• 한국정보처리학회논문지
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• 제7권5호
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• pp.1464-1473
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• 2000

본 논문에서는 최근 상호연결망 위상으로 관심을 받고 있는 (n,k)-스티 그래프에 대한 사이클 특성을 분석한다.(n,k)-스티 그래프의 그래프 이론적 특성을 바탕으로 (n,k)-스티 그래프가 다양한 종류의 사이클들을 보유하고있는 범사이클(pancyclic)특성을 지니고 있음을 밝히고 해당 사이클들을 찾을 수 있는 알고리즘을 제시한다. 본 논문에서제안하고 있는 기법은 그래프자체의 체귀적 성질을 이용한 하형식(top-down)방식으로써 부-그래프들로 구성된 확장된 개념의 사이클들에 "차원확장"이라는 연산을 연속적으로 적용함으로써 원하는 사이클로 구체화해 가는 과정으로 진행하게 된다. 이러한 기법의 적용 결과 구성되는 사이클은 최소한의 한정된 부-그래프들로 밀집되어 모이는 경향이 있어 노드 또는 예지심에 서로 중복이 없이 독립된(disjoint) 사이클을 찾는 문제 등의 응용분야로 확대적용의 가능성이 있다. 본 연구 결과는 (n,k)-스티 그래프에 대한 그래프 이론적 관점에서의 댐사이클 특성을 분석한 이론적 의미와 더불어 해당 상호연결망 구조를 갖는 다중컴퓨터시스템에서의 메시지 라우팅이나 자원 할당 및 스케쥴링과 관련된 분야로의 응용가능성을 함께 의미하고 있다.

• 한국정보과학회논문지:소프트웨어및응용
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• 제34권5호
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• pp.487-501
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• 2007

고성능 다중 이슈 DSP의 하드웨어 리소스 사용률을 높이기 위해서, 제공되는 상용 컴파일러는 일반적으로 반복 모듈로 스케쥴링(Iterative Modulo Scheduling)을 포함하고 있다. 하지만, 통신 및 미디어 처리 응용의 루프에 존재하는 과도한 순환 데이타 의존관계는 모듈로 스케쥴링 자유도를 제한하고 있다. 결과적으로, 멀티 이슈를 위한 DSP의 병렬 기능 유닛들은 완전히 사용되고 있지 못하다. 이러한 하드웨어 리소스 저사용 문제를 해결하기 위하여, 이 논문은 효율적인 모듈로 스케쥴링을 위한 새로운 컴파일러 전처리 기법을 기술하고 있다. 제안하는 전처리 기법은 두 가지로서 클로닝과 디스맨틀링으로 불리우며, 이 두가지 기법들은 StarCore SC140 DSP 컴파일러에 구현하여 검증하였다.

• Nuclear Engineering and Technology
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• 제51권3호
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• pp.825-836
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• 2019

One of the most challenging safety precautions for workers in dynamic, radioactive environments is avoiding radiation sources and sustaining low exposure. This paper presents a sampling-based algorithm, DL-RRT*, for minimum dose walk-path re-planning in radioactive environments, expedient for occupational workers in nuclear facilities to avoid unnecessary radiation exposure. The method combines the principle of random tree star ($RRT^*$) and $D^*$ Lite, and uses the expansion strength of grid search strategy from $D^*$ Lite to quickly find a high-quality initial path to accelerate convergence rate in $RRT^*$. The algorithm inherits probabilistic completeness and asymptotic optimality from $RRT^*$ to refine the existing paths continually by sampling the search-graph obtained from the grid search process. It can not only be applied to continuous cost spaces, but also make full use of the last planning information to avoid global re-planning, so as to improve the efficiency of path planning in frequently changing environments. The effectiveness and superiority of the proposed method was verified by simulating radiation field under varying obstacles and radioactive environments, and the results were compared with $RRT^*$ algorithm output.

• 한국멀티미디어학회논문지
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• 제17권6호
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• pp.716-724
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• 2014

The pancake graph is node symmetric and is utilized on the data sorting algorithm. We propose a new half pancake graph that improve pancake graph's network cost. The half pancake degree is approximately half of pancakes degree and diameter is 3n+4. The pancake graph's network cost is $O(1.64n^2)$ and half pancake's is $O(1.5n^2)$. Additionally half pancake graph is sub graph of pancake graph. As this result, The several algorithms developed in pancake graph has the advantage of leverage on the pancake by adding constant cost.

