• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.1
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• pp.148-156
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• 2011

This paper presents an implementation of autonomous navigation of a mobile robot indoors. It explains methods for map building, localization, obstacle avoidance and path planning. Geometric map is used for localization and path planning. The localization method calculates sensor data based on the map for comparison with the real sensor data. Monte Carlo Localization(MCL) method is adopted for estimation of the robot position. For obstacle avoidance, an artificial potential field generates repulsive and attractive force to the robot. Dijkstra algorithm plans the shortest distance path from a start position to a goal point. The methods integrate into autonomous navigation method and implemented for indoor navigation. The experiments show that the proposed method works well for safe autonomous navigation.

• Journal of the Korea Society of Computer and Information
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• v.22 no.2
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• pp.89-95
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• 2017

There are a variety of apps that are finding their way. And in car navigation, we launched a product that reflects Augmented Reality technology this year. However, existing apps have problems. It is implemented in 2D or 3D, has a large error range because it has been modified in most vehicles, is not updated in real time, and car augmented reality navigation is a vehicle, and a separate device is required, etc. In this study, we implemented a smartphone app for walking directions using augmented reality, and made it possible to intuitively use a route service from a user 's location to a destination. The Dijkstra algorithm is applied to calculate the shortest path to solve the problem of finding the route with the least cost. By using this application, it is possible to use the route search service even in a data-free environment, to solve the inconvenience of the language barrier, and to update in real time, so that the latest information can be always maintained. In the future, we want to develop an app that can be commercialized by using a character in the path to promote it.

• Journal of Korean Institute of Industrial Engineers
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• v.25 no.4
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• pp.500-509
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• 1999

In this paper, we consider an optimal routing problem when point-to-point and point-to-multipoint connection traffics are offered in an ATM network. We propose a mathematical model for cost-minimizing configuration of a logical network for a given ATM-based BISDN. Our model is essentially identical to the previous one proposed by Kim(Kim, 1996) which finds a virtual-path configuration where the relevant gains obtainable from the ATM technology such as the statistical multiplexing gain and the switching/control cost-saving gain are optimally traded-off. Unlike the Kim's model, however, ours explicitly considers the VP's QoS(Quality of Service) for more efficient utilization of bandwidth. The problem is a large-scale, nonlinear, and mixed-integer problem. The proposed algorithm is based on the local linearization of equivalent-capacity functions and the relaxation of link capacity constraints. As a result, the problem can be decomposed into moderate-sized shortest path problems, Steiner arborescence problems, and LPs. This fact renders our algorithm a lot faster than the previous nonlinear programming algorithm while the solution quality is maintained, hence application to large-scale network problems.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.9
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• pp.3151-3168
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• 2021

Internet of Things (IoT) connects several objects with embedded sensors and they are capable of exchanging information between devices to create a smart environment. IoT smart devices have limited resources, such as batteries, computing power, and bandwidth, but comprehensive sensing causes severe energy restrictions, lowering data quality. The main objective of the proposal is to build a hybrid protocol which provides high data quality and reduced energy consumption in IoT sensor network. The hybrid protocol gives a flexible and complete solution for sensor selection problem. It selects a subset of active sensor nodes in the network which will increase the data quality and optimize the energy consumption. Since the unused sensor nodes switch off during the sensing phase, the energy consumption is greatly reduced. The hybrid protocol uses Dijkstra's algorithm for determining the shortest path for sensing data and Ant colony inspired variable path selection algorithm for selecting active nodes in the network. The missing data due to inactive sensor nodes is reconstructed using enhanced belief propagation algorithm. The proposed hybrid method is evaluated using real sensor data and the demonstrated results show significant improvement in energy consumption, data utility and data reconstruction rate compared to other existing methods.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.1B
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• pp.71-79
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• 2003

As the traffic grows rapidly in the Internet, the QoS guarantee of the flows and the traffic engineering problems have become very important issues. MPLS has more advantages to solve the problems than existing IP routing because of its use of multiple paths between the source and destination pairs Particularly, the availability of Constraint-based Shortest Path First(CSPF) algorithm and explicit route in MPLS made the problem referred above to be solved efficiently. However, the CSPF algorithm has the characteristic of selecting the shortest path of all paths which meet the traffics' QoS constraints Therefore, even though there are alternative paths to route traffic, alternate QoS paths may not be found and best-effort traffic will be dropped during congestion period In this paper, we present the network resource optimization method related to the traffic engineering by using load balancing through routing in MPLS network.

