• Convergence Security Journal
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• v.8 no.2
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• pp.95-102
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• 2008

In this paper, we proposed topology aggregation method that efficiently aggregating topology information in simple node topology. And, it improved QoS of networks by improving call success rate and call access time. Proposed method can improving performance of network by decreasing aggregation information and aggregating multi-links information between boundary nodes using the line segment scheme within bandwidth and delay parameter. To evaluate performance of the proposed scheme, we compare/analyze the current method with the proposed scheme in respect to call success rate, access time.

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2004.03a
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• pp.241-246
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• 2004

The ocean signal that reaches the detector of an imaging system after multiple interactions with the atmospheric molecules and aerosols was retrieved from the total signal recorded at the top of the atmosphere (TOA). A simple method referred to as 'Path Extraction' applied to the Landsat-TM ocean imagery of turbid coastal water was compared with the conventional dark-pixel subtraction technique. The shape of the path-extracted water-leaving radiance spectrum resembled the radiance spectrum measured in-situ. The path-extraction was also extended to the SeaWiFS ocean color imagery and compared with the standard SeaWiFS atmospheric correction algorithm, which relays on the assumption of zero water leaving radiance at the two NIR wavebands (765 and 865nm). The path-extracted water-leaving radiance was good agreement with the measured radiance spectrum. In contrast, the standard SeaWiFS atmospheric correction algorithm led to essential underestimation of the water-leaving radiance in the blue-green part of the spectrum. The reason is that the assumption of zero water-leaving radiance at 755 and 865nm fails due to backscattering by suspended mineral particles. Therefore, the near infrared channels 765 and 865nm used fur deriving the aerosol information are no longer valid for turbid coastal waters. The path-extraction is identified as a simple and efficient method of extracting the path radiance largely introduced due to light interaction through the complex atmosphere carried several aerosol and gaseous components and at the air-sea interface.interface.

• Journal of Korean Society of Transportation
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• v.22 no.6
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• pp.121-131
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• 2004

The K-shortest path algorithms are largely classified into two groups: oneis for finding loopless path (simple path), another loop paths. In terms of cimputational complexities, in general the loop-paths-finding ones are considered more efficient and easier to be handled than the loopless-paths-finding. The entire path deletion methods have been known as the best efficient algorithms among the proposed K-shortest path algorithms. These algorithms exploit the K-th network transformation to prevent the same path, which was already selected as the (K-1)th path, from being redetected. Nevertheless, these algorithms have a critical limitationto be applied in the practical traffic networks because the loops, in which the same modes and links can be unlimitedly repeated, are not preventable. This research develops a way to be able to selectively control loop-paths by applying link-label. This research takes an advantage of the link-based shortest path algorithms that since the algorithms can take care of two links simultaneouslyin the searching process, the generation of loops can be controlled in the concatenation process of the searched link and the preceded link. In concatenation of two links, since the precede link can be treated a sub-shortest to this link from the origination, whether both the node and the link of the searched link were already existed or not can be evaluated. Terefore, both the node-loopless path, in which the same node is not appeared, and the link-loopless, in which the same link is not appeared, can be separately controlled. Especially, the concept of the link-loopless path is expended to take into consideration reasonable route choice behaviors such as U-Turn, P-Turn, and Turn-Penalty, which are frequently witnessed in urban traffic network with intersections. The applicability of the proposed method is verified through case studies.

• Proceedings of the Korean Reliability Society Conference
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• 2001.06a
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• pp.455-462
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• 2001

We propose a new method to evaluate the network reliability which greatly reduces the intermediate steps toward calculations of maximum capacity flow by excluding unnecessary simple paths contained in the set of failure simple paths. By using signed simple paths and signed flow, we show that our method is more efficient than that of Lee and Park (2001a) in the number of generated composite paths and in the procedure for obtaining minimal success composite paths. Numerical examples are given to illustrate the use and the efficiency of the method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.115-122
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• 2014

Mobile robot has been studied for long time due to its simple structure and easy modeling. Regarding path planning of the mobile robot, we suggest real-time hybrid path planning algorithm which is the combination of optimal path planning and real-time path planning in this paper. Real-time hybrid path planning algorithm modifies, finds best route, and saves calculating time. It firstly plan the route with real-time path planning then robot starts to move according to the planned route. While robot is moving, update the route as the best outcome which found by optimal path planning algorithm. Verifying the performance of the proposed method through the comparing real-time hybrid path planning with optimal path planning will be done.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1824-1827
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• 1997

Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.

