• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.11
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• pp.1578-1586
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• 2015

Personal rapid transit (PRT) is getting attention as a new form of transportation. It is energy efficient and provides the high level of passenger service. In this study, the dynamic PRT dispatching and routing problem is dealt with. Passengers request transportation service on a complex network, and an operating system monitors passenger arrivals and coordinates vehicles in real time. A new online dispatching and routing algorithm is proposed, which minimizes the total travel distance of vehicles and the waiting time of passengers. The algorithm dispatches vehicles by considering multiple vehicles' state and multiple passengers at the same time. In particular, finding the shortest-time path is attempted by taking into account the future congestion on lanes. Discrete-event simulation is employed to validate the performance of the proposed algorithm. The results show the algorithm in this study outperforms others.

• The KIPS Transactions:PartC
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• v.15C no.6
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• pp.531-538
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• 2008

With the dynamic and mobile nature of ad hoc networks, links may fail due to topology changes. So, a major challenge in ad hoc network is dynamically to search paths from a source to destination with an efficient routing method, which is an important issue for delay-sensitive real-time application. The main concerns of graph theory in communications are finding connectivity and searching paths using given nodes. A topology of the nodes in ad hoc networks can be modeled as an adjacency matrix. In this paper, based on this adjacency matrix, we propose new path search algorithms using a sequence of matrix calculation. The proposed algorithms can search paths from a destination to a source using connectivity matrix. Two matrix-based algorithms for two different purposes are proposed. Matrix-Based Backward Path Search(MBBS) algorithm is designed for shortest path discovery and Matrix-Based Backward Multipath Search(MBBMS) algorithm is for multipath search.

• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.3
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• pp.179-188
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• 2015

We propose obstacle classification method based on 2D LIDAR(Light Detecting and Ranging) database. The existing obstacle classification method based on 2D LIDAR, has an advantage in terms of accuracy and shorter calculation time. However, it was difficult to classifier the type of obstacle and therefore accurate path planning was not possible. In order to overcome this problem, a method of classifying obstacle type based on width data of obstacle was proposed. However, width data was not sufficient to improve accuracy. In this paper, database was established by width, intensity, variance of range, variance of intensity data. The first classification was processed by the width data, and the second classification was processed by the intensity data, and the third classification was processed by the variance of range, intensity data. The classification was processed by comparing to database, and the result of obstacle classification was determined by finding the one with highest similarity values. An experiment using an actual autonomous vehicle under real environment shows that calculation time declined in comparison to 3D LIDAR and it was possible to classify obstacle using single 2D LIDAR.

• Journal of Korea Game Society
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• v.15 no.4
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• pp.179-188
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• 2015

The A* algorithm is a well-known pathfinding algorithm. However, if the information about obstacles is not exploited, the algorithm may collide with obstacles or lead into swamp areas unnecessarily. In this paper, we propose new heuristic functions using the information of obstacles to avoid them or swamp areas. It takes time to process the information of obstacles before starting pathfinding, but it may not cause any problems most of cases because it is not processed in real time. We showed that the proposed methods could reduce the search space effectively through experiments. Furthermore, we showed that heuristic functions using obstacle information could reduce the search space effectively without processing obstacle information at all.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.2
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• pp.127-133
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• 2014

This paper proposes a determination method of waypoints to maximize the survivability of a UAV. Voronoi diagram which is used for the initial selection of waypoint candidates is the most widely used path planning technique to avoid the threat as far as possible when the location and strength of the threat are given. But if threat strength is different each other and flight path is constrained along with straight lines, Voronoi diagram has limitations in real applications. In this study, the initial waypoints obtained from Voronoi diagram are optimized considering the shape of each threat. Here, a waypoint is optimized while adjacent waypoints are fixed. By repeating this localized optimization until whole waypoints are converged, computation time for finding the best waypoints is greatly reduced.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.40 no.12
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• pp.27-37
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• 2003

