• Journal of information and communication convergence engineering
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• v.11 no.4
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• pp.274-281
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• 2013

In this study, we consider the challenges in motion planning for automated driving systems. Most of the existing online motion-planning algorithms, which take dynamics into account, find it difficult to operate in an environment with narrow passages. Some of the existing algorithms overcome this by offline preprocessing if environment is known. In this work an online algorithm for motion planning with dynamics in an unknown cluttered environment with narrow passages is presented. It utilizes an idea of hybrid planning with sampling- and discretization-based motion planners, which run simultaneously in a full configuration space and a derived reduced space. The proposed algorithm has been implemented and tested with a real autonomous vehicle. It provides significant improvements in computational time performance over basic planning algorithms and allows the generation of smoother paths than those generated by the recently developed hybrid motion planners.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.16 no.5 s.96
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• pp.465-471
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• 2005

A method of calculation fur propagating and focusing of focused beams generated in antenna arrays, using BPM(Beam Propagation Method), is presented in this paper. Based on the diffraction theory, the beam focusing and Propagation is studied specially for the case of the antenna way fed by the Rotman lens that is able to focus microwave power on its focal arc or generate multiple beams. There are difficulties in performing a full-wave simulation using a commercial EM simulation tool for propagating and focusing of beams because of the structural complexity and the feeding assignment of the antenna array. Therefore, as an alternative solution, the BPM is presented to calculate the beam propagation from the aperture-type antennas. From the point of view of optics, the propagations of the lens have been simplified from the Fresnel diffraction integral to the Fourier transform. Using Fourier Transform, a beam propagation method is developed to show improvement of the resolution by controlling the wavefront of wave Propagating from an aperture-type antenna array. The beam width(or spot size) and the intensity are calculated for a focused beam propagating from an array having $10\lambda$ of its size. For the beams with $20\lambda,\;30\lambda$, and $50\lambda$ of geometrical focal length, the half-power beam widths(or spot size) are about 1.1\lambda,\;1.3\lambda,\;and\;1.9\lambda$ respectively.

• Geophysics and Geophysical Exploration
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• v.9 no.1
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• pp.102-107
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• 2006

Recently, rapid developments in computer hardware have enabled reverse-time migration to be applied to various production imaging problems. As a wave-equation technique using the two-way wave equation, reverse-time migration can handle not only multi-path arrivals but also steep dips and overturned reflections. However, reverse-time migration causes unwanted artefacts, which arise from the two-way characteristics of the hyperbolic wave equation. Zero-lag cross correlation with diving waves, head waves and back-scattered waves result in spurious artefacts. These strong artefacts have the common feature that the correlating forward and backward wavefields propagate in almost the opposite direction to each other at each correlation point. This is because the ray paths of the forward and backward wavefields are almost identical. In this paper, we present several tactics to avoid artefacts in shot-domain reverse-time migration. Simple muting of a shot gather before migration, or wavefront migration which performs correlation only within a time window following first arriving travel times, are useful in suppressing artefacts. Calculating the wave propagation direction from the Poynting vector gives rise to a new imaging condition, which can eliminate strong artefacts and can produce common image gathers in the reflection angle domain.

• Science of Emotion and Sensibility
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• v.21 no.4
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• pp.55-62
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• 2018

The two main requirements of wearable optical fiber fabrics are that they must presuppose a high degree of flexibility and they must maintain the luminance effect in both flat and bent conformations. Therefore, woven optical fiber fabrics that satisfy the above conditions were developed by both weaving and by using computer embroidery. First, we measured the brightness of the wearable optical fiber fabric in the flat state at a total of 10 measurement points at intervals of 1 cm. Second, the wearable optical fiber fabric was placed horizontally on the forearm, where three-dimensional bending occurs, and the luminance values were recorded at the same 10 measurement points. For the woven fabric in the flat state, the maximum, minimum, average, and standard deviation luminance values were $5.23cd/m^2$, $2.74cd/m^2$, $3.56cd/m^2$, and $1.11cd/m^2$, respectively. The corresponding luminance values from the bent forearm were $7.92cd/m^2$ (maximum), $2.37cd/m^2$ (minimum), $4.42cd/m^2$ (average), and $2.16cd/m^2$ (standard deviation). In the case of the computer-embroidered fabric, the maximum, minimum, average, and standard deviation luminance values in the flat state were $7.56cd/m^2$, $3.84cd/m^2$, $5.13cd/m^2$, and $1.04cd/m^2$, respectively, and in the bent forearm state were $9.6cd/m^2$, $3.63cd/m^2$, $6.13cd/m^2$, and $2.26cd/m^2$, respectively. Therefore, the computer-embroidered fabric exhibited a higher luminous effect than the woven fabric because the detailed structure reduced light-loss due to the backside fabric. In both types of wearable optical fiber fabric the luminance at the forearm was 124% and 119%, respectively, and the light emitting effect of the optical fiber fabric was maintained even when bent by the human body. This is consistent with the principle of Huygens, which defines the wave theory of light, and also the Huygens-Fresnel-Kirchhoff principle, which states that the intensity of light increases according to the magnitude of the angle of propagation of the light wavefront (${\theta}$).