• Journal of the Society of Naval Architects of Korea
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• v.61 no.3
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• pp.170-184
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• 2024

With the advancement of autonomous navigation technology in maritime domain, there is an active research on swarming Unmanned Surface Vehicles (USVs) that can fulfill missions with low cost and high efficiency. In this study, we propose a formation control algorithm that maintains a certain shape when multiple unmanned surface vehicles operate in a swarm. In the case of swarming, individual USVs need to be able to accurately follow the target state and avoid collisions with obstacles or other vessels in the swarm. In order to generate guidance commands for swarm formation control, the potential field method has been a major focus of swarm control research, but the method using the potential field only uses the position information of obstacles or other ships, so it cannot effectively respond to moving targets and obstacles. In situations such as the formation change of a swarm of ships, the formation control is performed in a dense environment, so the position and velocity information of the target and nearby obstacles must be considered to effectively change the formation. In order to overcome these limitations, this paper applies a method that considers relative velocity to the potential field-based guidance law to improve target following and collision avoidance performance. Considering the relative velocity of the moving target, the potential field for nearby obstacles is newly defined by utilizing the concept of Velocity Obstacle (VO), and the effectiveness and efficiency of the proposed method is verified through swarm control simulation, and swarm control experiments using a small scaled unmanned surface vehicle platform.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.743-747
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• 1996

A Potential Field Method is applied to the proposed algorithm for the planning of collision-free paths of redundant manipulators. The planning is carried out on the base of kinematic configuration. To make repulsive potentials, sources are distributed on the boundaries of obstacles. To escape from local minimum of the main potential and to attack other difficulties of the planning, various potentials are defined simultaneously, Inverse Kinematics Problems of the redundant manipulators are solved by unconstrained optimization method. Computer simulation result of the path planning is presented.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1544-1549
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• 2004

A new collision avoidance algorithm is presented for two mobile robots in narrow corridor environments. When two robots meet each other in a narrow corridor, one should yield the way to the other robot. To solve the problem arising in this situation, they exchange their path to get information about crossing-points to check avoidance conditions, which are necessary for choosing the robot to yield. The conditions are summarized as follows. 1) If one robot blocks the path to the closest crossing-point in front of the other robot. 2) If the closest crossing-point of each robot is the same point. 3) Which robot is closer to the closest crossing-point. In this paper, we propose a path planning algorithm for the robot which yield the way. Simulation results are presented to verify the feasibility of the proposed collision avoidance algorithm.

• Journal of Communications and Networks
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• v.15 no.4
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• pp.411-421
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• 2013

Digital fountain codes are record-breaking codes for erasure channels. They have many potential applications in both wired and wireless communications. Most existing digital fountain codes operate over binary fields using an iterative belief-propagation (BP) decoding algorithm. In this paper, we propose a new iterative decoding algorithm for both binary and nonbinary fields. The basic form of our proposed algorithm considers both degree-1 and degree-2 check nodes (instead of only degree-1 check nodes as in the original BP decoding scheme), and has linear complexity. Extensive simulation demonstrates that it outperforms the original BP decoding scheme, especially for a small number of source packets. The enhanced form of the proposed algorithm combines the basic form of the algorithm and a guess-based algorithm to further improve the decoding performance. Simulation results demonstrate that it can provide better decoding performance than the guess-based algorithm with fewer guesses, and can achieve decoding performance close to that of the maximum likelihood decoder at a much lower decoding complexity. Last, we show that our nonbinary scheme has the potential to outperform the binary scheme when choosing suitable degree distributions, and furthermore it is insensitive to the size of the Galois field.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.11
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• pp.2147-2151
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• 2011

In this paper, we propose the formation control algorithm for swarm robots. The proposed algorithm uses the artificial potential field(APF) to plan the global path of swarm robots and to control the formation movement. The navigation function generates a global APF for a leader robot to reach a given destination and an avoidance function generates a local APF for follow robots to avoid obstacles. Finally, some simulations show the validity of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• ETRI Journal
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• v.27 no.3
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• pp.294-303
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• 2005

In this paper, a supervised algorithm for the evaluation of geophysical sites using a multi-level cellular neural network (ML-CNN) is introduced, developed, and applied to real data. ML-CNN is a stochastic image processing technique based on template optimization using neighborhood relationships of the pixels. The separation/enhancement and border detection performance of the proposed method is evaluated by various interesting real applications. A genetic algorithm is used in the optimization of CNN templates. The first application is concerned with the separation of potential field data of the Dumluca chromite region, which is one of the rich reserves of Turkey; in this context, the classical approach to the gravity anomaly separation method is one of the main problems in geophysics. The other application is the border detection of archeological ruins of the Hittite Empire in Turkey. The Hittite civilization sites located at the Sivas-Altinyayla region of Turkey are among the most important archeological sites in history, one reason among others being that written documentation was first produced by this civilization.

• Geomechanics and Engineering
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• v.33 no.5
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• pp.487-506
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• 2023

Looking from the past to the present, the earthquakes can be said to be type of disaster with most casualties among natural disasters. Soil liquefaction, which occurs under repeated loads such as earthquakes, plays a major role in these casualties. In this study, analytical equation models were developed to predict the probability of occurrence of soil liquefaction. In this context, the parameters effective in liquefaction were determined out of 170 data sets taken from the real field conditions of past earthquakes, using WEKA decision tree. Linear, Exponential, Power and Quadratic models have been developed based on the identified earthquake and ground parameters using Krill Herd algorithm. The Exponential model, among the models including the magnitude of the earthquake, fine grain ratio, effective stress, standard penetration test impact number and maximum ground acceleration parameters, gave the most successful results in predicting the fields with and without the occurrence of liquefaction. This proposed model enables the researchers to predict the liquefaction potential of the soil in advance according to different earthquake scenarios. In this context, measures can be realized in regions with the high potential of liquefaction and these measures can significantly reduce the casualties in the event of a new earthquake.

• Journal of the Korea Computer Graphics Society
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• v.22 no.3
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• pp.53-61
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• 2016

In this paper, we propose an algorithm for generating lightning paths, which are more realistic than those of random tree based algorithm and faster than a physically based simulation algorithm. Our approach utilizes physically based Dielectric Breakdown Method (DBM) and approximates the electric potential field dramatically to generate the lightning path. We also show a guide path method for the lightning to avoid obstacles in a complex scene. Finally, our method renders fast and realistic lightning by considering physical characteristics for the thickness and brightness of the lightning stream. Our result of the lightning path shares similarity to natural phenomenon by having about 1.56 fractal dimensions, and we can generate the lightning path faster than a previous physically based algorithm. On the other hand, our method is difficult to apply on the real-time games yet, but our approach can be improved by performing the path generation algorithm with GPU in future.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.9 s.180
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• pp.2302-2312
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• 2000

An active control of the transmission of noise through an aircraft fuselage is investigated numerically. A cylinder-cavity system was used as a model for this study. The fuselage is modeled as a fi nite, thin shel cylinder with constant thickness. The sound field generated by an exterior monopole source is transmitted into the cavity through the cylinder. Point force actuators on the cylinder are driven by error sensor that is placed in 3D cavity. Modal coupling theory is used to formulate the numerical models and describe the system behavior. Minimization of the acoustic potential energy in the fuselage is carried out as a performance index. Continuous parameter genetic algorithm is used to search the optimal actuator position and both results are compared.