• Proceedings of the Korea Information Processing Society Conference
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• 2004.05a
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• pp.397-400
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• 2004

본 논문에서는 Navigation Mesh로 이루어진 3D 게임에서 가시성 그래프(Visibility Graph)와 $A^*$ 알고리즘을 혼용한 효율적인 경로 탐색 방법을 제안한다. Navigation Mesh로 지형을 생성할 때 이동에 꼭 필요한 Mesh로만 최대한 단순하게 지형을 구성하는 경우에는 경로 탐색을 위하여 $A^*$ 알고리즘을 적용할 수 있으나, 일반적으로 세밀하게 구성된 Navigation Mesh에서 $A^*$ 알고리즘을 적용할 경우 탐색할 공간이 많아지기 때문에 경로 탐색이 매우 비효율적이 된다. 세밀하게 구성된 Navigation Mesh에서도 효율적인 탐색을 하기 위해서 본 논문에서는 가시성 그래프를 이용하여 탐색 공간을 줄이는 방법을 사용하였다. 장애물들의 정점을 찾아 반드시 통과하여야 하는 mesh 들을 선정하고 $A^*$의 휴리스틱 함수를 이 mesh들을 지나가는 거리로 정의함으로써 기본적인 $A^*$ 알고리즘을 수행하는 것보다 탐색을 위하여 방문하는 mesh들의 수를 현저히 줄일 수 있었다.

• Journal of Sensor Science and Technology
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• v.32 no.2
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• pp.118-123
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• 2023

This study presents sensor system for autonomous mobile robot capable of floor-to-floor self-navigation. The robot was modified using the Turtlebot3 hardware platform and ROS2 (robot operating system 2). The robot utilized the Navigation2 package to estimate and calibrate the moving path acquiring a map with SLAM (simultaneous localization and mapping). For elevator boarding, ultrasonic sensor data and threshold distance are compared to determine whether the elevator door is open. The current floor information of the elevator is determined using image processing results of the ceiling-fixed camera capturing the elevator LCD (liquid crystal display)/LED (light emitting diode). To realize seamless communication at any spot in the building, the LoRa (long-range) communication module was installed on the self-navigating autonomous mobile robot to support the robot in deciding if the elevator door is open, when to get off the elevator, and how to reach at the destination.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.6
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• pp.535-542
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• 2011

The Global Navigation Satellite System(GNSS) is being utilized in numerous applications. The research for autonomous guided vehicles(AGVs) using precise positioning of GNSS is in progress. GNSS based AGVs is useful for setting driving path. This AGV system is more efficient than the previous one. Escipecially, the obstacle is positioned the driving path. Previcious AGVs which follow marker or wires laid out on the road have to stop the front of obstacle. But GNSS based AGVS can continuously drive using obstacle avoidance. In this paper, we developed collision avoidance system for GNSS based AGV using laser scanner and collision avoidance path setting algorithm. And we analyzed the developed system.

• Journal of Korea Society of Industrial Information Systems
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• v.9 no.1
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• pp.7-16
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• 2004

The tool path needs to be determined in an efficient manner to generate the final NC (numerical control) code for efficient machining. This is particularly important in machining free form pockets with an arbitrary wall geometry on a three-axis CNC machine. Many CAD/CAM systems use linear interpolation to generate NC tool paths for curved surfaces. However, this needs to be modified to improve the smoothness of the machined bottom surface, reduce machining time and CL (cutter location) file size. Curved machining can be a solution to reduce these problems. The unified rough and finish cut algerian and the tool motion is graphically simulated. In this paper, a grid based 3D navigation algorithm for generating NC tool path data for both linear interpolation and a combination of linear and circular interpolation for three-axis CNC milling of general pockets with sculptured bottom surfaces is developed.

• Journal of Advanced Navigation Technology
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• v.7 no.1
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• pp.14-21
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• 2003

We investigated the optimum pump light power compensating distorted WDM signal due to both chromatic dispersion and self phase modulation (SPM). The considered system is $3{\times}40$ Gbps intensity modulation direct detection (IM/DD) WDM transmission system with path-averaged intensity approximation (PAIA) mid-span spectral inversion (MSSI) as compensation method. This system have highly nonlinear dispersion shifted fiber (HNL-DSF) as nonlinear medium of optical phase conjugator (OPC) in the mid-way of total transmission line. We confirmed that HNL-DSF is an useful nonlinear medium in OPC for wideband WDM transmission, and the excellent compensation is obtained when the pump light power of HNL-DSF OPC was selected to equalize the conjugated light power into the second half fiber section with the input WDM signal light power depending on total transmission length. By this approach, it is verified the possibility to realize a long-haul high capacities WDM system by using PAIA MSSI compensation method, which have HNL-DSF OPC with optimal pump light power depending on transmission length.

