• Journal of Institute of Control, Robotics and Systems
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• v.20 no.3
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• pp.372-379
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• 2014

This paper surveys past and state-of-the-art SLAM technologies. The standard methods for solving the SLAM problem are the Kalman filter, particle filter, graph, and bundle adjustment-based methods. Kalman filters such as EKF (Extended Kalman Filter) and UKF (Unscented Kalman Filter) have provided successful results for estimating the state of nonlinear systems and integrating various sensor information. However, traditional EKF-based methods suffer from the increase of computation burden as the number of features increases. To cope with this problem, particle filter-based SLAM approaches such as FastSLAM have been widely used. While particle filter-based methods can deal with a large number of features, the computation time still increases as the map grows. Graph-based SLAM methods have recently received considerable attention, and they can provide successful real-time SLAM results in large urban environments.

• Proceedings of the Korea Concrete Institute Conference
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• 1996.04a
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• pp.270-274
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• 1996

Until recently pre & post-processing of finite element model has been heavily relied on expensive graphic peripheral devices. But today, with the aid of inexpensive microcomputers, very effective pre & postprocessor graphics has been developed. In this study, Pre & Post processor(MASSPRE, MASSPOST) of prediction analysis of thermal stress in mass concrete structure is developed. The developed pre & post processors are raise to the efficiency in making input data for the main program and analysis of the results produced by the main program. This MASSPOST presents a stress contour graph, volume slice, time-temperature history graph, time-stress history graph, etc.

• The KIPS Transactions:PartA
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• v.8A no.2
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• pp.179-188
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• 2001

We analyze the property of candidate node set in the network graph, and propose an algorithm to decrease shortest path-finding computation time by using multiple dynamic-range queue(MDRQ) structure. This MDRQ structure is newly created for effective management of the candidate node set. The MDRQ algorithm is the shortest path-finding algorithm that varies range and size of queue to be used in managing candidate node set, in considering the properties that distribution of candidate node set is constant and size of candidate node set rapidly change. This algorithm belongs to label-correcting algorithm class. Nevertheless, because re-entering of candidate node can be decreased, the shortest path-finding computation time is noticeably decreased. Through the experiment, the MDRQ algorithm is same or superior to the other label-correcting algorithms in the graph which re-entering of candidate node didn’t frequently happened. Moreover the MDRQ algorithm is superior to the other label-correcting algorithms and is about 20 percent superior to the other label-setting algorithms in the graph which re-entering of candidate node frequently happened.

• Journal of KIISE:Computer Systems and Theory
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• v.33 no.7
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• pp.448-453
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• 2006

We extend a parallel depth-first search (DFS) algorithm for planar graphs to deal with (non-planar) solid grid graphs, a subclass of non-planar grid graphs. The proposed algorithm takes time O(log n) with $O(n/sqrt{log\;n})$ processors in Priority PRAM model. In our knowledge, this is the first deterministic NC algorithm for a non-planar graph class.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.925-926
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• 2006

In the multi-agent system for a single task, the action selection can be made for the real-time environment by using the global coordination space, global coordination graph and MAX-PLUS algorithm. However, there are some difficulties in multi-agent system for multi-tasking. In this paper, a real-time decision making method is suggested by using coordination space, coordination graph and dynamic coordinated state of multi-agent system including many agents and multiple tasks. Specifically, we propose locally dynamic coordinated state to effectively use MAX-PLUS algorithm for multiple tasks completion. Our technique is shown to be valid in the box pushing simulation of a multi-agent system.

• Journal of Korean Institute of Industrial Engineers
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• v.23 no.2
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• pp.323-341
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• 1997

Traditionally, the Process Planning problems and the Scheduling problems have been considered as independent ones. However, we can take much advantages by solving the two problems simultaneously. In this paper, we deal with the enlarged problem that takes into account both the process planning and the scheduling problems. And we present a solution algorithm for the problem assuming that the given process plan data is represented by AND/OR graph. A mathematical model(mixed ILP model) whose objective is the minimization of the makespan, is formulated. We found that we can get the optimal solutions of the small-size problems within reasonable time limits, but not the large-size problems. So we devised an algorithm based on the decomposition strategy to solve the large-scale problems (realistic problems) within practical time limits.

• Journal of the Korean Society of Combustion
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• v.16 no.2
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• pp.16-22
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• 2011

It is a challenging task to apply large detailed chemical mechanisms of fuel oxidation in simulation of complex combustion phenomena. There exist a few systematic methodologies to reduce detailed chemical mechanisms to smaller sizes involving less computational load. This research work concerns generation of a skeletal chemical mechanism by a directed relation graph with specified accuracy requirement. Two sequential stages for mechanism reduction are followed in a perfectly stirred reactor(PSR) for high temperature chemistry and to consider the autoignition delay time for low and high temperature chemistry. Reduction was performed for the detailed chemical mechanism of n-heptane consisting of 561 species and 2539 elementary reaction steps. Validation results show acceptable agreement for the autoignition delay time and the PSR calculation in wide parametric ranges of pressure, temperature and equivalence ratio.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.42 no.6 s.336
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• pp.49-58
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• 2005

In this paper, we propose an optimal ILP scheduling algorithm for multiprocessor design on LDFG(Linear Data-Flow Graph) that can be represented by homogeneous synchronous data-flow. The proposed computation in this paper does not contain data-dependent, all scheduling decisions for such algorithms can be taken at compile time, only fully static overlapped schedules are considered. It means that all linear have the same schedule and the same processor assignment. In this paper, the resource-constrained problem is addressed, for the LDFG optimization for multiprocessor design problem formulating ILP solution available to provide optimal solution. The results show that the scheduling method is able to find good quality schedules in reasonable time.

• Journal of the Society of Naval Architects of Korea
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• v.59 no.6
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• pp.393-399
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• 2022

During the ship hull design process, resistance performance estimation is generally calculated by simulation using computational fluid dynamics. Since such hull resistance performance simulation requires a lot of time and computation resources, the time taken for simulation is reduced by CPU clusters having more than tens of cores in order to complete the hull design within the required deadline of the ship owner. In this paper, we propose a method for estimating resistance performance of ship hull by simulation using a graph neural network. This method converts the 3D geometric information of the hull mesh and the physical quantity of the surface into a mathematical graph, and is implemented as a deep learning model that predicts the future simulation state from the input state. The method proposed in the resistance performance experiment of simple hull showed an average error of about 3.5 % throughout the simulation.

• Journal of the Korea Society of Computer and Information
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• v.23 no.3
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• pp.85-92
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• 2018

We consider a project scheduling problem in which the jobs can be compressed by using additional resource to meet the corresponding due dates, referred to as a time-cost tradeoff problem. The project consists of two independent subprojects of which precedence graph is a chain. The due dates of jobs constituting the project can be interpreted as the multiple assessments in the life of project. The penalty cost occurs from the tardiness of the job, while it may be avoided through the compression of some jobs which requires an additional cost. The objective is to find the amount of compression that minimizes the total tardy penalty and compression costs. Firstly, we show that the problem can be decomposed into several subproblems whose number is bounded by the polynomial function in n, where n is the total number of jobs. Then, we prove that the problem can be solved in polynomial time by developing the efficient approach to obtain an optimal schedule for each subproblem.