• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.12
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• pp.1124-1132
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• 2011

This paper deals with smooth path generation using B-spline for fixed-wing unmanned aerial vehicles manuevering in 2D environment. Hexagonal cell representation is employed to model the 2D environment, which features increased connectivity among cells over square cell representation. Subsequently, hexagonal cell representation enables smoother path generation based on a discrete sequence of path from the path planner. In addition, we present an on-line path smoothing algorithm incorporating B-spline path templates. The path templates are computed off-line by taking into account all possible path sequences within finite horizon. During on-line implementation, the B-spline curves from the templates are stitched together repeatedly to come up with a reference trajectory for UAVs. This method is an effective way of generating smooth path with reduced on-line computation requirement, hence it can be implemented on a small low-cost autopilot that has limited computational resources.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2335-2337
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• 2001

In this paper, we address a new complete coverage navigation algorithm and guidance methodology for the cleaning robot. The proposed algorithm is based on the grid map. Six templates, excluding a Back-Trace(BT) template are used as the local navigation method. The effectiveness of the algorithm proposed in this paper is thoroughly demonstrated through simulations and the evaluation of parameters for the path execution.

• ETRI Journal
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• v.44 no.5
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• pp.780-793
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• 2022

Large-scale ontology management is one of the main issues when using ontology data practically. Although many approaches have been proposed in relational database management systems (RDBMSs) or object-oriented DBMSs (OODBMSs) to develop large-scale ontology management systems, they have several limitations because ontology data structures are intrinsically different from traditional data structures in RDBMSs or OODBMSs. In addition, users have difficulty using ontology data because many terminologies (ontology nodes) in large-scale ontology data match with a given string keyword. Therefore, in this study, we propose a (graph database-based ontology management system (GOMS) to efficiently manage large-scale ontology data. GOMS uses a graph DBMS and provides new query templates to help users find key concepts or instances. Furthermore, to run queries with multiple joins and path conditions efficiently, we propose GOMS encoding as a filtering tool and develop hash-based join processing algorithms in the graph DBMS. Finally, we experimentally show that GOMS can process various types of queries efficiently.

• Journal of the Korean Vacuum Society
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• v.19 no.1
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• pp.58-65
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• 2010

AlN thin films were deposited on sapphire substrates and ZnO templates by rf-magnetron sputtering. Powder-sintered AlN target was adopted for source material. Thickness of AlN layer was linearly dependent on plasma power from 50 to 110 W, and it decreased slightly when working pressure increased from 3 to 10 mTorr due to short mean free path of source material sputtered from AlN target by Ar working gas. When $N_2$ gas was mixed with Ar, the thickness of AlN layer decreased significantly because of low sputter yield of nitrogen. AlN layer was also deposited on ZnO template. However, it showed weak thermal stability that the interface between AlN and ZnO was deteriorated by rapid thermal annealing treatment above $700^{\circ}C$. In addition, ZnO layer was largely attacked by MOCVD ambient gas of hydrogen and ammonia around $700^{\circ}C$ through inferior AlN layer deposited by sputtering. And AlN layers were fully peeled off above $900^{\circ}C$.