• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.575-584
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• 2021

This study contains the process of developing a Mission Planning System (MPS) of an USV that can be applied in real situations and verifying them through HILS. In this study, we set the scenario of a single USV with limited operating time. Since the USV may not perform some missions due to the limited operating time, an objective function was defined to maximize the Mission Achievement Rate (MAR). We used a genetic algorithm to solve the problem model, and proposed a method using a 3-D population. The simulation showed that the probability of deriving the global optimal solution of the mission planning algorithm was 96.6% and the computation time was 1.6 s. Furthermore, USV showed it performs the mission according to the results of the MPS. We expect that the MPS developed in this study can be applied to the real environment where USV performs missions with limited time conditions.

• 한국건설관리학회논문집
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• 제25권3호
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• pp.68-82
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• 2024

The planning stage of laser scanning is crucial for acquiring high-quality 3D source data. It involves assessing the target space's environment and formulating an effective measurement strategy. However, existing practices often overlook on-site conditions, with decisions on scanner deployment and scanning locations relying heavily on the operators' experience. This approach has resulted in frequent modifications to scanning locations and diminished 3D data quality. Previous research has explored the selection of optimal scanner locations and conducted preliminary reviews through simulation, but these methods have significant drawbacks. They fail to consider scanner inaccuracies, do not support the use of multiple scanners, rely on less accurate 2D drawings, and require specialized knowledge in 3D modeling and programming. This study introduces an optimization technique for laser scanning planning using 3D simulation to address these issues. By evaluating the accuracy of scan data from various laser scanners and their positioning for scanning a retaining wall structure in a small-scale building, this method aids in refining the laser scanning plan. It enhances the decision-making process for end-users by ensuring data quality and reducing the need for plan adjustments during the planning phase.

• 한국지리정보학회지
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• 제5권3호
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• pp.99-106
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• 2002

임도망 계획시 GIS의 활용은 시공전에 노선을 평가할 수 있어 노선선정의 잦은 변경에 따른 불필요한 노력과 경비를 절감할 수 있다. 본 연구는 임도망의 종합적인 계획을 위하여 지형정보시스템을 이용하여 경남 남해군에 위치한 금산주변의 국유림을 대상으로 노선선정기준에 따른 합리적이고 환경친화적인 임도망의 계획방법을 제시하고 그 적용성을 검토하였다. 효율적인 노선선정을 위하여 분석항목별 노선통과의 적합성 여부를 평가하는 기준으로 각 격자에 가중치(점수)를 주었으며, 구조적인 측면의 종단물매와 생산적인 측면에서 투자효과의 최대화에 의한 2가지 노선선정기준에 따라 임도망을 계획하고 그 결과를 분석하였다. 종단물매를 고려하여 임도망을 계획한 결과, 총연장 및 임도밀도는 20.41km, 6.92m/ha로 나타났으며, 구조적인 측면의 종단물매와 투자효과의 최대화에 의한 방법을 조합하여 노선을 계획한 결과 총연장 및 임도밀도는 21.15km, 7.17m/ha로서 구조적인 측면의 임도망 계획결과에 비하여 높게 나타났다. GIS 기법에 의한 임도망의 계획은 각 대안별 평가를 통하여 최종 의사결정자가 최적의 임도망을 선택할 수 있는 의사결정지원체계로서 중요한 정보를 제공할 수 있는 것으로 평가된다.

• Journal of Electrical Engineering and Technology
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• 제4권3호
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• pp.315-322
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• 2009

Penetration and installation of a new dynamic technology known as Flexible AC Transmission Systems (FACTS) in a practical and dynamic network requires and force expert engineer to develop robust and flexible strategy for planning and control. Unified Power Flow Controller (UPFC) is one of the recent and effective FACTS devices designed for multi control operation to enhance the power system security. This paper presents a dynamic strategy based on Particle Swarm Optimization (PSO) for optimal parameters setting of UPFC to enhance the system loadability. Firstly, we perform a multi power flow analysis with load incrementation to construct a global database to determine the initial efficient bounds associated to active power and reactive power target vector. Secondly a PSO technique applied to search the new parameters setting of the UPFC within the initial new active power and reactive power target bounds. The proposed approach is implemented with Matlab program and verified with IEEE 30-Bus test network. The results show that the proposed approach can converge to the near optimum solution with accuracy, and confirm that flexible multi-control of this device coordinated with efficient location enhance the system security of power system by eliminating the overloaded lines and the bus voltage violation.

