• Journal of Korea Multimedia Society
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• v.7 no.7
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• pp.859-876
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• 2004

This paper presents optimal configurations of multidimensional path indexes (MPIs) for the efficient execution of object-oriented queries in object databases. MPI uses a multidimensional index structure for efficiently supporting nested predicates that involve both nested attribute and class hierarchies, which are not supported by the nested attribute index using one-dimensional index structure such as $B^+$-tree. In this paper, we have analyzed the MPIs in the framework of complex queries, containing conjunctions of nested predicates, each one involving a path expression having target classes and domain classes substitution. First of all, we have considered MPI operations caused by updating of object databases, and the use of the MPI in the case of a query containing a single nested predicate. And then, we have considered the use of the MPIs in the framework of more general queries containing nested predicates over both overlapping and non-overlapping paths. The former are paths having common subpaths, while the latter have no common subpaths.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.41 no.3
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• pp.247-255
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• 2021

Individual passenger transfer information is not included in Seoul metropolitan subway Automatic Fare Collection (AFC) data. Currently, basic data such as travel time and distance are allocated based on the TagIn terminal ID data records of AFC data. As such, knowledge of the actual path taken by passengers is constrained by the fact that transfers are not applied, resulting in overestimation of the transport index. This research proposes a method by which a transit path that connects the TagIn and TagOut terminal IDs in AFC data is determined and applied to the transit index. The method embodies the concept that a passenger's line of travel also accounts for transfers, and can be applied to the transit index. The path selection model for the passenger calculates the line of transit based on travel time minimization, with in-vehicle time, transfer walking time, and vehicle intervals all incorporated into the travel time. Since the proposed method can take into account estimated passenger movement trajectories, transport-related data of each subway organization included in the trajectories can be accurately explained. The research results in a calculation of 1.47 times the values recorded, and this can be evaluated directly in its ability to better represent the transportation policy index.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.3 no.5
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• pp.492-506
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• 2009

Index structures that are based on sequence matching for XPath processing such as ViST, PRIX and LCS-TRIM have recently been proposed to reduce the search time of XML documents. However, ViST can cause a lot of unnecessary computation and I/O when processing structural joint queries because its numbering scheme is not optimized. PRIX and LCS-TRIM require much processing time for matching XML data trees and queries. In this paper, we propose a novel index structure that solves the problems of ViST and improves the performance of PRIX and LCS-TRIM. Our index structure provides the minimum sequence matching scheme to efficiently process structural queries. Finally, to verify the superiority of the proposed index structure with the minimum sequence matching scheme, we compare our index structure with ViST, PRIX and LCS-TRIM in terms of query processing of a single path or of a branching path including wild-cards ('*' and '//' ).

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.10
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• pp.2437-2445
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• 1993

In this work, a new method is presented for generating the manipulator path which significantly reduces residual vibration under the torque constraints. The desired path is optimally designed so that the required movement can be achieved with minimum residual vibration. From the previous research works, the dynamic model had been established including both the link and the joint flexibilities. The performance index is selected to minimize the maximum amplitude of residual vibration. The path to be designed is developed by a combined Fourier series and polynomial function to satisfy both the convergence and boundary condition matching problems. The concept of correlation coefficients is used to select the minimum number of design variables, i.e. Fourier coefficients, the only ones which have a considerable effect on the reduction of residual vibration. A two-link Manipulator is used to evaluate this method. Results show that residual vibration can be drastically reduced by selecting an appropriate manipulator path to both of unlimited and torque-limited cases.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.327-334
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• 2011

It is necessary that UGV(Unmanned Ground Vehicle) should generate a real-time travesability index map by analyzing raw terrain information to travel autonomously tough terrain which has various slope and roughness values. In this paper, we propose a local path planning method, $MA^*$(Modified $A^*$) algorithm, using DVGM (Directional Velocity Grid Map) for unmanned ground vehicle. We also present a path optimization algorithm and a path smoothing algorithm which regenerate a pre-planned local path by $MA^*$ algorithm into the reasonable local path considering the mobility of UGV. Field test is conducted with UGV in order to verify the performance of local path planning method using DVGM. The local path planned by $MA^*$ is compared with the result of $A^*$ to verify the safety and optimality of proposed algorithm.

• Journal of the Korea Society of Computer and Information
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• v.14 no.10
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• pp.31-41
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• 2009

In the Semantic Web, it is possible to provide intelligent information retrieval and automated web services by defining a concept of information resource and representing a semantic relation between resources with meta data and ontology. It is very important to manage semantic data such as ontology and meta data efficiently for implementing essential functions of the Semantic Web. Thus we propose an index structure to support more accurate search results and efficient query processing by considering semantic and structural features of the semantic data. Especially we use a graph data model to express semantic and structural features of the semantic data and process various type of queries by using graph model based path expressions. In this paper the proposed index aims to distinguish our approach from earlier studies and involve the concept of the Semantic Web in its entirety by querying on primarily extracted structural path information and secondary extracted one through semantic inferences with ontology. In the experiments, we show that our approach is more accurate and efficient than the previous approaches and can be applicable to various applications in the Semantic Web.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.6
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• pp.766-772
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• 2007

As XML is widely used, many researches on the XML storage and query processing have been done. But, previous works on path query processing have mainly focused on the storage and retrieval methods for a large XML document or XML documents had a same DTD. Those researches did not efficiently process partial match queries on the differently-structured document set. To resolve the problem, we suggested a new index structure using relational table. The method constructs the $B^+$-tree index using backward label paths instead of forward label paths used in previous researches for storing path information and allows for finding the label paths that match the partial match queries efficiently using it when process the queries.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.7
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• pp.73-80
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• 2009

This paper describes a path planning algorithm, which is the minimal turning path based on the shape and size of the cell to clean up the whole area with two cleaning robots. Our method divides the whole cleaning area with each cell by cellular decomposition, and then provides some path plans among of the robots to reduce the rate of energy consumption and cleaning time of it. In addition we suggest how to plan between the robots especially when they are cleaning in the same cell. Finally simulation results demonstrate the effectiveness of the algorithm in an unknown area with multiple robots. And then we compare the performance index of two algorithms such as total of turn, total of time.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.267-274
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• 2012

We proposed the KPP (Korea university Path Planner) in our previous works. The KPP is the path planning scheme of a car-like mobile robot in parking environment. The objective of this paper is to investigate the advantage of the KPP through the quantitative and qualitative analysis compared with conventional RRT. For comparison, we proposed travel time for performance index. This paper shows that the KPP shows outstanding performances from the viewpoint of travel time and computational efficiency compared with RRT.