• The Journal of the Korea institute of electronic communication sciences
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• v.9 no.8
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• pp.907-914
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• 2014

A heuristic search algorithm is proposed to plan a collision free path for robots in an indoor environment. The proposed algorithm is to find a collision free path in the gridded configuration space by proposed heuristic graph search algorithm. The proposed algorithm largely consists of two parts : tunnel searching and path searching in the tunnel. The tunnel searching algorithm finds a thicker path from start grid to goal grid in grid configuration space. The tunnel is constructed with large grid defined as a connected several minimum size grids in grid-based configuration space. The path searching algorithm then searches a path in the tunnel with minimum grids. The computational time of the proposed algorithm is less than the other graph search algorithm and we analysis the time complexity. To show the validity of the proposed algorithm, some numerical examples are illustrated for robot.

• Journal of Korea Multimedia Society
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• v.8 no.7
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• pp.889-897
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• 2005

This paper presents a new fast motion estimation algorithm for multi-reference frames. We first analyze the experimental results of the successive elimination algorithm, which is a fast version of full search algorithm, being applied to Multi-reference frames. Based on the analysis, a new scheme for alleviating its computational burden is introduced. In the proposed method, the motion vector for the immediately previous reference frame is found by applying the successive elimination algorithm, while the motion vector for other reference frames is estimated by extrapolation of the already obtained motion vector. Adaptively restricting the motion search area to the local area centered on the estimated motion vector, the proposed method provides dramatic computational complexity reduction but slight quality degradation. The proposed method is evaluated by experiments for some image sequences.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.8
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• pp.971-980
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• 2010

In this paper, we present a navigation control algorithm for mobile robots that move in environments having static and moving obstacles. The algorithm includes a global and a local path-planning algorithm that uses $D^*$ search algorithm, a fuzzy logic for determining the immediate level of danger due to collision, and a fuzzy logic for evaluating the required wheel velocities of the mobile robot. To apply the $D^*$ search algorithm, the two-dimensional space that the robot moves in is decomposed into small rectangular cells. The algorithm is verified by performing simulations using the Python programming language as well as by using the dynamic equations for a two-wheeled mobile robot. The simulation results show that the algorithm can be used to move the robot successfully to reach the goal position, while avoiding moving and unknown static obstacles.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.40 no.4
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• pp.260-267
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• 2017

Quantum-inspired Genetic Algorithm (QGA) is a probabilistic search optimization method combined quantum computation and genetic algorithm. In QGA, the chromosomes are encoded by qubits and are updated by quantum rotation gates, which can achieve a genetic search. Asset-based weapon target assignment (WTA) problem can be described as an optimization problem in which the defenders assign the weapons to hostile targets in order to maximize the value of a group of surviving assets threatened by the targets. It has already been proven that the WTA problem is NP-complete. In this study, we propose a QGA and a hybrid-QGA to solve an asset-based WTA problem. In the proposed QGA, a set of probabilistic superposition of qubits are coded and collapsed into a target number. Q-gate updating strategy is also used for search guidance. The hybrid-QGA is generated by incorporating both the random search capability of QGA and the evolution capability of genetic algorithm (GA). To observe the performance of each algorithm, we construct three synthetic WTA problems and check how each algorithm works on them. Simulation results show that all of the algorithm have good quality of solutions. Since the difference among mean resulting value is within 2%, we run the nonparametric pairwise Wilcoxon rank sum test for testing the equality of the means among the results. The Wilcoxon test reveals that GA has better quality than the others. In contrast, the simulation results indicate that hybrid-QGA and QGA is much faster than GA for the production of the same number of generations.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.7
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• pp.4999-5008
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• 2015