• Journal of Advanced Navigation Technology
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• v.22 no.4
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• pp.311-318
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• 2018

In this paper, test-bed for the evaluation of wireless communication system on a small launch vehicle is proposed. The proposed test-bed consists of antenna test-coupler, RF attenuators, and RF switch modules. The antenna test-coupler isolates antennas for each band and transmits / receives wireless signals. The RF attenuator and switch are used for path selection of testing signal path. In design and measurement result of the antenna test-coupler, the antenna test-coupler has shielding effect higher than 39.3, 47.1, 56.1 dB at UHF-, S-, X-band. Through testing on small launch vehicle wireless communication system, we were able to successfully transmit and receive data between each test system and launch vehicle with antenna path switching.

• Journal of Navigation and Port Research
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• v.46 no.3
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• pp.259-268
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• 2022

Unlike the general buyer-supplier relationship, there are cases wherein the bargaining power of suppliers is greater than that of buyers. This relationship can be found especially in the shipbuilding industry. Thus, this paper focused on strategic items presented in Kraljic's study. The purpose of this study was to examine factors influencing buyers' purchase of strategic items in a market wherein the bargaining power of suppliers is superior. Results show that the path coefficient between environment factor and satisfaction factor was the highest. Additionally, the path coefficient between environment factor and reliability factor was the next highest. Also, as a result of analyzing if there is a difference in perception according to the superiority and inferiority of bargaining power perceived by buyers, significant results were found in some path coefficients.

• Journal of Advanced Navigation Technology
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• v.27 no.6
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• pp.804-814
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• 2023

Various buildings are scattered below and around the flight path of UAM (Urban Air Mobility), which flies within a densely populated urban area. And the vertiport used by UAM for takeoff and landing is located on a flat area within the city center or on top of a building. As such, UAM operates in densely populated urban areas, and vertiports for takeoff and landing are installed in densely populated areas, requiring a very high level of safety. In particular, for safe landing of UAM, it is necessary to monitor the approach status of UAM approaching the vertiport from the final approach course and provide approach information. Accordingly, to monitor the UAM vertiport final approach path, research was conducted on technology that utilizes optical equipment that can be installed in a narrow site and has the advantage of reducing the burden of electromagnetic waves.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.5
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• pp.2375-2382
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• 2011

The user clustering for web navigation pattern discovery is very useful to get preference and behavior pattern of users for web pages. In addition, the information by the user clustering is very essential for web personalization or customer grouping. In this paper, an algorithm for clustering the web navigation path of users is proposed and then some special navigation patterns can be recognized by the algorithm. The proposed algorithm has two clustering phases. In the first phase, all paths are classified into k-groups on the bases of the their similarities. The initial solution obtained in the first phase is not global optimum but it gives a good and feasible initial solution for the second phase. In the second phase, the first phase solution is improved by revising the k-means algorithm. In the revised K-means algorithm, grouping the paths is performed by the hyperplane instead of the distance between a path and a group center. Experimental results show that the proposed method is more efficient.

• Ocean and Polar Research
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• v.33 no.1
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• pp.69-76
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• 2011

A test miner named MineRo was constructed for the purpose of shallow water test of mining performance. In June of 2009, the performance test was conducted in depth of 100 m, 5 km away from Hupo-port (Korean East Sea), to assess if the developed system is able to collect and lift manganese nodules from seafloor. In August of 2010, in-situ test of automatic path tracking control of MineRo was performed in depth of 120 m at the same site. For path tracking control, a localization algorithm determining MineRo's position on seabed is prerequisite. This study proposes an improved underwater navigation algorithm through estimation of MineRo's kinematic parameters. In general, the kinematic parameters such as track slips and slip angle are indirectly calculated using the position data from USBL (Ultra-Short Base Line) system and heading data from gyro sensors. However, the obtained data values are likely to be different from the real values, primarily due to the random noise of position data. The aim of this study is to enhance the reliability of the algorithm by measuring kinematic parameters, track slips and slip angle.