• 한국지능시스템학회논문지
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• 제8권4호
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• pp.27-35
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• 1998

자율 주행 로봇이 주어진 환경에 대한 정보를 이용하여 장애물을 회피하며 안전하고 효율적으로 목표지점까지 주행하기 위해서는 최적의 이동 경로가 생성되어야 한다. 본 논문에서는 유전 알고리즘을 이용하여 고정 및 움직이는 장애물이 존재하는 작업환경 내에서 전역경로 계획, 지역경로 계획을 결정하는 방법을 제안한다. 이동 로봇은 유전 알고리즘을 이용하여 먼저 최적의 전역 경로를 탐색하고 미지의 장애물을 발견하면 이와 충돌을 회피하기 위해 새로운 지역 경로를 탐색한다. 또한 움직이는 장애물이 작업공한내 존재하면 이동 로봇은 이를 피하기 위해 최적의 경로를 탐색한다. 본 논문에서는 제안한 유전 알고리즘은 기존의 알고리즘에 비해 국부적 최소 값에 빠지지 않고 경로 탐색능력이 효율적임을 확인하였다.

• 한국물환경학회지
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• 제23권3호
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• pp.356-366
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• 2007

In this paper a methodology is developed to prioritize replacement of water distribution pipes according to the economical efficiency of replacement and assess the long-term effects of water main replacement policies on water distribution systems. The methodology is implemented with MATLAB to develop a computer algorithm which is used to apply the methodology to a case study water distribution system. A pipe break prediction model is used to estimate future costs of pipe repair and replacement, and the economically optimal replacement time of a pipe is estimated by obtaining the time at which the present worth of the total costs of repair and replacement is minimum. The equation for estimating the present worth of the total cost is modified to reflect the fact that a pipe can be replaced in between of failure events. The results of the analyses show that about 9.5% of the pipes in the case study system is required to be replaced within the planning horizon. Analyses of the yearly pipe replacement requirements for the case study system are provided along with the compositions of the replacement. The effects of water main replacement policies, for which yearly replacement length scenario and yearly replacement budget scenario are used, during a planning horizon are simulated in terms of the predicted number of pipe failures and the saved repair costs.

• 한국국방경영분석학회지
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• 제36권3호
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• pp.135-145
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• 2010

잠수함은 수중에서 임무를 수행하며, 은밀성을 강점으로 하는 매우 위협적인 무기 체계이다. 하지만 잠수함 센서에 의해 탐지되거나 수면 위로 부상하여 노출될 경우 적으로부터 공격을 받을 수 있는 위협에 직면하게 된다. 본 연구는 적 수상함정의 탐색활동과 잠수함의 잠항능력을 고려하여 생존율을 극대화하는 최적의 이동경로를 계획하였다. 잠수함의 생존율을 극대화하기 위한 이동경로 계획 수리모형을 구축하고, ILOG CPLEX를 이용하여 수리모형을 검증하였다. 잠수함의 생존율을 보장하고, 목표지점으로 이동하기 위한 휴리스틱 알고리즘을 이용하여 이동경로, 이동 단위시간(거리), 생존율, 계산시간을 도출하였다.

• 경영과학
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• 제29권1호
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• pp.143-152
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• 2012

Location area planning (LAP) problem is to partition the cellular/mobile network into location areas with the objective of minimizing the total cost in location management. The minimum cost has two components namely location update cost and searching cost. Location update cost is incurred when the user changes itself from one location area to another in the network. The searching cost incurred when a call arrives, the search is done only in the location area to find the user. Hence, it is important to find a compromise between the location update and paging operations such that the cost of mobile terminal location tracking cost is a minimum. The complete mobile network is divided into location areas. Each location area consists of a group of cells. This partitioning problem is a difficult combinatorial optimization problem. In this paper, we use particle swarm optimization (PSO) to obtain the best/optimal group of cells for 16, 36, 49, and 64 cells network. Experimental studies illustrate that PSO is more efficient and surpasses those of precious studies for these benchmarking problems.

• 제어로봇시스템학회논문지
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• 제19권7호
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• pp.599-604
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• 2013

Path planning of mobile robots has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera, and the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally, the mobile robot follows the moving object using a single curvature trajectory by estimating the trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and time saved amounts to about 7%. The effectiveness of the proposed algorithm has been verified through real tracking experiments.

• 한국농공학회논문집
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• 제50권6호
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• pp.27-35
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• 2008

This study aims to estimate the optimal probability distribution of daily electricity generation by wind power, in order to contribute in rural green-village planning. Wind power generation is now being recognized as one of the most popular sources for renewable resources over the country. Although it is also being adapted to rural area for may reasons, it is important to estimate the magnitudes of power outputs with reliable statistical methodologies while applying historical daily wind data, for correct feasibility analysis. In this study, one of the well-known statistical methodology is employed to define the appropriate statistical distributions for monthly power outputs for specific rural areas. The results imply that the assumption of normal distributions for many cases may lead to incorrect decision-making and therefore lead to the unreliable feasibility analysis. Subjective methodology for testing goodness of fit for normal distributions on all the cases in this study, provides possibilities to consider the other various types of statistical distributions for more precise feasibility analysis.