• Proceedings of the KSRS Conference
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• v.2
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• pp.688-691
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• 2006

The current system of the East China Sea, a marginal sea in the northwest Pacific, has a seasonal variation. The Changjiang Diluted Water, Chinese coastal water in the East China Sea, has different seasonal paths. It flows southward along the Chinese coast within a narrow band in winter and does northeastward the Korea/Tsushima Strait in summer, which has been a subject to many researchers. In particular, low salinity in the South Sea of Korea in 1996 and 1998 was in discord with the Changjiang River discharge and the Changjiang Diluted Water seems to play an important role in occurrence of red tide in the South Sea of Korea in 1997 and on the contrary, disappearance in the next year. These facts suggested that the Changjiang Diluted Water does not flow along the same path in every summer. According to the analyses for path of the Changjiang Diluted Water using ocean color images by SeaWiFS and salinity observations by shipboard CTD in August for recent years, the Changjiang Diluted Water in summer flowed within the range of direction from southeastward to north-northeastward anticlockwise. However, the Changjiang Diluted Water flowed northeastward toward Jeju Island of Korea for the most part. It is necessary to examine the influence of major factors on path variability of the CDW in summer such as surface wind, the Changjiang River discharge and background current.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.10A
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• pp.1004-1014
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• 2007

In sensor networks, it is crucial to reliably and energy-efficiently deliver sensed information from each source to a sink node. Specifically, in mobile sink (user) applications, due to the sink mobility, a stationary dissemination path may no longer be effective. The path will have to be continuously reconfigured according to the current location of the sink. Moreover, the dynamic optimal path from each source to the sink is required in order to reduce end-to-end delay and additional energy wastage. In this paper, an Adaptive Reversal Optimal path Tree (AROT) protocol is proposed. Information delivery from each source to a mobile sink can be easily achieved along the AROT without additional control overhead, because the AROT proactively performs adaptive sink mobility management. In addition, the dynamic path is optimal in terms of hop counts and the AROT can maintain a robust tree structure by quickly recovering the partitioned tree with minimum packet transmission. Finally, the simulation results demonstrate that the AROT is a considerably energy-efficient and robust protocol.

• Journal of the Korean Society of Safety
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• v.16 no.1
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• pp.37-42
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• 2001

The severity of electric shock is entirely dependent on body resistance. When the human body becomes a part of electric circuit, the body resistance is given as a function of shock scenario. Factors which consist of applied voltage, shock duration, body current path and contact area, etc.. The body resistance is defined as the voltage applied to subjects divided by the body current. To secure safety of the subjects, the experiment is conducted on 10 subjects, the body current is limited to 4mA. And only three factors under many shock scenario conditions are used to determine the body resistance. The three factors are the applied voltage, the current pathway and the contact area. The object of this work is to estimate the dynamic resistance of the human body as a function of applied voltage using the body current at low-voltage levels. The data of the body current at low-voltage levels are extrapolated to high-voltage levels using two analytic functions with specified constants calculated by numerical method. Also we can provide permissible body voltage for various copper electrodes on the basis of the data determined with the dynamic resistance and the body current.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.6
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• pp.43-49
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• 2001

A reduced machining time and increased accuracy for the sculptured surface are very important when producing complicated parts. The step-size and tool-path interval are essential components in high speed and high resolution machining. If they are small, the machining time will increase, whereas if they are large, rough surfaces will be caused. In particular, the machining time, which is key in high speed machining, is affected by the tool-path interval more than the step-size. The conventional method for calculating the tool=path interval is to select a small parametric increment of a small increment based on the curvature of the surface. However, this approach also has limitations. The first is that the tool-path interval can not be calculated precisely. The second is that a separate tool-path interval needs to be calculated in each of the three cases. The third is that the conversion from Cartesian domain to parametric domain or vice versa must be necessary. Accordingly, the current study proposes a new tool-path interval algorithm that do not involve a curvature and that is not necessary for any conversion and a variable step-size algorithm for NURBS.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.9
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• pp.902-907
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• 2011

In this paper, we deal with performance evaluation of visual path following using 2D and 3D information. Visual path follow first teaches driving path by selecting milestone images then follows the same route by comparing the milestone image and current image. We follow the visual path following algorithm of [8] and [10]. In [8], a robot navigated with 2D image information only. But in [10], local 3D geometries are reconstructed between the milestone images in order to achieve fast feature prediction which allows the recovery from tracking failures. Experimental results including diverse indoor cases show performance of each algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.375-381
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• 2011

This paper deals with the improvement of visual path following through velocity variation according to the coordinate of feature points. Visual path follow first teaches driving path by selecting milestone images then follows the route by comparing the milestone image and current image. We follow the visual path following algorithm of Chen and Birchfield [8]. In [8], they use fixed translational and rotational velocity. We propose an algorithm that uses different translational velocity according to the driving condition. Translational velocity is adjusted according to the variation of the coordinate of feature points on image. Experimental results including diverse indoor cases show the feasibility of the proposed algorithm.

