• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.285-292
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• 2019

Path planning is an important problem to solve in robotics and there has been many related studies so far. In the previous research, we proposed the Heterogeneous-Ants-Based Path Planner (HAB-PP) for the global path planning of mobile robots. The conventional path planners using grid map had discrete state transitions that constrain the only movement of an agent to multiples of 45 degrees. The HAB-PP provided the smoother path using the heterogeneous ants unlike the conventional path planners based on Ant Colony Optimization (ACO) algorithm. The planner, however, has the problem that the optimization of the path once found is fast but it takes a lot of time to find the first path to the goal point. Also, the HAB-PP often falls into a local optimum solution. To solve these problems, this paper proposes an improved ant-inspired path planner using the Rapidly-exploring Random Tree-star ($RRT^*$). The key ideas are to use $RRT^*$ as the characteristic of another heterogeneous ant and to share the information for the found path through the pheromone field. The comparative simulations with several scenarios verify the performance of the improved HAB-PP.

• Journal of the Korea Institute of Military Science and Technology
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• v.25 no.4
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• pp.412-424
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• 2022

Since traditional derivative-based optimization for noisy simulation shows bad performance, evolutionary algorithms are considered as substitutes. Especially in case when outputs are binary, more simulation trials are needed to get near-optimal solution since the outputs are discrete and have high and heterogeneous variance. In this paper, we propose a genetic algorithm called SARAGA which adopts dynamic resampling and fitness approximation using surrogate. SARAGA reduces unnecessary numbers of expensive simulations to estimate success probabilities estimated from binary simulation outputs. SARAGA allocates number of samples to each solution dynamically and sometimes approximates the fitness without additional expensive experiments. Experimental results show that this novel approach is effective and proper hyper parameter choice of surrogate and resampling can improve the performance of algorithm.

• Journal of Korea Multimedia Society
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• v.23 no.10
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• pp.1270-1285
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• 2020

As a representative concept of the fourth industrial revolution era where everything is digitized, digital twin means analyzing and optimizing a complex system using a simulation model synchronized with the system. In this paper, we propose a digital twin simulation model for the efficient operation of urban railways in Busan. Due to the geopolitical nature of Busan, where there are many mountains and narrow roads, the railways are more useful than other public transportation. However, this inversely results in a high level of congestion, which is an inconvenience to citizens and may be fatal to the spread of the virus, such as COVID19. Considering these characteristics, the proposed model analyzes the congestion level of the railways in Busan. The model is developed based on a mathematical formalism called discrete-event system specification and deduces the congestion level and the average waiting time of passengers depending on the train schedule. In addition, a new schedule to reduce the congestion level is derived through particle swarm optimization, which helps the efficient operation of the railways. Although the model is developed for the railways in Busan, it can also be used for railways in other cities where a high level of congestion is a problem.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.44 no.3
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• pp.23-32
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• 2007

The H.264/AVC video coding standard uses rate distortion optimization (RDO) method to improve the compression performance in the intra prediction. The complexity and computational load are increased more than previous standard by using this method, even though this standard selects the best coding mode for the current macroblock. This paper proposes a fast intra mode decision algorithm for H.264/AVC encoder based on dominant edge direction (DED). To apply the idea, this algorithm uses the approximation of discrete cosine transform (DCT) coefficient. By detecting the DED, 3 modes instead of 9 modes are chosen for RDO calculation to decide the best mode in the $4{\times}4$ luma block. As for the $16{\times}16$ luma and $8{\times}8$ chroma block, instead of 4 modes, only 2 modes are searched. Experimental results show that the computation time of the proposed algorithm is decreased to about 72% of the full search method with negligible quality loss.

• Journal of Korea Water Resources Association
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• v.38 no.12 s.161
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• pp.1021-1028
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• 2005

This study purpose to develop simulation model of optimal design condition of urban storm sewer system considering risk. Urban Storm Sewer Optimal Design Model(USSOD) can compute pipe capacity, pipe slope, crown elevation, excavation depth, risk and return cost in the condition of design discharge. Rational formula is adopted for design discharge and Manning's formula is used for pipe capacity. Discrete differential dynamic programming(DDDP) technique which is a kind of dynamic programming(DP) is used for optimization and first order second moment approximation method and uncertainty analysis is also for developing model. USSOD is applied to hypothetical drainage basin to test and verify, which resulted economical and efficient design in urban drainage sewer system.

