• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.623-626
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• 2000

The purpose of this paper is to find an efficient solution for multiple constant multiplication (MCM) problem. Since the circuit structure can be represented as a directed acyclic graph, evolutionary computing is considered as an effective tool for optimization of circuit synthesis. In this paper, we propose a stack type operator as a chromosome element to synthesize a directed acyclic graph efficiently. This type of chromosome can represent a graph structure with a set of simple symbols and so we can employ the similar method to a conventional GA.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.9
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• pp.1965-1970
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• 2011

This paper proposes the method of switching function implementation using switching function extraction based on graph over finite fields. After we deduce the matrix equation from path number of directional graph, we propose the switching function circuit algorithm, also we propose the code assignment algorithm for nodes which is satisfied the directional graph characteristics with designed circuits. We can implement more optimal switching function compare with former algorithm, also we can design the switching function circuit which have any natural number path through the proposed switching function circuit implementation algorithms. Also the proposed switching function implementation using graph theory over finite fields have decrement number of input-output, circuit construction simplification, increment arithmetic speed and decrement cost etc.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.11
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• pp.2555-2562
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• 2010

In this paper, we propose the method that extracts sea level measurements graph from the sea level measurements recording paper image with a little interaction. At first, a pixel that is included in the graph area is selected. Then, background pixels are automatically determined using the distance between a selected pixel and other pixels on LAB color space. In each vertical line, a pixel that is the nearest to the selected pixel on LAB color space is extracted and the graph area is determined using that pixels. Experimental results show that the sea level measurements graph can be extracted with a few interaction from the various sea level measurements recording paper images.

• Journal of applied mathematics & informatics
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• v.28 no.5_6
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• pp.1347-1358
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• 2010

An upright drawing of a planar graph G on k layers is a planar straight-line drawing of G, where the vertices of G are placed on a set of k horizontal lines, called layers and no two adjacent vertices are placed on the same layer. There is a previously known algorithm that decides in linear time whether a planar graph admits an upright drawing on k layers for a fixed value of k. However, the constant factor in the running time of the algorithm increases exponentially with k and makes it impractical even for k = 3. In this paper, we give a linear-time algorithm to examine whether a biconnected planar graph G admits an upright drawing on three layers and to obtain such a drawing if it exists. We also give a necessary and sufficient condition for a tree to have an upright drawing on three layers. Our algorithms in both the cases are much simpler and easier to implement than the previously known algorithms.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.5
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• pp.940-948
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• 2007

Many real world problems can be modeled as a graph and traversals on the graph. The structure of Web pages can be represented as a graph, for example, and user's navigation paths on the Web pages can be model as a traversal on the graph. It is interesting to discover valuable patterns, such as frequent patterns, from such traversals. In this paper, we propose an algorithm to discover frequent traversal patterns when a directed graph and weighted traversals on the graph are given. Furthermore, we propose a performance enhancement by traversal split and then verify it through experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1939-1944
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• 2003

This paper presents a global path planning algorithm based on a visibility graph method, and applies additionally various constraints for constructing the reduced visibility graph. The modification algorithm for generating the rounded path is applied to the globally shortest path of the visibility graph using the robot size constraint in order to avoid the obstacle. In order to check the visibility in given 3D map data, 3D CAD data with VRML format is projected to the 2D plane of the mobile robot, and the projected map is converted into an image for easy map analysis. The image processing are applied to this grid map for extracting the obstacles and the free space. Generally, the tree size of visibility graph is proportional to the factorial of the number of the corner points. In order to reduce the tree size and search the shortest path efficiently, the various constraints are proposed. After short paths that crosses the corner points of obstacles lists up, the shortest path among these paths is selected and it is modified to the combination of the line path and the arc path for the mobile robot to avoid the obstacles and follow the rounded path in the environment. The proposed path planning algorithm is applied to the mobile robot LCAR-III.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.9
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• pp.2091-2096
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• 2013

This paper present a method of efficiency circuit design based on directed graph which was represented by tree structure relationship between input and output of nodes. In this paper, we introduce the concept of mathematical analysis based on tree structure which was designed by optimal localized computable circuit. Using the proposed circuit design algorithms in this paper, it is possible to design circuit which directed tree graph have any node number. The proposed method is more effective, regularity and extensibility than former method.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.385-394
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• 2017

Side scanning sonar (SSS) provides valuable information for robot navigation. However using the side scanning sonar images in the navigation was not fully studied. In this paper, we use range data, and side scanning sonar images from UnderWater Simulator (UWSim) and propose measurement models in a feature based simultaneous localization and mapping (SLAM) framework. The range data is obtained by echosounder and sidescanning sonar images from side scan sonar module for UWSim. For the feature, we used the A-KAZE feature for the SSS image matching and adjusting the relative robot pose by SSS bundle adjustment (BA) with Ceres solver. We use BA for the loop closure constraint of pose-graph SLAM. We used the Incremental Smoothing and Mapping (iSAM) to optimize the graph. The optimized trajectory was compared against the dead reckoning (DR).

• Journal of Korean Institute of Industrial Engineers
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• v.28 no.3
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• pp.264-273
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• 2002

This paper focuses on disassembly sequencing, which is the problem of determining the optimum disassembly level and the corresponding disassembly sequence for a product at its end-of-life with the objective of maximizing the overall profit. In particular, sequence-dependent operation times, which frequently occur in practice due to tool-changeover, part reorientation, etc, are considered in the parallel disassembly environment. To represent the problem, a modified directed graph of assembly states is suggested as an extension of the existing extended process graph. Based on the directed graph, the problem is transformed into the shortest path problem and formulated as a linear programming model that can be solved straightforwardly with standard techniques. A case study on a photocopier was done and the results are reported.

• Journal of Sensor Science and Technology
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• v.33 no.5
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• pp.391-398
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• 2024

Accurate positioning is essential for unmanned underwater vehicle (UUV) operations, particularly for long-term survey missions. To reduce the inherent positioning errors from the inertial navigation systems of UUVs, or dead reckoning, underwater terrain observations from sonar sensors are typically exploited. Within the framework of pose-graph optimization, we can generate submaps of the seafloor and use them to add loop-closure constraints to the pose graph by determining the best match between the submaps. However, this approach results in error accumulation in long-term operations because the quality of local submaps depends on the dead reckoning. Hence, we can adopt external acoustic positioning systems, such as an ultrashort baseline (USBL), to add global constraints to the existing pose graph. We assume that the acoustic transponder is installed on a UUV and that the acoustic transceiver is equipped in an unmanned surface vehicle trailing the UUV to maintain an acoustic connection between the vehicles. We simulate the terrain and USBL measurements as well as evaluate the performance of the UUV's pose estimation via online pose-graph optimization.