• Journal of Communications and Networks
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• 제11권2호
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• pp.175-186
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• 2009

A new medium access control (MAC) scheme embedding physical channels into multiband carrier sense multiple access/collision avoidance (CSMA/CA) networks is proposed to provide strict quality of service (QoS) guarantee to high priority users. In the proposed scheme, two priority classes of users, primary and secondary users, are supported. For primary users physical channels are provided to ensure strict QoS, whereas secondary users are provided with best-effort service using CSMA/CA modified for multiband operation. The performance of the proposed MAC scheme is investigated using a new multiband CSMA/CA Markov chain model capturing the primary user activity and the operation of secondary users in multiple bands. The throughput of secondary users is obtained as a function of the primary user activity and other CSMA/CA parameters. It is shown that the new MAC scheme yields larger throughput than the conventional single-band CSMA/CA when both schemes use the same bandwidth.

• 제어로봇시스템학회논문지
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• 제20권2호
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• pp.211-217
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• 2014

This paper addresses an algorithm of path planning for autonomous driving of a ground vehicle in waypoint navigation. The proposed algorithm is flexible in utilization under a large GPS positioning error and generates collision-free multiple paths while pursuing minimum traveling time. An optimal path reduces inefficient steering by minimizing lateral changes in generated waypoints along a path. Simulation results compare the proposed algorithm with the A* algorithm by manipulation of the steering wheel and traveling time, and show that the proposed algorithm realizes real-time obstacle avoidance by quick processing of path generation, and minimum time traveling by producing paths with small lateral changes while overcoming the very irregular positioning error from the GPS.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2007년도 하계종합학술대회 논문집
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• pp.107-108
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• 2007

In this paper, the EM wave absorbers were designed and fabricated for collision-avoidance radars using Carbon of a dielectric material and Permalloy of a magnetic material with CPE, because radar system has some problems including false image and system-to-system interference. We fabricated some samples in different composition ratio of Carbon and Permalloy, and defined that optimum composition ratios of Carbon and Permalloy with CPE were Carbon:CPE=20:80 wt% and Permalloy:CPE=70:30 wt%. And absorption abilities at different thicknesses of the EM wave absorbers were simulated using the material properties. The EM wave absorbers were manufactured based on the simulated design. Simulated and measured results agree very well.

• Journal of electromagnetic engineering and science
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• 제7권3호
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• pp.129-133
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• 2007

In this paper, we present the development of an antenna specialized for the maritime collision avoidance system. This antenna is configured as the dielectric rod partially embedded in the metal cavity to reduce the overall size, simultaneously assuring the mechanical sturdiness against the challenging oceanic weather conditions. More importantly, the design has been carefully done to meet the requirements on the radiation pattern(with the slope < 5 dB/deg in the elevation(E-plane), circular in the azimuth) suitable to receiving the reflected signals from the other objects on the sea. To find the optimal design parameters, the genetic algorithm has been used to meet the goals of the desired return loss and pattern. This design methodology is validated by the good agreement between the calculation and measurement.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.530-533
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• 1995

This paper deals with the problem of motion planning for a unicycle-like robot. We present a simple local planner for unicycle model, based on an approximation of the desired configuration generated by local holonomic planner that ignores motion constraints. To guarantee a collision avoidance, we propose an inequality constraint, based on the motion analysis with the constant control input and time interval. Consequently, we formulate our problem as the constrained optimization problem and a feedback scheme based on local sensor information is established by simply solving this problem. Through simulations, we confirm the validity and effectiveness of our algorithm.

• International Journal of Aeronautical and Space Sciences
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• 제6권2호
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• pp.56-63
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• 2005

Some methods have been presented to avoid collisions among satellites for satellite formation flying mission. The potential function method based on Lyapunov's theory is known as a powerful tool for collision avoidance in the robotic system because of its robustness and flexibility. During the last decade, a potential function has also been applied to UAV's and spacecraft operations, which consists of repulsive and attractive potential. In this study, the controller is designed using a potential function via sliding mode technique for the configuration of satellite formation flying. The strategy is based on enforcing the satellite to move along the gradient of a given potential function. The new scalar velocity function is introduced such that all satellites reach the goal points simultaneously. Simulation results show that the controller drives the satellite toward the desired point along the gradient of the potential function and is robust against external disturbances.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.1254-1257
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• 1993

Presented in this paper is a newly developed motion planning method of an autonomous mobile robot(MAR) which can be applied to flexible manufacturing systems(FMS). The mobile robot is designed for transporting tools and workpieces between a set-up station and machines according to production schedules of the whole FMS. The proposed method is implemented based on an earlier developed real-time obstacle avoidance method which employs Kohonen network for pattern classification of sonar readings and fuzzy logic for local path planning. Particulary, a novel obstacle avoidance method for moving objects using a collision index, collision possibility measure, is described. Our method has been tested on the SNU mobile robot. The experimental results show that the robot successfully navigates to its target while avoiding moving objects.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권3호
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• pp.1035-1048
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• 2023

The IEEE 802.11 WLAN adopts a random backoff algorithm for its collision avoidance mechanism, and it is well known that the contention-based algorithm may suffer from performance degradation especially in congested networks. In this paper, we design an efficient backoff algorithm that utilizes a reinforcement learning method to determine optimal values of backoffs. The mobile nodes share a common contention window (CW) in our scheme, and using a Q-learning algorithm, they can avoid collisions by finding and implicitly reserving their optimal time slot(s). In addition, we introduce Frame Size Control (FSC) algorithm to minimize the possible degradation of aggregate throughput when the number of nodes exceeds the CW size. Our simulation shows that the proposed backoff algorithm with FSC method outperforms the 802.11 protocol regardless of the traffic conditions, and an analytical modeling proves that our mechanism has a unique operating point that is fair and stable.

• 한국멀티미디어학회논문지
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• 제17권9호
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• pp.1104-1114
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• 2014

In large-scale crowd simulations, it is very important for the decision-making system of manipulating interactive behaviors to minimize the computational cost for controlling realistic behaviors such as collision avoidance. In this paper, we propose a large-scale realtime crowd simulation method using the affordance and navigation potential fields such as attractive and repulsive forces of electromagnetic fields. In particular, the model that we propose locally handles the realistic interactions between agents, and thus radically reduces the cost of expensive computation on interactions which has been the most problematic in crowd simulation. Our method is widely applicable to the expression and analysis of various crowd behaviors that are needed in behavior control in computer games, crowd scenes in movies, emergent behaviors of evacuation, etc.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2007년도 추계학술대회 및 제23회 정기총회
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• pp.226-227
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• 2007

항만 물동량의 증가로 자동화 항만 시스템에 대한 연구가 활발히 진행되고 있다. 본 연구는 선형 모터 기반 이송 장비인 LMTT 시스템의 자동화 운용에 있어 충돌 및 교착상태를 방지하기 위해 Random Access Sequence Dynamic Programming(RAS DP)를 이용한 최적 경로 탐색 알고리즘을 제안한다. 제안하는 알고리즘은 실시간으로 각 shuttle car의 최적 경로를 탐색한다.