• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.429-435
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• 2011

This paper presents a sensor fusion-based estimation of heading and a Bezier curve-based motion planning for unmanned ground vehicle. For the vehicle to drive itself autonomously and safely, it should estimate its pose with sufficient accuracy in reasonable processing time. The vehicle should also have a path planning algorithm that enables to adapt to various situations on the road, especially at intersections. First, we address a sensor fusion-based estimation of the heading of the vehicle. Based on extended Kalman filter, the algorithm estimates the heading using the GPS, IMU, and wheel encoders considering the reliability of each sensor measurement. Then, we propose a Bezier curve-based path planner that creates several number of path candidates which are described as Bezier curves with adaptive control points, and selects the best path among them that has the maximum probability of passing through waypoints or arriving at target points. Experiments under various outdoor conditions including at intersections, verify the reliability of our algorithm.

• 한국전문물리치료학회지
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• 제23권3호
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• pp.40-47
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• 2016

Background: Assessments of Sit-to-Stand (STS) and gait functions are essential procedures in evaluating level of independence for the patients after stroke. In a previous study, we developed the software to analyze center of pressure (COP) in standing position on Wii Balance Board (WBB). Objects: This purpose of this study is to measure test-retest reliability of ground reaction forces, COP and time using WBB on STS and gait in healthy adults. Methods: Fifteen healthy participants performed three trials of STS and gait on WBB. The time (s), vertical peak (%) and COP path-length (cm) were measured on both tasks. Additionally, counter (%), different peak (%), symmetry ratio, COP x-range and COP y-range were analyzed on STS, 1st peak (%), 2nd peak (%) of weight were analyzed on gait. Intra-class correlation coefficient (ICC), standard error measurement (SEM) and smallest real difference (SRD) were analyzed for test-retest reliability. Results: ICC of all variables except COP path-length appeared to .676~.946 on STS, and to .723~.901 on gait. SEM and SRD of all variables excepting COP path-length appeared .227~8.886, .033~24.575 on STS. SEM and SRD excepting COP path-length appeared about .019~3.933, .054~11.879 on gait. Conclusion: WBB is not only cheaper than force plate, but also easier to use clinically. WBB is considered as an adequate equipment for measuring changes of weight bearing during balance, STS and gait test which are normally used for functional assessment in patients with neurological problems and elderly. The further study is needed concurrent validity on neurological patients, elderly patients using force plate and WBB.

• Nuclear Engineering and Technology
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• 제56권5호
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• pp.1603-1618
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• 2024

Emergency operation plans are indispensable elements for effective process safety management especially when unanticipated events occur under extreme situations. In the paper, a synthesis framework is proposed for the integration success path planning and performance analysis. Within the synthesis framework, success path planning is implemented through flow-directed signal tracing, renaming and reconstruction from a complete collection of Minimal Path Sets (MPSs) that are obtained using graph traversal search on GO-FLOW model diagram. The performance of success paths is then evaluated and prioritized according to the task complexity and probability calculation of MPSs for optimum action plans identification. Finally, an Auxiliary Feed Water System of Pressurized Water Reactor (PWR-AFWS) is taken as an example system to demonstrate the flow-directed MPSs search method for success path planning and performance analysis. It is concluded that the synthesis framework is capable of providing procedural guidance for emergency response and safety management with optimal success path planning under extreme situations.

• 영재교육연구
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• 제25권4호
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• pp.511-528
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• 2015

창의적 잠재력이 실현된 재능으로 발달하는 과정은 복합적이고 비선형적이다. 이러한 특성은 단기적으로 어떤 문제를 해결해야 하는 상황에서보다 장기적으로 창의적인 삶을 살아가야 하는 과정에서 더욱 두드러진다. 본 연구는 대학생을 대상으로 창의적 과정 이론 중 하나인 Sawyer의 Zigzag 모델을 토대로 창의성 경로 척도(CPI: Creativity Path Inventory)를 개발하고 척도의 신뢰도와 타당도를 검증하였다. 이에 모델의 각 단계 특성을 반영한 8요인 88문항을 개발하였으며, 문항분석과 구인 타당도 검증 과정을 통해 최종 7요인(생각해내기, 배우기, 궁금해하기, 도전하기, 되돌아보기, 구현하기, 연결하기) 38문항을 확정하였다. CPI 전체 38문항의 내적 합치도는 .835로 나타나 신뢰로운 척도임이 확인되었고, 최종 모형의 적합도 지수 역시 양호한 결과를 보였다. 신뢰도와 타당도가 입증된 CPI는 일상적 창의성의 관점에서 창의성을 발현하고자 하는 사람들이 자신의 강점과 약점을 스스로 점검함으로써 자기계발을 할 수 있도록 도움을 줄 것이다.

