• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.2
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• pp.252-260
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• 2016

Unlike terrestrial transportation, marine transportation should consider environment factors in order to optimize path planning. This is because, ship's path planning is greatly influenced by real-time ocean environment-sea currents, wave and wind. Therefore, in this study, we suggest a ship path planning algorithm based on real-time ocean environment using not only $A^*$ algorithm but also path smoothing method. Moreover, in order to improve objective function value, we also consider ship's moving distance based on ship's location and real-time ocean environment data on grid map. The efficiency of the suggested algorithm is proved by comparing with $A^*$ algorithm only. This algorithm can be used as a reasonable automatics control system algorithm for unmaned ship.

• Journal of Biosystems Engineering
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• v.25 no.3
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• pp.241-250
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• 2000

The feasibility of precision fertilizing for small size fields was studied by determining fertilizing amount of nitrogenous and calcareous to a cite specific region. A detailed soil survey at three experimental fields of $672m^2$, $300m^2$ and $140m^2$ revealed a considerable spatial variation of the pH and organic matter(OM) levels. Soil organic matter was measured using Walkley-Black method and soil pH was measured with a pH sensor. Soil sample was obtained by Grid Node Sampling Method. The soil sampling depth was 10∼20 cm from the soil surface. To display soil nutrient variation, a soil map was made using Geographic Information System (GIS) software. In soil mapping, soil data between nodes was interpolated using Inverse Distance Weighting (IDW) method. The variation was about 1∼1.8 in pH value and 1.4∼7% in OM content. Fertilizing Amount of nitrogenous and calcareous was determined by th fertilizing equation which was proposed by National Institute of Agricultural Science and Technology(NIAST). The variation of fertilizing amount was about 3∼11 kg/10a in nitrogenous and 70∼140 kg/10a in calcareous. The results showed a feasibility of precision fertilizing for small size fields.

• Proceedings of the Korea Information Processing Society Conference
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• 2014.04a
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• pp.77-80
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• 2014

최근 컴퓨터와 인터넷 이용의 확산, 스마트폰을 포함한 스마트 기기의 보급과 소셜 네트워크 이용의 확대, 위치 기반의 다양한 서비스 확대 등으로 처리해야 할 데이터 크기가 증가하는 추세이다. 이에 따라 대용량 데이터에 대한 처리가 큰 이슈로 떠오르고 있다. 그로 인해 대용량 데이터 처리를 위한 큰 규모의 분산 컴퓨팅 환경을 지원하는 프레임워크인 하둡이 개발되었으며 많은 기업에서 이를 활용하고 있는 추세이다. 하지만 대용량 데이터 중 영상, 의료, 센서 데이터 등 다차원 데이터 처리에 관한 연구는 미비한 상태이다. 기존의 다차원 데이터 처리를 위해 다양한 다차원 인덱스가 제안되었지만, 대용량 다차원 데이터 처리는 단일머신에서는 비효율적인 단점이 있다. 본 논문에서는 다차원 인덱스 기법인 그리드 파일을 하둡의 분산 병렬 처리 모델인 맵리듀스를 기반으로 생성하는 기법을 제안한다. 또한 앞서 생성된 그리드 파일을 가지고 맵리듀스를 이용한 질의처리 방법을 제안 한다. 이로 인해 단일머신에서의 그리드 파일 생성을 병렬처리 함으로써 생성 시간을 단축시키고 질의 처리 또한 맵리듀스를 이용하여 병렬 처리 함으로써 질의 시간 단축을 예상한다.

• 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.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.18 no.6
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• pp.229-235
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• 2018

Research on indoor location tracking technology using smart phone is actively being carried out. Especially, in order to display the movement path of the smartphone on the map, the azimuth angle should be estimated by using the geomagnetic sensor built in most smart phones. Due to the distortion of the magnetic field due to the surrounding steel structure and the inclination of the smartphone, the estimation error of azimuthal angle may be occurred. In this paper, we propose a correction method of the geomagnetic sensor at the stationary state and a correction method for the inclination of the smartphone. We also propose a method to correct the azimuth error due to the difference between the magnetic north and the grid north.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.10
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• pp.3373-3389
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• 2022

Exploration of mobile robot without prior data about environments is a fundamental problem during the SLAM processes. In this work, we propose improved version of previous Rmap algorithm by modifying its Exploration submodule. Despite the previous Rmap's performance which significantly reduces the overhead of the grid map, its exploration module costs a lot because of its rectangle following algorithm. To prevent that, we propose a new Rmap+ algorithm for autonomous path planning of mobile robot to explore an unknown environment. The algorithm bases on paired frontiers. To navigate and extend an exploration area of mobile robot, the Rmap+ utilizes the inner and outer frontiers. In each exploration round, the mobile robot using the sensor range determines the frontiers. Then robot periodically changes the range of sensor and generates inner pairs of frontiers. After calculating the length of each frontiers' and its corresponding pairs, the Rmap+ selects the goal point to navigate the robot. The experimental results represent efficiency and applicability on exploration time and distance, i.e., to complete the whole exploration, the path distance decreased from 15% to 69%, as well as the robot decreased the time consumption from 12% to 86% than previous algorithms.

