• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.541-544
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• 2012

Recently, RFID-based mobile robot navigation technology for the study is on the march. Obstacle avoidance using existing RFID tag technology, the target is immediately recognizable through Stored in the tag for obstacle size and shape information. However, this technique is not easy to recognize a moving obstacle. In this paper, in order to this solve problem, mobile robot obstacle avoidance system is proposed using smart RFID tags attached to the ultrasonic sensor. Proposed system used Smart RFID tag is designed to the 900Mhz tags attached ultrasonic sensors. And captured moving obstacles information deliver mobile robot. Mobile robot modify driving information through delivery information. And the system keeps track of the best driving route. Usefulness of the proposed system was confirmed by simulations and experiments.

• Journal of IKEEE
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• v.13 no.2
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• pp.150-158
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• 2009

For the autonomous movement, the optimal path planning connecting between current and target positions is essential, and the optimal path of mobile robot means obstacle-free and the shortest length path to a target position. Many actual mobile robots should move without any information of surrounded obstacles. Thus, this paper suggests new methods of path planning and obstacle avoidment, suitable in unknown environments. This method of path planning always tracks the local target expected as the optimal one, and the result of continuous tracking becomes the first generated moving path. This path, however, do not regard the collision with obstacles. Thus, this paper suggests a new method of obstacle avoidance resembled with the Potential Field method. Finally, a simulation confirms the performance and correctness of the path planning and obstacle avoidance, suggested in this paper.

• Journal of Satellite, Information and Communications
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• v.12 no.4
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• pp.100-105
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• 2017

In this paper, we study an interference avoidance scenario in the presence of a interferer which can rapidly observe the transmit power of backscatter communications and effectively interrupt backscatter signals. We consider a power control with a sub-channel allocation to avoid interference attacks and a power-splitting ratio for backscattering and RF energy harvesting in sensors. We formulate the problem based on a Stackelberg game theory and compute the optimal transmit power, power-splitting ratio, and sub-channel allocation parameter to maximize a utility function against the interferer. We propose the utility maximization using Lagrangian dual decomposition for the backscatter communications and the interferer to prove the existence of the Stackelberg equilibrium. Numerical results show that the proposed algorithms effectively maximize the utility, compared to that of the algorithm based on the Nash game, so as to overcome a malicious interference in backscatter communications.

• Journal of KIISE:Software and Applications
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• v.34 no.3
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• pp.235-245
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• 2007

UUV(Unmanned Underwater Vehicle) should possess an intelligent control software performing intellectual faculties such as cognition, decision and action which are parts of domain expert's ability, because unmanned underwater robot navigates in the hazardous environment where human being can not access directly. In this paper, we suggest a RVC intelligent system architecture which is generally available for unmanned vehicle and develope an autonomous navigation system for UUV, which consists of collision avoidance system, path planning system, and collision-risk computation system. We present an obstacle avoidance algorithm using fuzzy relational products for the collision avoidance system, which guarantees the safety and optimality in view of traversing path. Also, we present a new path-planning algorithm using poly-line for the path planning system. In order to verify the performance of suggested autonomous navigation system, we develop a simulation system, which consists of environment manager, object, and 3-D viewer.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.1
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• pp.76-82
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• 2014

In order for heterogeneous unlicensed devices to co-exist on the same frequency band, the frequency interference avoidance mechanism is necessary. In this paper, a frequency interference between WLAN and WPAN systems that operate at 2.4 GHz ISM band was analyzed in the MAC layer. We observed that WPAN systems suffer from severe interference from WLAN systems. To avoid this interference problem, we propose a new channel shift algorithm for WPAN systems. We showed that the proposed channel shift algorithm is better than the traditional WPAN system which uses a fixed channel in terms of throughput.

