• 한국ITS학회:학술대회논문집
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• 2004.11a
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• pp.154-162
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• 2004

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.1
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• pp.52-57
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• 2014

This paper presents an implementation of a smooth path planning method considering physical limits on a real time operating system for a two-wheel mobile robot. A Bezier curve is utilized to make a smooth path considering a robot's position and direction angle through the defined path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while satisfying the physical limits. The joint space velocity is computed to drive the two-wheel mobile robot from the center velocity. Trajectory planning, velocity command according to the planned trajectory, and monitoring of encoder data are implemented with a multi-tasking system. And the synchronization of tasks is performed with a real-time mechanism of Event Flag. A real time system with multi-tasks is implemented and the result is compared with a non-real-time system in terms of path tracking to the designed path. The result shows the usefulness of a real-time multi-tasking system to the control system which requires real-time features.

• Korean Management Science Review
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• v.7 no.2
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• pp.51-57
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• 1990

The purpose of this thesis is to find the shortest path between two nodes on an acyclic network where the arc costs are determined by the starting time at the starting node of the arc. A branch and bound method for optimal solutions and a heuristic method is developed. In heuristic method Dijkstra algorithm is modified to maintain the minimum arrival times of maximum informations in the each time period at each node and is updated by the result with the insertion technique. Expermetal results among two methods are presented with regard to run time and solution qualities.

• International conference on construction engineering and project management
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• 2013.01a
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• pp.513-516
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• 2013

Earthmoving equipment's haul-route has a great influence on the productivity of the earth work operation. Haul-route grade is a critical factor in selecting the haul-route. The route that has low grade resistance contributes to increase machine travel speed and production. This study presents a mathematical model called "Hauling-Unit Optimal Routes Selecting system" (HUORS). The system identifies optimal path that maximize the earth-work productivity. It consists of 3 modules, i.e., (1) Module 1 which inputs site characteristic data and computes site location and elevation using GIS(Geographical Information System); (2) Module 2 which calculates haul time; (3) Module 3 which displays an optimum haul-route by considering the haul-route's gradient resistances (i.e., from the departure to the destination) and hauling time. This paper presents the system prototype in detail. A case study is presented to demonstrate the system and verifies the validity of the model.

• Water for future
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• v.25 no.4
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• pp.61-73
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• 1992

There are needs to examine the consequences of a regulation in effect to control the migration of leachates from disposal sites. The main objective of this study is to illustrate the methodology to evaluate basic disposal designs for compliance with a certain regulation, The "100/100 rule" is selected for demonstration purpose which dictates that the time for the leachates to travel a horizontal distance of 100feet (30.5m) away from the property where the landfill or pond is located must exceed 100 years. The two primary methods for disposal of ash from coal-fired utility plants, landfill and pond, are studied, Numerical groundwater flow analysis resulted in pressure head distribution and flux information in the cross-section of the domain while path line analysis provided travel path and time of leachate migration to compliance zone.ance zone.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.112-121
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• 2021

Unlike a typical small-sized robot navigating in a free space, an autonomous vehicle has to travel in a designated road which has lanes to follow and traffic rules to obey. High-Definition (HD) maps, which include road markings, traffic signs, and traffic lights with high location accuracy, can help an autonomous vehicle avoid the need to detect such challenging road surroundings. With space constraints and a pre-built HD map, a new type of path planning algorithm can be conceived as a substitute for conventional grid-based path planning algorithms, which require substantial planning time to cover large-scale free space. In this paper, we propose an obstacle-avoiding, cost-based planning algorithm in a continuous space that aims to pursue a globally-planned path with the help of HD map information. Experimentally, the proposed algorithm is shown to outperform other state-of-the-art path planning algorithms in terms of computation complexity in a typical urban road setting, thereby achieving real-time performance and safe avoidance of obstacles.

• Journal of Korean Society of Transportation
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• v.23 no.2
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• pp.117-130
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• 2005

In both deteministic user Optimal Traffic Assignment Model (UOTAM) and stochastic UOTAM, travel time, which is a major ccriterion for traffic loading over transportation network, is defined by the sum of link travel time and turn delay at intersections. In this assignment method, drivers actual route perception processes and choice behaviors, which can become main explanatory factors, are not sufficiently considered: therefore may result in biased traffic loading. Even though there have been some efforts in Stochastic UOTAM for reflecting drivers' route perception cost by assuming cumulative distribution function of link travel time, it has not been fundamental fruitions, but some trials based on the unreasonable assumptions of Probit model of truncated travel time distribution function and Logit model of independency of inter-link congestion. The critical reason why deterministic UOTAM have not been able to reflect route perception cost is that the route perception cost has each different value according to each origin, destination, and path connection the origin and destination. Therefore in order to find the optimum route between OD pair, route enumeration problem that all routes connecting an OD pair must be compared is encountered, and it is the critical reason causing computational failure because uncountable number of path may be enumerated as the scale of transportation network become bigger. The purpose of this study is to propose a method to enable UOTAM to reflect route perception cost without route enumeration between an O-D pair. For this purpose, this study defines a link as a least definition of path. Thus since each link can be treated as a path, in two links searching process of the link label based optimum path algorithm, the route enumeration between OD pair can be reduced the scale of finding optimum path to all links. The computational burden of this method is no more than link label based optimum path algorithm. Each different perception cost is embedded as a quantitative value generated by comparing the sub-path from the origin to the searching link and the searched link.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.2D
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• pp.99-103
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• 2010

It is necessary to improve transfer impedance of express bus terminal users in order to increase the usage of public transportation. This study constructed a model for calculating transfer impedance based on bodily sensational transfer time in express bus terminal and calculated transfer impedance on major express bus terminals in Korea. The study results show that the addition of 100 meter exterior walking distance increases 3 minute travel time, 100 meter interior walking distance increases 5 minute travel time, 100 stairways increase 13 minute travel time, and escalators decreases 3 minute travel time. The calculated transfer impedance based on bodily sensational transfer time in this study can be utilized as objective criteria to compare transfer conditions of different bus terminals and to prioritize them for facility improvement. The calculated transfer impedance also can be used as facility guidelines for designing a new transit center.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.1D
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• pp.11-15
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• 2010

It is necessary to improve transfer impedance of Urban Rail Station station users in order to increase the usage of public transportation. This study constructed a model for calculating transfer impedance based on bodily sensational transfer time in Urban Rail Station stations and calculated transfer impedance on major Urban Rail Station stations in Korea. The study results show that the addition of 100 meter exterior walking distance increases 2 minute travel time, 100 meter interior walking distance increases 3 minute travel time, 100 stairways increase 4 minute travel time, and escalators decreases 1 minute travel time. The calculated transfer impedance based on bodily sensational transfer time in this study can be utilized as objective criteria to compare transfer conditions of different Urban Rail Station stations and to prioritize them for facility improvement. The calculated transfer impedance also can be used as facility guidelines for designing a new transit center.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.10
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• pp.1471-1478
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• 1989

The optimal-time control of the coordinated motion of two robot manipulators may be of consequence in the industrial automation. In this paper two robot manipulators garsping a common object are assumed to travel a specified Cartesian path and the method how to derive the optimal-time solution is explained. This approach is based on parameterizing the corresponding patn and utilizing the phase-plame technique in the trajectory planning. Also the torques supplied by the actuators are assumed to have some constant bounds. The effectiveness of this approach is demonstrated by a computer simulation using a PUMA 560 manipulator.