• Journal of Korea Game Society
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• v.4 no.2
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• pp.13-20
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• 2004

We have been interested in solving escapee-chaser game. In this game, with avoiding chaser, the escapee must escape from given male. The winning strategies of the escapee are driving the chaser to an intended place and closely evading from chaser by using some walls. According to our experience, some stages of the game are too difficult to solve manually. So we take the model checking method to get a solution of the game. Because the model checking with breadth fist search manner exhaustively searches the all state space of the game, the solution using model checking is best solution, shortest path. Fortunately, during the process of finding solution path, the state space explosion problem didn't occur, and the results of the game solving was applied to embedded system, Lego Mindstorm. Two agents, escapee and chaser, were implemented into robots and several experiments conformed the correctness of our solution.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.936-941
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• 2014

Walking mechanisms are very important for legged robots to ensure their stable locomotion. In this research, Klann-linkage is suggested as a walking mechanism for a water-running robot and is optimized using level average analysis. The structure of the Klann-linkage is introduced first and design variables for the Klann-linkage are identified considering the kinematic task of the walking mechanism. Next, the design problem is formulated as a path generation optimization problem. Specifically, the desired path for the foot-pad is defined and the objective function is defined as the structural error between the desired and the generated paths. A process for solving the optimization problem is suggested utilizing the sensitivity analysis of the design variables. As a result, optimized lengths of Klann-linkage are obtained and the optimum trajectory is obtained. It is found that the optimized trajectory improves the cost function by about 62% from the initial one. It is expected that the results from this research can be used as a good example for designing legged robots.

• Journal of applied mathematics & informatics
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• v.24 no.1_2
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• pp.399-409
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• 2007

In this paper we use iterative dynamic programming in the discrete case to solve a wide range of the nonlinear equations systems. First, by defining an error function, we transform the problem to an optimal control problem in discrete case. In using iterative dynamic programming to solve optimal control problems up to now, we have broken up the problem into a number of stages and assumed that the performance index could always be expressed explicitly in terms of the state variables at the last stage. This provided a scheme where we could proceed backwards in a systematic way, carrying out optimization at each stage. Suppose that the performance index can not be expressed in terms of the variables at the last stage only. In other words, suppose the performance index is also a function of controls and variables at the other stages. Then we have a nonseparable optimal control problem. Furthermore, we obtain the path from the initial point up to the approximate solution.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.526-528
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• 2004

This paper focuses on planning strategies for object interception, especially with minimum time. Herein, the goal is for robot to intercept object with minimum time on a conveyor line that flows to x-axis with respect to world coordinate system. In order to do it, conveyor system needs the algorithms for minimizing time. This objective is achieved by solving about two problems: selection of a minimum-time interception point and planning of an optimal robot trajectory. Herein, the first problem is formulated a minimization of the robot-object interception time.

• Journal of Korean Institute of Industrial Engineers
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• v.19 no.2
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• pp.105-117
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• 1993

Methods for calculating k shortest paths in a network system, are based on a analogy which exists between the solution of a network problem and traditional techniques for solving linear equations. This paper modifies an algebraic structure of the K shortest path method and develops k maximum flow methods. On the basis of both theoretical and algebraic structure, three iteration methods are developed and the effective procedure of each method are provided. Finally, computational complexity is discussed for those methods.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.9
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• pp.1931-1938
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• 2012

A by-pass path in wireless sensor networks is the alternative path which be able to forward data when a routing path is being broken. One reason of depleting energy is occurred by the path. The method for solving prior to addressed the problem is proposed. However, this method may deplete radio resource. The best path has advantage that network lifetime of sensor nodes is prolonged; on the contrary, in order to maintain the best path it have to share their information between the entire nodes. In this paper, we propose the best path searching algorithm in the distributed three dimensional sensor networks. Through the neighboring informations sharing in the proposed method, the proposed algorithm can decide the best k-path as well as the extension of network lifetime.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.3
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• pp.587-595
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• 2015

A by-pass path in wireless sensor networks is the alternative path which be able to forward data when a routing path is being broken. One reason of depleting energy is occurred by the path. The method for solving prior to addressed the problem is proposed. However, this method may deplete radio resource. The best path has advantage that network lifetime of sensor nodes is prolonged; on the contrary, in order to maintain the best path it have to share their information between the entire nodes. In this paper, we propose the best path searching algorithm in the distributed three dimensional sensor networks. Through the neighboring informations sharing in the proposed method, the proposed algorithm can decide the best k-path as well as the extension of network lifetime.

• Journal of the Korean Operations Research and Management Science Society
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• v.25 no.2
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• pp.101-114
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• 2000

Multicasting is the simultaneous transmission of data to multiple destinations. In multicast ATM networks the effect of failures on transmission links or nodes can be catastrophic so that the issue of survivability is of great importance. However little attention has been paid to the problem of multicast restoration. This paper presents an efficient heuristic technique for routing backup virtual paths in ulticast networks with link failure. Genetic algorithm is employed here as a heuristic. In the application of genetic algorithm to the problem, a new genetic encoding and decoding method and genetic operators are proposed in this paper. The other several heuristics are also presented in order to assess the performance of the proposed algorithm. Experimental results demonstrate that our algorithm is a promising approach to solving the problem.

• Journal of Korean Institute of Industrial Engineers
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• v.26 no.4
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• pp.421-430
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• 2000

This paper presents a new approach which uses $A^*$ search and genetic algorithms for solving large scale multi-objective shortest path problem. The focus of this paper is motivated by the problem of finding Pareto optimal paths for an advanced traveler information system(ATIS) in the context of intelligent transportation system(ITS) application. The individual description, the decoding rule, the selection strategy and the operations of crossover and mutation are proposed for this problem. The keynote points of the algorithm are how to represent individuals and how to calculate the fitness of each individual. The high performance of the proposed algorithm is demonstrated by computer simulations.

• Journal of the Institute of Convergence Signal Processing
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• v.4 no.3
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• pp.61-67
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• 2003

We propose a systolic array for dynamic programming which is a technique for solving combinatorial optimization problems. We derive a systolic array for single source shortest path Problem, SA SSSP, and then show that the systolic array serves as dynamic Programming systolic array which is applicable to any dynamic programming problem by developing a systolic array for 0 1 knapsack problem, SA 01KS, with SA SSSP for a basis. In this paper, each of SA SSSP and SA 01KS is modeled and simulated in RT level using VHDL, then synthesized to a schematic and finally implemented to a layout using the cell library based on 0.35${\mu}{\textrm}{m}$ 1 poly 4 metal CMOS technology.