• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1133-1137
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• 1995

This paper presents a numerical method of the global search for an optimal geometric path for a manipulator arm amid obstacles. Finite term quintic B-splines are used to describe an arbitrary point-to-point manipulator motion with fixed moving time. The coefficients of the splines span a linear vector space, a point in which uniquely represents the manipulator motion. All feasible geometric paths are searched by adjusting the seed points of the obstacle models in the penetration growth distances. In the numerical implementation using nonlinear programming, the globally optimal geometric path is obtained for a spatial 3-link(3-revolute joints) manipulator amid several hexahedral obstacles without simplifying any dynamic or geometric models.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.4
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• pp.451-455
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• 2009

This paper provides a comparison of global path planning method in single string by using pulled and pushed SOFM (Self-Organizing Feature Map) which is a method among a number of neural network. The self-organizing feature map uses a randomized small valued initial-weight-vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified SOFM method in this research uses a predetermined initial weight vectors of the one dimensional string, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward or reverse the input vector, by rising a pulled- or a pushed-SOFM. According to simulation results one can conclude that the modified neural networks in single string are useful tool for the global path planning problem of a mobile robot. In comparison of the number of iteration for converging to the solution the pushed-SOFM is more useful than the pulled-SOFM in global path planning for mobile robot.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.3
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• pp.160-173
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• 2013

In this paper, we propose a new visual odometry technique by combining a forward-looking stereo camera and a backward-looking monocular camera. The main goal of the proposed technique is to identify the location of a moving vehicle which travels long distance and comes back to the initial position in urban road environments. While the vehicle is moving to the destination, a global 3D map is updated continuously by a stereo visual odometry technique using a graph theorem. Once the vehicle reaches the destination and begins to come back to the initial position, a map-based monocular visual odometry technqieu is used. To estimate the position of the returning vehicle accurately, 2D features in the backward-looking camera image and the global map are matched. In addition, we utilize the previous matching nodes to limit the search ranges of the next vehicle position in the global map. Through two navigation paths, we analyze the accuracy of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.473-479
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• 2006

A global path planning algorithm using modified self-organizing feature map(SOFM) which is a method among a number of neural network is presented. The SOFM uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors of the 2-dimensional mesh, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the opposite direction of input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.2
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• pp.389-397
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• 2011

The global dynamic window approach (DWA) is widely used to generate the shortest path of mobile robots considering obstacles and kinematic constraints. However, the dynamic constraints of robots should be considered to generate the minimum-time path. We propose a modified global DWA considering the dynamic constraints of robots. The reference path is generated using A* algorithm and smoothed by cardinal spline function. The trajectory is then generated to follows the reference path in the minimum time considering the robot dynamics. Finally, the local path is generated using the dynamic window which includes additional terms of speed and orientation. Simulation and experimental results are presented to verify the performance of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.137-143
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• 2005

Autonomous mobile robot has an ability to navigate using both map in known environment and sensors for detecting obstacles in unknown environment. In general, autonomous mobile robot navigates by global path planning on the basis of already made map and local path planning on the basis of various kinds of sensors to avoid abrupt obstacles. This paper provides a global path planning method using self-organizing feature map which is a method among a number of neural network. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.

• Proceedings of the Korea Water Resources Association Conference
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• 2016.05a
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• pp.89-89
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• 2016

전 세계적으로 발생하는 기후변화로 인해 홍수, 가뭄 등과 같은 자연재해의 빈도가 높아지고 있다. 이러한 자연재해는 사회 경제적으로도 많은 피해를 유발하고 있으며, 특히 물과 관련한 자연재해는 인류의 생존과 직결되는 문제가 된다. 이중에서도 가뭄과 관련한 연구는 진행 속도가 느리고, 가뭄의 진원지나 그 경로를 파악하기 어려운 문제로 인하여 다른 연구와 비교하였을 때 상대적으로 미흡하게 진행되어 왔다. 이러한 문제점 때문에 여타의 다른 자연재해에 비해 가뭄에 대한 예측 및 대책 마련 또한 쉽지 않은 실정이다. 이에 몬테카를로 모의를 통해 미래에 발생할 수 있는 다양한 시나리오를 도출하는 확률론적 접근을 통해 좀 더 효율적이고 현실적인 대책 안을 마련할 수 있다. 본 연구의 목표는 기존 강우생성기와 증발산생성기를 결합한 일기생성기를 개발하고 이를 기후변화 시나리오에 적용하여 미래의 가뭄위험지수를 산출하는 것이다. 산출된 결과를 토대로 우리나라 전역에 대하여 준 실시간으로 갱신되는 미래가뭄위험도의 지도를 제작할 수 있다. 본 연구의 차별성은 첫 번째로 추계론적 접근을 통해 현재의 가뭄상태에 근거한 미래 가뭄에 대한 위험도를 예측할 수 있음을 들 수 있으며, 두 번째로는 지표해석모형을 활용하여 가뭄을 해석하기 때문에 유역 전반에 걸친 토양수분 뿐 만 아니라 국내 주요 댐 상류의 저수지 유입량의 불확실성을 정량화 할 수 있으며, 이는 기후변화에 따른 수자원 장기계획의 수립 및 의사결정에 있어 실용적인 정보를 제공할 수 있다.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.48 no.5
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• pp.8-15
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• 2011

