mid-size pure click online shops are experiencing the time delay and complexity in order picking nowadays while fulfilling their customers' orders. Those warehouses of the mid-size shops are based on manual systems, and as order pickings are repeated, the warehouses get a mess and lots of products in those warehouses are getting missing, which results in severe delay in order picking. To overcome this kind of problem in online clothing shops, we research a methodology to locate warehousing products. When products arrive at a warehouse, they are packed into a box and located on a rack in the warehouse. At this point, the operator should determine the box to be put in and the location on the rack for the box to be put on. This problem could be formulated as an Integer Programming model, but the branch-and bound algorithm to solve the IP model requires enormous computation, and sometimes it is even impossible to get a solution in a proper time. So, we relaxed the problem, developed a set of heuristics as a methodology to get a semi-optimum in an acceptable time, and proved by an experiment that the solutions by our methodology are satisfactory and acceptable by field managers.

• Proceedings of the Korean Operations and Management Science Society Conference
• /
• 2006.11a
• /
• pp.57-59
• /
• 2006

The purpose of search problem is to maximize the probability of target detection as limited search capability. Especially, as elapsing of time at a point of time of initial information received the target detection rate for searching an expected location due to a moving target such that wrecked ship or submarine decrease in these problems. The algorithm of search problem to a moving target having similar property of above targets should solve the search route as quickly as possible. In existing studies, they have a limit of applying in practice due to increasing computation time required by problem size (i.e., number of search area, search time). In this study, we provide that it takes more reasonable computation time than preceding studies even though extending a problem size practically using an approximate computation of probability.

• The KIPS Transactions:PartD
• /
• v.10D no.1
• /
• pp.45-56
• /
• 2003

In the wireless environment, according to the development of technology, which is able to obtain location information of spatiotemporal moving object, the various application systems are developed such as vehicle tracking system, forest fire management system and digital battle field system. These application systems need the data model, which is able to represent and process the continuous change of moving object. However, if moving objects are expressed by a relational model, there is a problem which is not able to store all location information that changed per every time. Also, existing data models of moving object have a week point, which constrain the query time to the time that is managed in the database such as past or current and near future. Therefore, in this paper, we propose a data model, which is able to not only express the continuous movement of moving point and moving region but also process the operation at all query time by using shape-change process and location determination functions for past and future. In addition, we apply the proposed model to forest fire management system and evaluate the validity through the implementation result.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.36 no.12B
• /
• pp.1736-1743
• /
• 2011

In Network Centric Warfare (NCW) environment, having a tactical communication network which provides high data exchange rate is very important. In the process, Korean Army developed Mobile Subscriber Access Point (MSAP) which is based on the commercial Wireless BroadBand (Wibro). MSAP is a vehicle attached base station which provide high data exchange communication environment in a given area. Thus MSAP can provide high data exchange rate and mobility to accomplish missions in the battlefield more effectively. In this paper, we propose an operational strategy of using MSAP to provide tactical communication network in the battlefield. The idea is to find the optimal location point of the MSAP in the operational area where all the troops in the operational area can be supported by the MSAP with a minimum number of MSAP. Since the current Korean Army's basic idea of using MSAP is just distribute this MSAP to each troop, so by applying our strategy we can save MSAP devices for more flexible operation. We will show our strategy's benefits through the mathematical model and the algorithm of the presented problem.

• Journal of KIISE:Computer Systems and Theory
• /
• v.29 no.6
• /
• pp.340-345
• /
• 2002

In this paper, we deal with the following facility location problem. Given a set P of n points in the plane, find two (discrete) centers p and q in P that minimize the sum of there distance plus the distance of any other point to the closer center. In this paper, we propose an Ο(n$^2$1ogn)-time algorithm to compute the two centers.

• Journal of Korean Port Research
• /
• v.8 no.2
• /
• pp.67-77
• /
• 1994

A time-domain numerical model is developed to examine the performance of a wave energy focusing structure in combined waves and a current. With the current assumed to be slow and the structure fully submerged, the wave-current interaction problem is reduced to a wave scattering problem in a uniform current. The diffraction of incident waves around a narrow berm is considered. The shape of the berm is defined by a parabola, imitating that of an optical reflector. The energy focus is achieved by reflecting the incident waves through a predetermined focal point. Through the numerical simulations, the numerical model is shown to be effective in modeling the wave-current interaction problem, and the current speed and direction are shown to affect significantly the location, amplitude and sharpness of the focus.