• The Journal of Korean Academy of Prosthodontics
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• v.25 no.1
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• pp.253-267
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• 1987

The purpose of this study was to improve limitations and disadvantages of the mechanical pantograph and the Visi-Trainer, and to design the reliable and reproducible device mandibular movement tracking device (MMTD) that is more simple, convenient and save the chair time than the mechanical pantograph and Visi-Trainer. MMTD was consist of head frame, horizontal bar, condylar path tracking stylus holders, anterior path tracking stylus holder, two condylar path plastic recording plates, one anterior path plastic recording plate, toggles and open occlusal clutch. To prove the reliability and reproducibility of MMTD, a five adults were selected and mandibular condylar movement was recorded one time by the mechanical pantographic tracing and MMTD. The border movement recording of the mandibular incisor (frontal, sagittal and horizontal) was also recorded by Visi-Trainer and the MMTD. The obtained results were as follows; 1. The condylar movement path (sagittal, horizontal) of the MMTD was not coincidence with that of mechanical pantograph. 2. Measurements of the angulation which established between working and balancing path records by use of the mechanical pantograph and MMTD, there was no significance. 3. In a view of MMTD's reproducibility, there was revealed almost similar recording pattern. 4. The border movement recording of the mandibular incisor by the MMTD and the Visi-Trainer showed almost same reliability and reproducibility. 5. The subjects were able to his original mandibular movements by use of open occlusal clutch in the MMTD.

• Journal of Information Processing Systems
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• v.16 no.6
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• pp.1324-1342
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• 2020

Various modified algorithms of rapidly-exploring random tree (RRT) have been previously proposed. However, compared to the RRT algorithm for collision avoidance with global and static obstacles, it is not easy to find a collision avoidance and local path re-planning algorithm for dynamic obstacles based on the RRT algorithm. In this study, we propose boundary-RRT*, a novel-algorithm that can be applied to aerial vehicles for collision avoidance and path re-planning in a three-dimensional environment. The algorithm not only bounds the configuration space, but it also includes an implicit bias for the bounded configuration space. Therefore, it can create a path with a natural curvature without defining a bias function. Furthermore, the exploring space is reduced to a half-torus by combining it with simple right-of-way rules. When defining the distance as a cost, the proposed algorithm through numerical analysis shows that the standard deviation (σ) approaches 0 as the number of samples per unit time increases and the length of epsilon ε (maximum length of an edge in the tree) decreases. This means that a stable waypoint list can be generated using the proposed algorithm. Therefore, by increasing real-time performance through simple calculation and the boundary of the configuration space, the algorithm proved to be suitable for collision avoidance of aerial vehicles and replanning of local paths.

• Journal of Electrical Engineering and Technology
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• v.10 no.2
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• pp.676-687
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• 2015

Path planning algorithms are used to allow mobile robots to avoid obstacles and find ways from a start point to a target point. The general path planning algorithm focused on constructing of collision free path. However, a high continuous path can make smooth and efficiently movements. To improve the continuity of the path, the searched waypoints are connected by the proposed polynomial interpolation. The existing polynomial interpolation methods connect two points. In this paper, point groups are created with three points. The point groups have each polynomial. Polynomials are made by matching the differential values and simple matrix calculation. Membership functions are used to distribute the weight of each polynomial at overlapped sections. As a result, the path has $G^2$ continuity. In addition, the proposed method can analyze path numerically to obtain curvature and heading angle. Moreover, it does not require complex calculation and databases to save the created path.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.9C
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• pp.908-922
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• 2003

The Public Key Infrastructure (PKI) trends to delegate the certificate path processing to the Delegated Path Discovery (DPD) Server and Delegated Path Validation (DPV) server recently. The most critical factor for the selection of the delegated server is to allow the server to be equipped with a high reliability through a low cost, and simple implementation. In this paper, we propose a new certificate path processing scheme employed the trusted CA as the DPD/DPV server by adding the capability of the Validation Authority (VA) to the trusted CA. Since our proposed scheme uses the existing trusted CA as validation server, we can achieve a high trust through a simple implementation for the processing. Besides, we propose an additional scheme for reducing an overhead on the trusted CA. it is obtained by delegating digital signature verification to CAs on the path and by skipping the repeated path processing. As the result, our proposed validation scheme can be performed efficiently with high speed and low computational overhead.