The application of efficient constraint handling technique is fundamental method to find better solutions in engineering optimization problems with constraints. In this research four of constraint handling techniques are used with a meta-heuristic optimization method, harmony search algorithm, and the efficiency of algorithm is evaluated. The sample problem for evaluation of effectiveness is one of the typical discrete problems, optimal pipe size design problem of water distribution system. The result shows the suggested constraint handling technique derives better solutions than classical constraint handling technique with penalty function. Especially, the case of ${\varepsilon}$-constrained method derives solutions with efficiency and stability. This technique is meaningful method for improvement of harmony search algorithm without the need for development of new algorithm. In addition, the applicability of suggested method for large scale engineering optimization problems is verified with application of constraint handling technique to big size problem has over 400 of decision variables.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.16 no.1
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• pp.78-89
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• 2017

This study derived the algorithm of a public transportation route search that adds safety and environmental costs according to user preference. As the means of an algorithm application and evaluation, Macro Simulation, VISUM was conducted for an analysis. The route using the subway, which is relatively low in safety and environment resistance value was preferred, and it was analyzed to select the safe and environmental route even though it detours. This study can be applicable when to verify the algorithm of route search considering safety and environment, and when introducing the algorithm of route search according to user preference in the smart-phone application in the future, it can provide users with very useful information by choosing a route as for safety and environment, and through this, the quality of user-friendly information provision can be promoted.

• Journal of Korea Multimedia Society
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• v.8 no.8
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• pp.1080-1087
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• 2005

Significant computations for full search (FS) motion estimation have been a big obstacle in real-time video coding and recent MPEG-4 AVC (advanced video coding) standard requires much more computations than conventional MPEG-2 for motion estimation. To reduce an amount of computation of full search (FS) algorithm for fast motion estimation, we propose a new and fast matching algorithm without any degradation of predicted images like the conventional FS. The computational reduction without any degradation in predicted image comes from fast elimination of impossible candidate motion vectors. We obtain faster elimination of inappropriate motion vectors using efficient matching units from localization of complex area in image data and dithering order based matching scan. Our algorithm reduces about $30\%$ of computations for block matching error compared with the conventional partial distortion elimination (PDE) algorithm, and our algorithm will be useful in real-time video coding applications using MPEG-4 AVC or MPEG-2.

• Journal of the Society of Naval Architects of Korea
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• v.31 no.3
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• pp.12-18
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• 1994

Optimization in the engineering design is to select the best of many possible design alternatives in a complex design space. In order to optimize, various optimization methods have been used. One major problem of traditional optimization methods is that they often result in local optima. Recently genetic algorithm based on the mechanics of natural selection and natural genetics is used in many application fields for optimization. Genetic algorithm is more powerful to local optima, but it requires more calculation time and has difficulties in finding exact optimum point in design variable with real data type generally. In this paper. hybrid method was developed by coupling genetic algorithm and traditional direct search method. The developed method finds out a region for global optimum using genetic algorithm, and is to search global optimum using direct search method based on results obtained from genetic algorithm. By using hybrid method, calculation time is reduced and search efficient for optimum point is increased.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.5
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• pp.80-87
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• 2003

Network reconfiguration in distribution systems is realized by changing the status of sectiona1izing switches, and is usually done for loss minimization or load balancing in the system This parer presents an approach for loss minization in distribution systems using reactive tabu search. Tabu search attempts to determine a better solution in the manner of a greatest-descent algorithm, but it can not give any guarantee for the convergence property. Reactive tabu search can give convergence property by using reaction and escape mechanism. Therefore, it can find global optimal solution regardless of initial system configuration. To demonstrate the validity of the proposed algorithm, numerical calculations are carried out the 32 bus system models.

• Journal of Broadcast Engineering
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• v.13 no.1
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• pp.128-136
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• 2008

In this paper, we propose a variable step search fast motion estimation algorithm using local statistics of neighboring motion vectors. Using the degree of correlation between neighboring motion vectors, motion search range is adaptively adjusted to reduce unnecessary search points. Based on the adjusted search range, motion vector is obtained by variable search step. Experimental results show that the proposed algorithm has the capability to dramatically reduce the search points and computing cost for motion estimation, comparing to fast full spiral search motion estimation and other fast motion estimation.