The goal of this paper is to describe how to construct an integrated simulation system that integrates limited perception-based mapping with spatial reasoning, path planning, and human motion style in order for a virtual soldier to effectively communicate with other virtual solders and/or human participants in a simulation. Virtual human research often ignores or simplifies perception by using a full map (with omniscient perception). In addition, previous research used a placement node where virtual environment designers save in advance the required information. However, this paper also shows that the human-like movement behavior can be achieved by the integrated ECA system with the mapping that supports a spatial understanding and does not require the omniscient perception.

• Korean Business Review
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• v.21 no.2
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• pp.137-170
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• 2008

This study is presenting the logistics strategy in the international logistics markets which makes competition and corporation among north-east Asian countries to establishing the multi-pass Eurasian railroads. The countries located in north-east area of Eurasia like China, Japan, Russia and Korea are paying higher costs and disutility to the transportations and communications due to repeated conflicts and confrontations causes from the politic problems. They are being used surface transportation for most of all logistics between Europe and Asia except special merchandises because of characteristic of cargo to be air, the Silk Road remains vestige only which was main logistic passage to this area since BC. So far the Trans-Siberian Railway is being used by Russia mostly as north of Eurasian transport because of difficulties of service. The Trans-China Railway built in 1992 is not accomplishing as a international logistic passages. It is expected to take a long lead time because of characteristic of resource development and poor logistic infrastructure to the countries like Uzbekistan, double landlocked country, Mongolia and Azerbaijan, the countries do not be adjacent to the sea, even they have great economic jump-up plans through the development of their own resources. The Shanghai Cooperation Organization(SCO) start to sail officially in 2001 is constructed with China, Russia, Tadzhikistan, Kyrgyzstan, Kazakhstan and Uzbekistan as regular members of 6 countries and Mongolia, India, Pakistan, Afghanistan and Iran as observers 5 countries. It is started as a military alliance to protect terror, but now, it is expended to cooperate with the traffic, transportation, trade and share of energies. The Russia is doing their best to activate TSR as a government target to developnorth area equivalently, and economic develop of far-east Siberia. And also it is agreed provisionally to improve and repair of rail road between Nahjin and Hassan to connect TSR and TKR( Trans-Korea Railroad) by Russia, North Korea and South Korea with Russian's aggressive efforts. The development plan of this area is over lapped with GTI(Greater Tumen Initiative) promoted by UNDP, and is a cooperated project by 5 countries of South Korea, Mongolia, China, Russia and North Korea, subject to review the appropriation of energy, tour, environment, rail road connection between Mongolia and China and establishing a ferry route to north-east Asia. It is Japanese situation to pay attention to Russia and China even they have been supplying large-scope of infrastructure in Mongol area without any charges, target to get East Asia Main Rail Road to connect Mongolia and Zalubino of Russia. In case of the program for the Denuclearization of North Korea is not creeping, it will be accelerated to connect the TKR and TSR, TKR and TCR by somehow attending United States, including developing program promoted by UN ESCAP. As the result, Korean peninsular will continue the central role of competition and cooperation as in the past, now and future of north-east Asia, as of geographical-economics and geographical-politics whether it is requested or not wanted by neighbor countries.

• Journal of Navigation and Port Research
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• v.26 no.1
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• pp.15-21
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• 2002

Re Ministry of Maritime Affairs and Fisheries in Korea completed the installation of 8 maritime DGPS station mfd is to going install 3 additional Maritime DGPS station for the enhancement of dual coverage in Korean coasts until Oct. 2002. Moreover, Korean government decided to provide the NDGPS service over the whole Korean inland area, which will be schedule to complete until June. 2004. On this paper to evaluate the propagation characteristics of using maritime DGPS site as un element of NDGPS ann to evaluate the required number of additional NDGPS sites, the propagation characteristics of the radio waves of 300kHz bands on sea and land nth are studied With the result of study, the conceptional design of Korean NDGPS System is proposed, which consists of 5 NDGPS sites with modified antenna and tかee coverage monitoring sites.