• Advances in Energy Research
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• v.7 no.1
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• pp.67-84
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• 2020

Given the recent surge of interest towards utilization of renewable distributed energy resources (DER), in particular in remote areas, this paper aims at designing an optimal hybrid system in order to supply loads of a village located in Esfarayen, North Khorasan, Iran. This paper illustrates the optimal design procedure of a standalone hybrid system which consists of Wind Turbine Generator (WTG), Photo Voltaic (PV), Diesel-generator, and Battery denoting as the Energy Storage System (ESS). The WTGs and PVs are considered as the main producers since the site's ambient conditions are suitable for such producers. Moreover, batteries are employed to smooth out the variable outputs of these renewable resources. To this end, whenever the available power generation is higher than the demanded amount, the excess energy will be stored in ESS to be injected into the system in the time of insufficient power generation. Since the standalone system is assumed to have no connection to the upstream network, it must be able to supply the loads without any load curtailment. In this regard, a Diesel-Generator can also be integrated to achieve zero loss of load. The optimal hybrid system design problem is a discrete optimization problem that is solved, here, by means of a recently-introduced meta-heuristic optimization algorithm known as Lightning Attachment Procedure Optimization (LAPO). The results are compared to those of some other methods and discussed in detail. The results also show that the total cost of the designed stand-alone system in 25 years is around 92M€ which is much less than the grid-connected system with the total cost of 205M€. In summary, the obtained simulation results demonstrate the effectiveness of the utilized optimization algorithm in finding the best results, and the designed hybrid system in serving the remote loads.

• Proceeding of KASS Symposium
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• 2008.05a
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• pp.101-106
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• 2008

This paper describes a comparative study of genetic algorithm and mathematical programming technique applied in the design optimization of geodesic dome. In particular, the genetic algorithm adopted in this study uses the so-called re-birthing technique together with the standard GA operations such as fitness, selection, crossover and mutation to accelerate the searching process. The finite difference method is used to calculate the design sensitivity required in mathematical programming techniques and three different techniques such as sequential linear programming (SLP), sequential quadratic programming(SQP) and modified feasible direction method(MFDM) are consistently used in the design optimization of geodesic dome. The optimum member sizes of geodesic dome against several external loads is evaluated by the codes $ISADO-GA{\alpha}$ and ISADO-OPT. From a numerical example, we found that both optimization techniques such as GA and mathematical programming technique are very effective to calculate the optimum member sizes of three dimensional discrete structures and it can provide a very useful information on the existing structural system and it also has a great potential to produce new structural system for large spatial structures.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.6 no.4
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• pp.1-9
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• 1986

In this paper research results of developing a method of selecting design variables of an optimization problem from a finite set of pre-specified numbers, which can be utilized for the structural optimization with standardized structural members, is presented. The method first finds a continuous optimum under the assumption that design variables can be varied continuously. Then a pseudo-optimum is determined by selecting numbers from the set that are near to the continuous optimum and do not violate constraints. The pseudo-optimum is further improved to obtain the final discrete optimum from the set which minimizes cost function of the problem. In this research, the method is combined with the gradient projection optimization algorithm. The method is applied to several minimum weight truss optimization problems with constraints on the stresses, displacements, and design variables. As the results, it is found that the method can be efficiently applied to various optimization problems of which design variables must be chosen from a standard.

• Journal of Korean Society of Steel Construction
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• v.24 no.6
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• pp.671-682
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• 2012

The use of sinusoidal corrugated web girder for the box-type girders and gable steel main frames has recently been increasing very much. The reasons are that the thin web of the girder affords a significant weight reduction compared with rolled beam and welded built-up girder, and that corrugation prevents the buckling failure of the web. Improvements of the automatic fabrication process makes mass production of the corrugated web and unit possible, and applications of this girder have been extended considerably. Thus, the research for the optimum design processer considering the production data is needed practically. For doing this research, we develope the discrete optimum structural design program in consideration of production list data for the research, and the program apply to the single girder under the uniform load and the concentrated load as numerical example. We consider objective function as minimum weight of the girder, and use slenderness ratio, stress of flanges and corrugated web, and the girder deflection as the constraint functions. And also the Genetic Algorithms is adopted to search the global minimum point by using the production list as a discrete design variable. Finally, to verify the optimality of the design, we conduct a comparison of the results of the discrete optimum design with those of the continuous one, and also analyze the characteristics of the optimum cross-section.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.95-98
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• 2005

This paper presents intelligent digital redesign method of global approach for hybrid state space fuzzy-model-based controllers. For effectiveness and stabilization of continuous-time uncertain nonlinear systems under discrete-time controller, Takagi-Sugeno(TS) fuzzy model is used to represent the complex system. And global approach design problems viewed as a convex optimization problem that we minimize the error of the norm bounds between nonlinearly interpolated linear operators to be matched. Also by using the power series, we analyzed nonlinear system's uncertain parts more precisely. When a sampling period is sufficiently small, the conversion of a continuous-time structured uncertain nonlinear system to an equivalent discrete -time system have proper reason. Sufficiently conditions for the global state -matching of the digitally controlled system are formulated in terms of linear matrix inequalities (LMls). Finally, we prove the effectiveness and stabilization of the proposed intelligent digital redesign method by applying the chaotic Lorentz system.