• ETRI Journal
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• v.43 no.4
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• pp.580-593
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• 2021

When operating in confined spaces or near obstacles, collision-free path planning is an essential requirement for autonomous exploration in unknown environments. This study presents an autonomous exploration technique using a carefully designed collision-free local planner. Using LiDAR range measurements, a local end-point selection method is designed, and the path is generated from the current position to the selected end-point. The generated path showed the consistent collision-free path in real-time by adopting the Euclidean signed distance field-based grid-search method. The results consistently demonstrated the safety and reliability of the proposed path-planning method. Real-world experiments are conducted in three different mines, demonstrating successful autonomous exploration flights in environment with various structural conditions. The results showed the high capability of the proposed flight autonomy framework for lightweight aerial robot systems. In addition, our drone performed an autonomous mission in the tunnel circuit competition (Phase 1) of the DARPA Subterranean Challenge.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.5B
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• pp.509-516
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• 2009

The Stream Control Transmission Protocol(SCTP) is a reliable transport layer protocol that provides several features. Multihoming is the one of the features and allows an association(SCTP's term for a connection) between two endpoints to use multiple paths. One of the paths, called a primary path, is used for initial data transmission and in the case of retransmission an alternate path is used. SCTP's current retransmission policy attempts to improve the chance of success by sending all retransmissions to an alternate destination address. However, SCTP's current retransmission policy has been shown to actually degrade performance in many circumstances. It is because that, due to Karn's algorithm, successful retransmissions on the alternate path cannot be used to update RTT(Round-Trip Time) estimation for the alternate path. In this paper we propose a scheme to avoid such performance degradation. We utilize 2bits which is not used in the flag field of DATA and SACK chunks to disambiguate original transmissions from retransmissions and to keep RTT and RTO(Retransmission Time-Out) values more accurate.

• Korean Management Science Review
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• v.25 no.2
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• pp.81-88
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• 2008

This paper presents a new algorithm for the K shortest paths problem in a network. After a shortest path is produced with Dijkstra algorithm. detouring paths through inward arcs to every vertex of the shortest path are generated. A length of a detouring path is the sum of both the length of the inward arc and the difference between the shortest distance from the origin to the head vertex and that to the tail vertex. K-1 shorter paths are selected among the detouring paths and put into the set of K paths. Then detouring paths through inward arcs to every vertex of the second shortest path are generated. If there is a shorter path than the current Kth path in the set. this path is placed in the set and the Kth path is removed from the set, and the paths in the set is rearranged in the ascending order of lengths. This procedure of generating the detouring paths and rearranging the set is repeated until the $K^{th}-1$ path of the set is obtained. The computational results for networks with about 1,000,000 nodes and 2,700,000 arcs show that this algorithm can be applied to a problem of generating the detouring paths in the metropolitan traffic networks.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.9
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• pp.761-769
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• 2008

The majority of mechanical parts are manufactured by milling machines. Hence, geometrically efficient algorithms for tool path generation and physical considerations for better machining productivity with guarantee of machining safety are the most important issues in milling tasks. In this paper, an optimized path generation algorithm for direction parallel milling which is commonly used in the roughing stage is presented. First of all, a geometrically efficient tool path generation algorithm using an intersection points-graph is introduced. Although the direction parallel tool path obtained from geometric information have been successful to make desirable shape, it seldom consider physical process concerns like cutting forces and chatters. In order to cope with these problems, an optimized tool path, which maintains constant MRR in order to achieve constant cutting forces and to avoid chatter vibrations at all time, is introduced and the result is verified. Additional tool path segments are appended to the basic tool path by using a pixel based simulation technique. The algorithm has been implemented for two dimensional contiguous end milling operations, and cutting tests are conducted by measuring spindle current, which reflects machining situations, to verify the significance of the proposed method.