In the next generation Internet(NGI) based on dense wavelength division multiplexing(DWDM) technology, QoS RWA considering various QoS parameters of DWDM networks is regard as one of the key issues in providing real-time multimedia services. However, finding a qualified path meeting multi-constraints is generally NP-complete problem. It is insufficient for QoS RWA researches in DWDM networks that must consider QoS parameter as well as wavelength-continuity constraint. This paper proposes qualified path routing (QPR) algorithm with minimum computation and implementation complexity based on flooding method to accomplish QoS routing and wavelength assignment (RWA). We also introduce a QoS-based RWA mechanism considering multi-constraint such as optical signal quality attributes, survivability and wavelength-continuity constraint combined with proposed routing algorithm. Simulation results show superior efficiency of the proposed algorithms in terms of blocking probability, routing overhead and survivability ratio.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.44 no.1
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• pp.113-121
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• 2007

Commonly, in the Sensor Network that composed with multiple nodes uses Ad-hoc protocol to communicate each other. Each sensed data packets are collected by base node and processed by Host PC. But the Ad-hoc protocol is too vulnerable to Sinkhole attack, where the intruder attracts surrounding nodes with unfaithful routing information, and then performs selective forwarding or changes the data passing through it. The Sinkhole attack increases overhead over the network and boosts energy consumption speed to decrease network's life time. Since the other attacks can be easily adopted through sinkhole attack, the countermeasure must be considered carefully. In this paper, we proposed the Hop-depth algorithm that detects intruder in Sinkhole attack and colluded nodes. First, the proposed algorithm makes list of suspected nodes and identifies the real intruder in the suspected node list through the Hop-depth count value. And recalculates colluder's path information to find the real intruder. We evaluated the performance of the proposed algorithm using NS2. We compared and analyzed the success ratio of finding real intruder, false positive ratio, false negative ratio, and energy consumption.

• Journal of KIISE
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• v.44 no.10
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• pp.1105-1111
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• 2017

Influence maximization (IM) is the problem of finding a seed set composed of k nodes that maximizes the influence spread in social networks. However, one of the biggest problems of existing solutions for IM is that it takes too much time to select a k-seed set. This performance issue occurs at the micro and macro levels. In this paper, we propose a fast hybrid method that addresses two issues at micro and macro levels. Furthermore, we propose a path-based community detection method that helps to select a good seed set. The results of our experiment with four real-world datasets show that the proposed method resolves the two issues at the micro and macro levels and selects a good k-seed set.

• Agricultural and Biosystems Engineering
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• v.2 no.2
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• pp.69-74
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• 2001

Detection of operation lines in farm works, object recognition and obstacle avoidance are essential pre-requisite technologies for unmanned agricultural machinery. A CCD camera, which has been largely used for these functions, is expensive and has difficulty in real-time signal processing. In this study, a laser range sensor was selected as the guiding vision for unmanned agricultural machinery such as a tractor. To achieve this capability, algorithms for distance measurement, signal filtering, object recognition, and obstacle avoidance were developed. Computer simulations were carried out to evaluate performance of the algorithms. Experiments were also conducted with various materials and shapes, Laser beam lost its intensity for poor reflective materials, resulting in less range value than actual, so a compensation technique was considered to be necessary. Object detection system was fabricated on an agricultural tractor and the performance was evaluated. As test result for obstacle detection and avoidance in field, to detect and avoid obstacle for path finding with guiding system for unmanned agricultural machinery was enable.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.6
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• pp.532-539
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• 2001

In robot teleoperation, much research has been carried out to control the slave robot from remote site. One of the essential devices for robot teleoperation is the masterarm, which is a path command generating device worn on human arm. In this paper, a new masterarm based on human kinematics is proposed. Its controller is based on the distributed controller architecture composed of two controller parts: a host controller and a set of satellite controllers. Each satellite controller measures the corresponding joint angle, while the host controller performs forward and inverse kinematics calculation. This distributed controller architecture can make the data updating faster, which allows to implement real-time implementation. The host controller and the satellited controllers are networked via three-wire daisy-chained SPI(Serial Peripheral Interface) protocol, so this architecture makes the electrical wiring very simple, and enhances maintenance. Analytical method for finding three additional unknown joint angles is derived using only three measured angles for each shoulder and wrist, which makes th hardware implementation very simple by minimizing the required number of satellite controllers. Finally, the simulation and experiment results are given to demonstrate the usefulness and performance of the proposed masterarm.