• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2420-2422
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• 2003

In this paper, two Fuzzy Logics for path planning of an autonomous mobile robot are proposed. If a target point is given, such problems regarding the velocity and object recognition are closely related with path to which the mobile robot navigates. Therefore, to ensure safety navigation of the mobile robot for two fuzzy logic parts, path planning considering the surrounding environment was performed in this paper. First, feature points for local and global path are determined by utilizing Cell Decomposition off-line computation. Second, the on-line robot using two Fuzzy Logics navigates around path when it tracks the feature points. We demonstrated optimized path planning only for local path using object recognition fuzzy logic corresponds to domestic situation. Furthermore, when navigating, the robot uses fuzzy logic for velocity and target angle. The proposed algorithms for path planning has been implemented and tested with pioneer-dxe mobile robot.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2008년도 추계종합학술대회 B
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• pp.157-160
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• 2008

A realization for moving object detecting and tracking system in two dimensional plane using stereo line CCDs and lighting source is presented in this paper. Instead of processing camera images directly, two line CCD sensor and input line image is used to measure two dimensional distance by comparing the brightness on line CCDs. The algorithms are used the moving object tracking and coordinate converting method. To ensure the effective detection of moving path, a detection algorithm to evaluate the reliability of each measured distance is developed. The realized system results are that the performance of moving object recognizing shows 5mm resolution and mean error is 1.89%, and enables to track a moving path of object per 100ms period.

• Journal of the Korean Institute of Landscape Architecture International Edition
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• 제2호
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• pp.114-119
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• 2004

By Article two of a Japanese urban park low, it prescribes park facilities strictly, and one of the classifications includes 'path and plaza'. In addition, it is assumed that we divide several kinds different paths of width by size of the park in a path design of a park with a textbook of park design in a trunk line path, the main path, a vice-path or a branch path and design it. From such a thing, in the path of an urban park, a line consists straight of fixed width, and it is most that one pattern is considered to be. Therefore, in modem urban park, a path and division of a plaza are lucid explanation. It is rare that the historical parks which generally former daimyo gardens are shown later, and is used as a kind of an urban park width of the path where was particularly posted in a strolling garden in that is fixed, and width waits straight for even a line and waits, and, for this, there is. As a result, it is a path and the situation that are hard to be distinguished of a plaza. Although there are a difference of design and a difference of pavement materials in modem landscape space when We watch road surface constitution of the path that We did that will let you wait, in gross We are uniform, and it is it with a result to be poor in change nature. From such an observation, this consideration compared traditional landscape space and modem landscape space with path width about two points of road surface constitution through the trial that a graph analyzed the actual place data which measured into and lectured on an ideal method of a park path from this.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1994년도 봄 학술발표회 논문집
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• pp.95-102
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• 1994

A path-switching strategy by combining the use of generalized inverse and line search is proposed. A reliable predictor for the tangent vector to bifurcation path is first computed by using the generalized inverse approach. A line search in the direction of maximum gradient of total potential at the point of intersection between the above predictor and a constant loading plane introduced in the vicinity of the detected bifurcation point is then carried out for the purpose of obtaining an improved approximation for a point on bifurcation path. With this approximation obtained, an actual point on bifurcation path is then computed through iteration on the constant loading plane.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.333-334
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• 2007

We propose a path planning method to decrease a inspection lead time of line scan camera in SMT(surface mount technology) in-line system. The inspection window area of printed circuit board should be minimized to consider the FOV(field of view) of line scan camera so that line scan inspector is going to find a optimal solution of path planning. We propose one of the hierarchical clustrering algorithm for a given board. Comparative simulation results are presented to verify the usefulness of proposed method.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권3호
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• pp.148-155
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• 2005

A seam-line determination algorithm is proposed to determine image border-line in mosaicing using the transformation of gray value differences and dynamic programming. Since visually good border-line is the one along which pixel differences are as small as possible, it can be determined in association with an optimal path finding algorithm. A well-known effective optimal path finding algorithm is the Dynamic Programming (DP). Direct application of the dynamic programming to the seam-line determination causes the distance effect, in which seam-line is affected by its length as well as the gray value difference. In this paper, an adaptive cost transform algorithm with which the distance effect is suppressed is proposed in order to utilize the dynamic programming on the transformed pixel difference space. Also, a figure of merit which is the summation of fixed number of the biggest pixel difference on the seam-line (SFBPD) is suggested as an evaluation measure of seamlines. The performance of the proposed algorithm has been tested in both quantitively and visually on various kinds of images.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.11-14
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• 2003

In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2846-2848
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• 2000

In this paper we propose a path planning method for an autonomous mobile robot based on genetic algorithms(GAs). There have been a number of methods proposed for the path planning of a mobile robot. However, few algorithms have been developed for an on-line path planning of a mobile robot with the uncertain information of a task environment. Therefore, we propose a path planning algorithms based on GAs that has ability of creating path planning without the perfect information of a task environment and an ability of planning the efficient path by on-line process. Then we show a possibility of the practical use with the results of simulations and experiments.

• 조명전기설비학회논문지
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• 제25권5호
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• pp.34-38
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• 2011

The shorter the electric power line is, the less its cost becomes. In this paper, the Steiner tree is applied to find the shortest path of the electric power line to obtain resultant cost reduction. Up to 18.3[%] of length reduction can be expected compared to conventional method when the lines are connected through the Steiner points, which also can result in appreciable cost reduction.

• 한국ITS학회 논문지
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• 제17권6호
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• pp.40-53
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• 2018

교통카드자료에서 철도이용승객이동은 단말기ID 순서로 나타난다. 최초 단말기ID는 진입역사 Tag-In노선, 최종 단말기ID는 진출역사 Tag-Out노선, 중간 단말기ID는 환승역사 Tag노선정보를 각각 포함한다. 과거 3개 공사기관(서울교통공사, 인천교통공사, 한국철도공사)만 참여하던 수도권도시철도는 최초 및 최종 단말기ID로 표현된 OD만 존재했다. 최근 (주)신분당선, (주)우이-신설경전철 등 민자기관진입으로 진입환승노선 단말기ID와 진출환승노선 단말기ID가 포함된 Chain OD가 보편화되었다. Chain OD를 통한 정확한 경로구축과정은 수도권철도운송기관의 수입금배분의 기초자료로서 매우 중요한 위치를 차지하고 있다. 따라서 지하철네트워크에서 경로탐색은 Chain OD에 대한 최적경로탐색의 문제로 전환되어 새로운 해법이 요구된다. 본 연구는 철도네트워크에서 단말기 Chain OD의 최초 단말기ID와 최종 단말기ID 간의 최적경로탐색기법을 제안하는 것이다. 이때 Chain OD에 민자노선환승 TagIn/Out를 반영하여 최적경로를 탐색하는 방안을 강구한다. 이를 위해 링크표지로 구축된 3가지 경로탐색기법( 1) 노드 - 링크, 2) 링크 -링크, 3) 링크 -노드 )을 순차적으로 적용하는 방안을 제안한다. 가산성경로비용을 토대로 제안된 기법이 최적조건을 만족함을 증명한다.