• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.218-224
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• 2012

Recently, as the needs of developing the micro autonomous underwater vehicle (AUV) are increasing, the acquisition of the elementary technology is urgent. While they mostly utilizes information of the forward looking sonar (FLS) in conventional studies of the local path control as an elementary technology, it is desirable to use the obstacle avoidance sonar (OAS) because the size of the FLS is not suitable for the micro AUV. In brief, the local path control system based on the OAS for the micro AUV operates with the following problems: the OAS offers low bearing resolution and local range information, it requires the system that has reduced power consumption to extend the mission execution time, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent local path control algorithm based on the beam modeling of OAS with the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance and analyze the characteristic of the proposed algorithm, the course control of the underwater flight vehicle (UFV) is performed in the horizontal plane. Simulation results show that the feasibility of real application and the necessity of additional work in the proposed algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.1A
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• pp.58-66
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• 2011

In this paper, we propose a self-organized frequency allocation scheme for femto-cell deployment to avoid intercell interference, thereby reducing cell-registration failure. The proposed scheme follows two steps which if necessary manipulate frequency-band reallocation of existing femto-cells to accomodate newly incoming femto-cells. In the first step named "initial frequency allocation", each femto-cell collects neighboring femto-cells' frequency usage state by listening the broadcasting channels, and then selects one of interference-free frequency-bands. If no inference-free band is available, the second step named "frequency adjustment" starts, where frequency-band reallocation is properly performed from the aspect of overall performance improvement. Numerical results shows that the proposed scheme outperforms the best SINR scheme, which has been practically applied to femto-cell deployment, in terms of cell-registration failure probability and system overhead.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.4
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• pp.437-442
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• 2014

Recently, the needs for the development and application of the micro marine robot (MMR) which has the advantages in terms of size and cost are increasing. However, the basis is very short in the domestic. While the obstacle avoidance sonar (OAS) which was optimized in terms of size and performance and has the ability of 4-directional detection was developed for the obstacle avoidance of the micro surface robot (MSR) fortunately, the problem that the detection performance is degraded according to the shape of the obstacle because of using the fixed sonar-beam with the limited beam width and detection range exists. To solve this problem, the MSR mechanism that implements the rotating sonar-beam using the spur gear and the servo motor is proposed in this paper. To verify the performance of the proposed mechanism, the wall-tracking of the MSR is considered and the comparison and analysis in term of detection performance and actuation command is performed with conventional fixed sonar-beam. The test results show the validity of the proposed mechanism.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.75-76
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• 2007

A mis-handling of the ship operators show high rate among the whole marine accidents. Since the port conditions have been getting worse. also as her size and speed increase, collision risk has been increased so that ship needs the automatic control system for collision. From that purpose, this research has been proceeded. The research has based on the MMG mathematical model, used Surge-Sway-Yaw motion equation, the information from the position and estimated time of collision point (DCPA and TCPA) to determine the collision risk with Fuzzy theory. To verify this system, ship was simulated when the ship encountered multitude of ships around the coast. The simulation result shows good application in avoiding ship collisions around the coast.

• Journal of KIISE:Computer Systems and Theory
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• v.37 no.5
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• pp.257-271
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• 2010

As the end of photolithographic integration era is approaching fast, numerous nanoscale devices and systems based on novel nanoscale materials and assembly techniques are recently emerging. Notably, various reconfigurable architectures with considerable promise have been proposed based on nanowire crossbar structure as the primitive building block. Unfortunately, high-density sys-tems consisting of nanometer-scale elements are likely to have numerous physical imperfections and variations. Therefore, defect-tolerance is considered as one of the most exigent challenges in nanowire crossbar systems. In this work, three different defect-avoidant logic mapping algorithms to circumvent defective crosspoints in nanowire reconfigurable crossbar systems are evaluated in terms of various performance metrics. Then, a novel method to find the most cost-effective repair solution is demonstrated by considering all major repair parameters and quantitatively estimating the performance and cost-effectiveness of each algorithm. Extensive parametric simulation results are reported to compare overall repair costs of the repair algorithms under consideration and to validate the cost-driven repair optimization technique.

• Journal of IKEEE
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• v.22 no.3
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• pp.866-869
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• 2018

This paper presents the analysis of the human driving behavior based on the expression as a GMDH technique focusing on the driver's collision avoidance maneuver. The driving data are collected by using the three dimensional driving simulator based on CAVE, which provides stereoscopic immersive vision. A GMDH is also introduced and applied to the measured data in order to build a mathematical model of driving behavior. From the obtained model, it is found that the longitudinal distance between cars($x_1$), the longitudinal relative velocity($x_2$) and the lateral displacement between cars($x_4$) play important roles in the collision avoidance maneuver under the 3D environments.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.6
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• pp.549-559
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• 2015

In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.451-456
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• 2009

In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• Journal of the Institute of Convergence Signal Processing
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• v.17 no.1
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• pp.46-52
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• 2016

LTE-Advanced system consisting of the number of cells in the cellular environment because it is built to allow efficient use of limited frequency resources of adjacent cell interference avoidance should be considered. Transition services in accordance with the development of the mobile communication technology, wireless multimedia content from voice-centric mobile communications services and causing a lot of mobile data traffic, such as smart phones and tablet terminals spread of a data-driven surge in mobile data traffic base stations in urban areas by increasing became a reality that can not be prevented. In this paper, we propose a new Hybrid resource allocation technique for improving the performance of the cell boundary and analyzed the performance of the proposed new techniques to perform the simulation using LTE-Advanced system level simulator based on 19cell of cellular system model.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.2A
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• pp.99-106
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• 2009

In this paper, we propose UCA algorithms that are applied to the unified inter-cell interference mitigation through frequency plannings in OFDMA cellular systems. Under three frequency plannings, UCA algorithms allocate frequency channels to UEs(User Equipments). Proposed UCA algorithms require the information of received signal power from home sector and neighbor sectors respectively. We compare all possible combinations of UCA algorithms and frequency plannings through compute simulation. A primary performance measure is the low 5th percentile of SINR at UEs. The proposed UCA algorithms can avoid the interference to neighbor cells by allocating relatively low transmit power to centrally-located UEs and cancel inter-cell interference at cell-edge UEs by a coordinated symbol repetition. We show that UCA algorithm 2 applied in frequency planning 1 is promising among other combinations of UCA algorithms and frequency palnnings in terms of the low 5th percentile of SINR at UEs.