• Journal of Drive and Control
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• v.19 no.3
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• pp.9-15
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• 2022

This paper proposes a method for constructing and verifying datasets used in deep learning technology, to prevent safety accidents in automated construction machinery or autonomous vehicles. Although open datasets for developing image recognition technologies are challenging to meet requirements desired by users, this study proposes the interface of virtual simulators to facilitate the creation of training datasets desired by users. The pixel-level training image dataset was verified by creating scenarios, including various road types and objects in a virtual environment. Detecting an object from an image may interfere with the accurate path determination due to occlusion areas covered by another object. Thus, we construct a database, for developing an occlusion area detection algorithm in a virtual environment. Additionally, we present the possibility of its use as a deep learning dataset to calculate a grid map, that enables path search considering occlusion areas. Custom datasets are built using the RDBMS system.

• Nuclear Engineering and Technology
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• v.55 no.5
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• pp.1838-1854
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• 2023

This paper presents a hybrid algorithm to solve the multi-objective path planning (MOPP) problem for mobile robots in a static nuclear accident environment. The proposed algorithm mimics a real nuclear accident site by modeling the environment with a two-layer cost grid map based on geometric modeling and Monte Carlo calculations. The proposed algorithm consists of two steps. The first step optimizes a path by the hybridization of improved ant colony optimization algorithm-modified A^* (IACO-A^*) that minimizes path length, cumulative radiation dose and energy consumption. The second module is the high radiation dose rate avoidance strategy integrated with the IACO-A^* algorithm, which will work when the mobile robots sense the lethal radiation dose rate, avoiding radioactive sources with high dose levels. Simulations have been performed under environments of different complexity to evaluate the efficiency of the proposed algorithm, and the results show that IACO-A^* has better path quality than ACO and IACO. In addition, a study comparing the proposed IACO-A^* algorithm and recent path planning (PP) methods in three scenarios has been performed. The simulation results show that the proposed IACO-A^* IACO-A^* algorithm is obviously superior in terms of stability and minimization the total cost of MOPP.

• New & Renewable Energy
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• v.20 no.1
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• pp.88-94
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• 2024

This study explored the potential and implementation of renewable energy sources in Sri Lanka, focusing on the theoretical potential of solar and wind energy to develop self-reliant energy models. Using advanced climate data from the European Centre for Medium-Range Weather Forecasts and Global Solar/Wind Atlas provided by the World Bank, we assessed the renewable energy potential across Sri Lanka. This study proposes off-grid and minigrid systems as viable solutions for addressing energy poverty in rural regions. Rural villages were classified based on solar and wind resources, via which we proposed four distinct energy self-reliance models: Renewable-Dominant, Solar-Dominant, Wind-Dominant, and Diesel-Dominant. This study evaluates the economic viability of these models considering Sri Lanka's current energy market and technological environment. The outcomes highlight the necessity for employing diversified energy strategies to enhance the efficiency of the national power supply system and maximize the utilization of renewable resources, contributing to Sri Lanka's sustainable development and energy security.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.8 no.3
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• pp.945-953
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• 2018

In this paper, we use 3-D LIDAR for obstacle detection and avoidance maneuver for autonomous unmanned operation. It is aimed to avoid obstacle avoidance in unmanned water under marine condition using only single sensor. 3D lidar uses Quanergy's M8 sensor to collect surrounding obstacle data and includes layer information and intensity information in obstacle information. The collected data is converted into a three-dimensional Cartesian coordinate system, which is then mapped to a two-dimensional coordinate system. The data including the obstacle information converted into the two-dimensional coordinate system includes noise data on the water surface. So, basically, the noise data generated regularly is defined by defining a hypothetical region of interest based on the assumption of unmanned water. The noise data generated thereafter are set to a threshold value in the histogram data calculated by the Vector Field Histogram, And the noise data is removed in proportion to the amount of noise. Using the removed data, the relative object was searched according to the unmanned averaging motion, and the density map of the data was made while keeping one cell on the virtual grid map. A polar histogram was generated for the generated obstacle map, and the avoidance direction was selected using the boundary value.