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.3
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• pp.316-323
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• 2010

We propose a method to find flows of transit users in the subway transportation network of the metropolitan Seoul and analyze the passenger flows on some central links of the network. The transportation network consists of vertices for subway stops, edges for links between two adjacent subway stops, and flows on the edges' Each subway transit user makes a passenger flow along edges of the shortest path from the origin stop to the destination stop in his trip. In this paper, we have developed a new algorithm to find the passenger flow of each link in the subway network from a large trip-transaction database of subway transit users. We have applied the algorithm to find the passenger flows from one day database of about 5 million transactions by the subway transit users. As results of the experiments, the travel behavior on 4 central subway links is analyzed in passenger flows and top 10 flows among all subway links are explained in a table.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.191-194
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• 2003

Location-allocation problem is known as one of the important problem faced in Industrial Engineering and Operations Research fielde. There are many variations on this problem for different applications, however, most of them consider no obstacle existing. Since the location-allocation problem with obstacles is very complex and with many infeasible solutions, no direct method is effective to solve it. In this paper we propose a hybrid Genetic Algorithm (hGA) method for solving this problem. The proposed hGA is based on Lagrangian relaxation method and Dijkstra's shortest path algorithm. To enhance the proposed hGA, a Fuzzy Logic Controller (FLC) approach is also adopted to auto-tune the GA parameters.

• Journal of Korea Multimedia Society
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• v.10 no.12
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• pp.1645-1654
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• 2007

In this paper, we study the problem of load balancing routing in clustered-based wireless mesh network in order to enhance the overall network throughput. We first address the problems of cluster allocation in wireless mesh network to achieve load-balancing state. Due to the complexity of the problem, we proposed a simplified algorithm using gradient load-balancing model. This method searches for a localized optimal solution of cluster allocation instead of solving the optimal solution for overall network. To support for load-balancing algorithm and reduce complexity of topology control, we also introduce limited broadcasting between two clusters. This mechanism maintain shortest path between two nodes in adjacent clusters while minimizing the topology broadcasting complexity. The simulation experiments demonstrate that our proposed model achieve performance improvement in terms of network throughput in comparison with other clustering methods.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.3
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• pp.176-180
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• 2001

In this papers, we derive a simple kinematic and dynamic formulation of an unmanned electric bicycle. We also check the controllability of the stabilization problem of bicycle. We propose a new control algorithm for the self stabilization of unmanned bicycle with bounded wheel speed and steering angle by using nonlinear control based on the sliding patch and stuck phenomena which was introduced by W. Ham. We also propose a sort of optimal control strategy for steering angle and driving wheel speed that make the length of bicycle\`s path be the shortest. From the computer simulation results, we prove the validity of the proposed control algorithm.

• Journal of Communications and Networks
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• v.9 no.1
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• pp.84-92
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• 2007

This paper deals with the creation of multicast trees in a differentiated services (DiffServ) domain. Initially, we model the integration problems of multicast & DiffServ and give a general de-scription of our framework for multicast provisioning in DiffServ domains. Within this framework, we introduce a novel heuristic algorithm which calculates the multicast trees efficiently. The multicast tree's format and the bandwidth constraints per service class are modeled. The heuristic is based on the Dijkstra's shortest path algorithm and aims to produce the cheapest possible trees (Steiner tree problem) that conform to the defined model. The produced trees can be considered as DiffServ-customized Steiner trees. Furthermore, we evaluate the algorithm with theoretical and experimental analysis and finally, we present our conclusions.