• Journal of the Korea Society for Simulation
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• v.19 no.4
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• pp.209-218
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• 2010

The aim of the study on the tactical object representation techniques in synthetic environment is on acquiring fundamental techniques for detection and tracking of tactical objects, and evaluating the strategic situation in the virtual ground. In order to acquire these techniques, there need the tactical objects' position tracking and evaluation, and an inter-sharing technique between tactical models. In this paper, we study the algorithms on the sensor data fusion and coordinate conversion, proportional navigation guidance(PNG), and pursuit-evasion technique for engineering and higher level models. Additionally, we simulate the position evaluation of tractical objects using the pursuit and evasion maneuvers between a submarine and a torpedo.

• Journal of the Korea Computer Graphics Society
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• v.30 no.4
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• pp.1-10
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• 2024

In the fields of computer animation and robotics, reaching a destination while avoiding obstacles has always been a difficult task. Moreover, generating appropriate motions while planning a route is even more challenging. Recently, academic circles are actively conducting research to generate character motions by modifying and utilizing VAE (Variational Auto-Encoder), a data-based generation model. Based on this, in this study, the latent space of the MVAE model is learned using a reinforcement learning method[1]. With the policy learned in this way, the character can arrive its destination while avoiding both static and dynamic obstacles with natural motions. The character can easily avoid obstacles moving in random directions, and it is experimentally shown that the performance is improved, and the learning time is greatly reduced compared to existing approach.

• The Magazine of the IEIE
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• v.38 no.1
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• pp.68-74
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• 2011

이동단말기의 위치기반서비스가 핵심 무선인터넷서비스로 부상하고 있다 위치기반서비스는 정확하고 신뢰성 있는 단말기의 위치추정을 기반으로 한다. 이를 위하여 현재 GPS가 광범위하게 사용되고 있지만 기술적인 한계점으로 인하여 최근 RF 무선신호를 이용하는 RF 무선측위기술이 대체기술로 대두되고 있다. 이에 따라 최근 타 RF 기술에 비해 측위기술과 네트워크 인프라의 경쟁력을 보유한 WiFi 기반 무선측위기술이 부각되고 있다. 국내 또한 WiFi 기반 무선측위에 대한 연구를 활발히 수행 중이지만 시스템 개발에 따른 해외특허의 회피전략 또한 중요 관심사이다. 따라서 본고는 국내 위치기반서비스에 대한 국가 정책 및 사업화 방향의 전략결정에 유용하게 할용 될 수 있도록 WiFi 기반 무선측위기술의 기반기술 및 요소기술들을 정의하고 출원특허들의 선행조사와 분석을 통하여 이들 기술들에 대한 출원특허들의 기술계통도를 작성한다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.11a
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• pp.86-90
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• 2007

본 논문에서는 Particle Swarm Optimization(PSO) 기법을 이용한 이족보행로봇의 보행 계획방법을 제안한다. 이족보행로봇의 보행 프리미티브를 기반으로 PSO의 학습 및 군집 특성을 이용하여 장애물이 있는 작업공간에서 보행 계획을 수행하였다. 먼저 PSO의 탐색알고리즘을 사용하여 장애물을 회피하는 실행 가능한 보행 프리미티브들의 순서를 찾아내고 탐색된 순서를 바탕으로 경로 최적화 알고리즘을 수행하는 보행 계획방법을 제안하였다. 제안된 PSO 기반 이족보행로봇의 보행 계획방법은 모의실험을 통하여 발걸음 탐색 시간이 줄고 최적화된 보행 경로를 생성하는 것을 검증하였다.

• Proceedings of the Korean Information Science Society Conference
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• 2011.06c
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• pp.225-227
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• 2011

최근 스마트폰 및 게임, 로봇, 어플리케이션 등 다양한 분야에서 음성 기반 채팅 시스템이 활용되고 있다. 하지만 그 성능은 아직 만족스럽지 못하다. 본 논문은 다양한 시스템 발화를 위해 문장의 내용어, 카테고리, 발화시간, 화자 정보 등을 이용하여 직전 발화와 현재 발화를 비교한다. 동일한 발화일 경우 해당 카테고리 내 다른 문장을 발화하여 발화의 다양성을 확보하고, 적용 카테고리가 아닐 경우 댓구를 이용하여 대화를 다른 주제로 유도한다. 실험 결과 중복 발화에 대해 다양한 응답을 확인 할 수 있었다.