• 한국정보처리학회논문지
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• 제5권10호
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• pp.2615-2626
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• 1998

본 논문에서는 방향성 그래프인 Rotator 그래프와 Faber-Moore 그래프를 병합한 새로운 상호 연결망으로 RFM그래프를 제안하고, RFM그래프에 대하여 고장 허용도, 라우팅 알고리즘, 노드 중복 없는 싸이클, 방송 알고리즘을 분석한다. 또한 2차원 토러스, Strar 그래프, Bubblesort 그래프를 RFM 그래프에 연장비율(dilation) 2와 확장비율(expansion)1에 임베딩하는 방법을 제시한다.

• 산업경영시스템학회지
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• 제34권3호
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• pp.24-34
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• 2011

An Unmanned Aerial Vehicle (UAV) is a powered pilotless aircraft, which is controlled remotely or autonomously. UAVs are an attractive alternative for many scientific and military organizations. UAVs can perform operations that are considered to be risky or uninhabitable for human. UA V s are currently employed in many military missions such as reconnaissance, surveillance, enemy radar jamming, decoying, suppression of enemy air defense (SEAD), fixed and moving target attack, and air-to-air combat. UAVs also are employed in a number of civilian applications such as monitoring ozone depletion, inclement weather, traffic congestion, and taking images of dangerous territory. For accomplishing the UAV's missions, guarantee of survivability should be preceded. The main objective of this study is to suggest a mathematical programming model and a $A^*PS$-PGA (A-star with Post Smoothing-Parallel Genetic Algorithm) for an UAV's path planning to maximize survivability. A mathematical programming model is composed by using MRPP (Most Reliable Path Problem) and TSP (Traveling Salesman Problem). A path planning algorithm for UAV is applied by transforming MRPP into SPP (Shortest Path Problem).

• Structural Engineering and Mechanics
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• 제65권6호
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• pp.707-719
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• 2018

In this article, a new method is introduced to improve the local search capability of meta-heuristic algorithms using the projection of the path on the border of constraints. In a mathematical point of view, the Gradient Projection Method is applied through a new approach, while the imposed limitations are removed. Accordingly, the gradient vector is replaced with a new meta-heuristic based vector. Besides, the active constraint identification algorithm, and the projection method are changed into less complex approaches. As a result, if a constraint is violated by an agent, a new path will be suggested to correct the direction of the agent's movement. The presented procedure includes three main steps: (1) the identification of the active constraint, (2) the neighboring point determination, and (3) the new direction and step length. Moreover, this method can be applied to some meta-heuristic algorithms. It increases the chance of convergence in the final phase of the search process, especially when the number of the violations of the constraints increases. The method is applied jointly with the authors' newly developed meta-heuristic algorithm, entitled Star Graph. The capability of the resulted hybrid method is examined using the optimal design of truss and frame structures. Eventually, the comparison of the results with other meta-heuristics of the literature shows that the hybrid method is successful in the global as well as local search.

• 제어로봇시스템학회논문지
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• 제13권8호
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 추계학술대회(한국공작기계학회)
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• pp.214-219
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• 2001

One of the major limitations of productivity and quality in metal cutting is the machining accuracy of machine tools. The machining accuracy is affected by geometric errors, thermally-induced errors, and the deterioration of the machine tools. Geometric and thermal errors of machine tools should be measured and compensated to manufacture high quality products. In metal cutting, the machining accuracy is more affected by thermal errors than by geometric errors. In this study, the compensation device and temperature-based algorithm have been presented in order to compensate thermal error of machine tools under the real-time. The thermal error is modeled by means of angularity errors of a column and thermal drift error of the spindle unit which are measured by the touch probe unit with a star type styluses, a designed spherical ball artifact, and five gap sensors. In order to compensate thermal characteristics under several operating conditions, experiments performed with five gap sensors and manufactured compensation device on the horizontal machining center.

• Journal of Biosystems Engineering
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• 제36권2호
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• pp.116-121
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• 2011

This study was conducted to develop a robust navigator which could be in positioning for precision farming through developing a plural GPS receiver with 4 sets of GPS antenna. In order to improve positioning accuracy by integrating GPS signals received simultaneously, the algorithm for processing plural GPS signal effectively was designed. Performance of the algorithm was tested using a simulation program and a fixed point on WGS 84 coordinates. Results of this study are aummarized as followings. 1. 4 sets of lower grade GPS receiver and signals were integrated by kalman filter algorithm and geometric algorithm to increase positioning accuracy of the data. 2. Prototype was composed of 4 sets of GPS receiver and INS components. All Star which manufactured by CMC, gyro compass made by KVH, ground speed sensor and integration S/W based on RTOS(Real Time Operating System)were used. 3. Integration algorithm was simulated by developed program which could generate random position error less then 10 m and tested with the prototype at a fixed position. 4. When navigation data was integrated by geometrical correction and kalman filter algorithm, estimated positioning erros were less then 0.6 m and 1.0 m respectively in simulation and fixed position tests.