• 한국경영과학회지
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• 제33권2호
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• pp.103-114
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• 2008

Overlay Multicast is a promising approach to overcome the implementation problem of IP multicast. Real time services like Internet broadcasting are provided by the overlay multicast technology due to the complex nature and high cost of IP multicast. To reduce frequent updates of multicast members and to support real time service without delay, we suggest a reliable overlay multicast tree based on members' sojourn probabilities. Path reliabilities from a source to member nodes are considered to maximize the reliability of an overlay multicast tree. The problem is formulated as a binary integer programming with degree and delay bounds. A tabu search heuristic is developed to solve the NP-complete problem. Outstanding results are obtained which is comparable to the optimal solution and applicable in real time.

• 한국신뢰성학회:학술대회논문집
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• 한국신뢰성학회 2002년도 정기학술대회
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• pp.297-302
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• 2002

An efficient method is developed to obtain the maximum capacity flow for a network when its simple paths are known. Most of the existing techniques need to convert simple paths into minimal cuts, or to determine the order of simple paths to be applied in the process to reach the correct result. In this paper, we propose a method based on the concepts of signed simple path and signed flow defined in the text. Our method involves a fewer number of arithmetic operations at each iteration, and requires fewer iterations in the whole process than the existing methods. Our method can be easily extended to a mixed network with a slight modification. Furthermore, the correctness of our method does not depend on the order of simple paths to be applied in the process.

• 인터넷정보학회논문지
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• 제7권6호
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• pp.175-183
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• 2006

애드 혹 네트워크는 라우터처럼 동작하는 모바일 노드들로 이루어진 그룹이다. 이러한 애드 혹 노드는 이동성이 전제되어 있기 때문에, 데이터가 전송되는 도중 경로가 끊어지기 쉽고, 이로 인한 경로 재설정 및 패킷 재전송 등의 네트워크 오버헤드를 유발시킨다. 그러나, 대부분의 애드 혹 라우팅 프로토콜들은 홉 수만을 고려한 경로를 설정한다. 본 논문에서는 링크 신뢰도에 기반하여, 시작 노드에서 목적지 노드로 데이터 패킷을 전송하기 위해 경로상의 노드들이 실제로 패킷을 전송하는 횟수(SNT)를 비용 인자로 사용한다. 이것은 신뢰도가 낮은 링크로 인한 재전송 횟수를 포함한다. 본 논문에서는 새로운 인자 SNT를 통해 모바일 애드 혹 네트워크에 적합한 효율적인 라우팅 프로토콜을 제안한다.

• 한국경영과학회:학술대회논문집
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• 한국경영과학회 2006년도 추계학술대회
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• pp.312-315
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• 2006

Overlay Multicast is a promising approach to overcome the implementation problem of IP multicast. Real time services like internet broadcasting are provided by overlay multicast technology due to the complex nature of IP multicast and the high cost to support multicast function. Since multicast members can dynamically join or leave their multicast group, it is necessary to keep a reliable overlay multicast tree to support real time service without delay. In this paper, we consider path level reliability that connects each member node. The problem is formulated as a binary integer programming which maximizes the reliability of multicast tree. Tabu search based algorithm is presented to solve the NP-hard problem.

• 한국군사과학기술학회지
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• 제10권2호
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• pp.107-114
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• 2007

This paper describes the Petri Net(PN) model for reliability analysis of fault-tolerant dual Ethernet which Is applied in Naval Combat System. The network for Naval Combat System performs failure detection and auto path recovery by handling redundant path in case of temporary link failure. After studying the behavior of this kind of network, the reliability analysis model is proposed using stochastic Petri Net and continuous-time Markov chains. Finally, the numerical result is analyzed according to changing the failure rate and the recover rate of link.

• 산업경영시스템학회지
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• 제24권63호
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• pp.33-43
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• 2001

To estimate the reliability of a large and complex network with a small variance, we propose two dynamic Monte Carlo sampling methods: the sequential minimal cut set (SMCS) and the sequential minimal path set (SMPS) methods. These methods do not require all minimal cut sets or path sets to be given in advance and do not simulate all arcs at each trial, which can decrease the valiance of network reliability. Based on the proposed methods, we develop the importance sampling estimators, the total hazard (or safety) estimator and the hazard (or safety) importance sampling estimator, and compare the performance of these simulation estimators. It is found that these estimators can significantly reduce the variance of the raw simulation estimator and the usual importance sampling estimator. Especially, the SMCS algorithm is very effective in case that the failure probabilities of arcs are low. On the contrary, the SMPS algorithm is effective in case that the success Probabilities of arcs are low.