• International Journal of Aeronautical and Space Sciences
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• 제18권4호
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• pp.767-779
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• 2017

Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle rich environment we developed in prior work. In this sequel to that work, we show that the mission planner developed before can be made robust to errors arising from the mapping, sensing, actuation, and environmental disturbances through creating systematic buffers around obstacles using the calculations of uncertainty propagation. This robustness makes the mission planner truly autonomous and scalable to many UAVs without human intervention. We illustrate with simulation results for trajectory generation of multiple UAVs in a surveillance problem in an urban environment while optimizing for either maximal flight time or minimal fuel consumption. Our solution methods are suitable for any well-mapped region, and the final collision free paths are obtained through offline sub-optimal solution of an mTSP (multiple traveling salesman problem).

• Ocean and Polar Research
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• 제26권2호
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• pp.323-332
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• 2004

This paper concerns about a study on dynamic responses of tracked vehicle on soft cohesive soil. For dynamic analyses of tracked vehicle, two different models were adopted, i.e. a single-body model and a multi-body model. The single-body vehicle model was assumed as a rigid body with 6-dof. The multi-body vehicle was modeled by using a commercial software, RecurDyn-LM. For the both models properties of cohesive soft soil were modeled by means of three relationships: pressure to sinkage, shear displacement to shear stress, and shear displacement to dynamic sinkage. Traveling performances of the two tracked vehicle models were compared through dynamic analyses in time domain.

• 한국CDE학회논문집
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• 제12권2호
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• pp.126-136
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• 2007

Teleconferences have been used in business sectors to reduce traveling costs. Traditionally, specialized telephones that enabled multiparty conversations were used. With the introduction of high speed networks, we now have high definition videos that add more realism in the presence of counterparts who could be thousands of miles away. This paper presents a new technology that adds even more realism by telecommunicating with hand gestures. This technology is part of a teleconference system named SMS (Smart Meeting Space). In SMS, a person can use hand gestures to manipulate meeting data that could be in the form of text, audio, video or 3D shapes. Fer detecting hand gestures, a machine learning algorithm called SVM (Support Vector Machine) has been used. For the prototype system, a 3D interaction environment has been implemented with $OpenGL^{TM}$, where a 3D human skull model can be grasped and moved in 6-DOF during a remote conversation between distant persons.

• Wind and Structures
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• 제20권2호
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• pp.117-142
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• 2015

The performance of bridges under strong wind and traffic is of great importance to set the traveling speed limit or to make operational decisions for severe weather, such as controlling traffic or even closing the bridge. Meanwhile, the vehicle's safety is highly concerned when it is running on bridges or highways under strong wind. During the past two decades, researchers have made significant contributions to the simulation of the wind-vehicle-bridge system and their interactive effects. This paper aims to provide a comprehensive review of the overall performance of the bridge and traffic system under strong wind, including bridge structures and vehicles, and the associated mitigation efforts.

• 한국시뮬레이션학회논문지
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• 제9권1호
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• pp.21-38
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• 2000

A fuzzy dispatching algorithm with adaptable control scheme is proposed for more flexible and adaptable operation of AGV system. The basic idea of the algorithm is prioritization of all move requests based on the fuzzy urgency. The fuzzy urgency is measured by the fuzzy multi-criteria decision-making method, utilizing the relevant information such as incoming and outgoing buffer status, elapsed time of move request, and AGV traveling distance. At every dispatching decision point, the algorithm prioritizes all move requests based on the fuzzy urgency. The performance of the proposed algorithm is compared with several dispatching algorithms in terms of system throughput in a hypothetical job shop environment. Simulation experiments are carried out varying the level of criticality ratio of AGVs , the numbers of AGVs, and the buffer capacities. The rule presented in this study appears to be more effective for dispatching AGVs than the other rules.

• 대한산업공학회지
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• 제19권1호
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• pp.1-17
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• 1993

It is well known that an assembly operation is usually constrained by the geometric interference between parts. These constraints are normally presented as AND/OR precedence relationships. To find a feasible assembly sequence which satisfies the geometric constraints is not an easy task because of the TSP(Traveling Salesman Problem) nature with precedence constraints. In this paper, we developed an automated system based on Neural Network for generating feasible assembly sequences. Modified Hopfield and Tank network is used to solve the problem of AND/OR precedence-constrained assembly sequences. An economic assembly sequence can be also obtained by applying the cost matrix that contains cost-reducing factors. To evaluate the performance and effectiveness of the developed system, a case of automobile generator is tested. The results show that the developed system can provide a "good" planning tool for an assembly planner within a reasonable computation time period.

• Journal of Mechanical Science and Technology
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• 제19권5호
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• pp.1123-1130
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• 2005

In view of the lack of efficient coordination of interdependent task in the collaborative design system, the mechanisms for temporal and resource coordination problems are established based on Petri Nets, respectively. Both of the mechanisms are encapsulated and implemented in the coordination component so as to increase the flexibility and acceptability of the system. We model the CSCW system based on Petri Nets for simulation, analysis and optimization. A case study on the overhead traveling crane is given to demonstrate and validate our theory.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.199-205
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• 2008

The monorail system as new transportation system mostly has being constructed as an elevated construction and the track beam as mostly main work type occupy the important parts. The structure of monorail system, the track beam support directly vehicle's load and comprised of the track beam structure to be traveling side and understructure to be transmitted from their load to the ground. In particular, in case of construction to elevated structure in the center of a city, it is important to decision plan for span to be considered the economic, execution and maintenance according to transport, installation, and the structure problem, scene and civil appeals to be decided the beam elevation and span. Therefore the standard span of monorail track beam shall be considered the efficient execution, economic and transportation. And propose to reasonable decision plan incorporated the minimizing the road occupied width due to openness to center of a city and bridge pole, minimize to basis size.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2002년도 춘계학술대회 논문집
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• pp.35-40
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• 2002

The Korean high speed railway system is scheduled to open sometime in 2004. To fulfill its duties, it is essential to view intermodalism in easy access to high speed railway station. To study travelers' choice of mode and to make improvements the transfer, a SP survey of 3628 was conducted in national level in the fall of 2001. An understanding of KTX passenger mode choice is crucial for station-related facility capacity planning. Development of main and regional high speed stations, as well as changes in the roadway and railroad transportation system for station access, will influence the relative demand for traveling by train from compel ing other transportation mode. The research described here was designed to derive a general overview of the basic travel patterns with an emphasis on intermodal transportation system.

• 항공우주시스템공학회지
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• 제14권6호
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• pp.1-9
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• 2020

Global e-commerce and delivery companies are actively pursuing last-mile delivery service using drones, and various delivery schedule planning studies have been conducted. In this study, separate individual route networks were constructed to reflect drone route constraints such as prohibited airspace and truck route constraints such as rivers, which previous studies did not incorporate. The A* algorithm was used to calculate the shortest path distance matrix between the starting point and destinations. In addition, we proposed an optimal delivery schedule plan using genetic algorithms and applied it to compare the efficiency with that of vehicle-only delivery.