• 제목/요약/키워드: Path-planning

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A Study on the Design and Implementation of Multi-Disaster Drone System using Deep Learning-based Object Recognition and Optimal Path Planning (딥러닝 기반 객체 인식과 최적 경로 탐색을 통한 멀티 재난 드론 시스템 설계 및 구현에 대한 연구)

  • Kim, Jin-Hyeok;Lee, Tae-Hui;Park, Jonghyen;Jeong, Yerim;Jang, Seohyun
    • Proceedings of the Korea Information Processing Society Conference
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    • 한국정보처리학회 2020년도 추계학술발표대회
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    • pp.556-559
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    • 2020
  • 최근 태풍, 지진, 산불, 산사태, 전쟁 등 다양한 재난 상황으로 인한 인명피해와 자금 손실이 꾸준히 발생하고 있고 현재 이를 예방하고 복구하기 위해 많은 인력과 자금이 소요되고 있는 실정이다. 이러한 여러 재난 상황을 미리 감시하고 재난 발생의 빠른 인지 및 대처를 위해 본 논문에서는 인공지능 기반의 재난 드론 시스템을 설계 및 개발하였다. 본 연구에서는 사람이 감시하기 힘든 지역에 여러 대의 재난 드론을 이용하며 딥러닝 기반의 최단 경로 알고리즘을 적용해 각각의 드론이 최적의 경로로 효율적 탐색을 실시한다. 또한 드론의 근본적 문제인 배터리 용량 부족에 대한 문제점을 해결하기 위해 Ant Colony Optimization (ACO) 기술을 이용하여 각 드론의 최적 경로를 결정하게 된다. 제안한 시스템 구현을 위해 여러 재난 상황 중 산불 상황에 적용하였으며 전송된 데이터를 기반으로 산불지도를 만들고, 빔프로젝터를 탑재한 드론이 출동한 소방관에게 산불지도를 시각적으로 보여주었다. 제안한 시스템에서는 여러 대의 드론이 최적 경로 탐색 및 객체인식을 동시에 수행함으로써 빠른 시간 내에 재난 상황을 인지할 수 있다. 본 연구를 바탕으로 재난 드론 인프라를 구축하고 조난자 탐색(바다, 산, 밀림), 드론을 이용한 자체적인 화재진압, 방범 드론 등에 활용할 수 있다.

Artificial Intelligence Based LOS Determination for the Cyclists-Pedestrians Mixed Road Using Mobile Mapping System (인공지능 기반 MMS를 활용한 자전거보행자겸용도로 서비스 수준 산정)

  • Tae-Young Lee;Myung-Sik Do
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • 제22권3호
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    • pp.62-72
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    • 2023
  • Recently, the importance of monitoring and management measures for bicycle road related facilities has been increasing. However, research on the monitoring and evaluation of users' safety and convenience in walking spaces including bicycle path is insufficient. In this study, we would like to construct health monitoring data for cylists-pedestrians mixed road using a mobile mapping system, and propose a plan to calculate the level of service of the mixed roads from the perspective of pedestrians and cyclists using artificial intelligence based object detection techniques. The monitoring and level of service calculation method of cylists-pedestrians mixed roads proposed in this study is expected to be used as basic information for planning and management such as maintenance and reconstruction of walking spaces in preparation for the increase of electric bicycles and personal mobility in the future.

A Study on the Application of Bus Route Sketch Methodology Based on Multiple Evaluation Indicators: Focusing on a Bus Line in Sejong (다중 평가지표 기반의 버스노선 스케치 방법론 적용 연구: 세종시 버스노선 사례를 중심으로)

  • Jun-Yong Jang;Sung Hoo Kim
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • 제23권2호
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    • pp.50-68
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    • 2024
  • This study developed a bus route sketch (BRS) methodology for utilizing bus route design and operation steps in practice and evaluated the feasibility of the method. The BRS methodology consists of three steps: transportation zoning suitable for the provider and users of bus transit service; determining the bus operation route based on established transportation zones and path combination; optimizing the operation route based on the estimation of route alternatives in terms of the multi-performance measures from the standpoints of bus-transit service provider and user. The results of a case study showed that the estimation scores from the perspectives of provider and user were improved significantly from 8.83 and 7.13 to 9.50 and 9.89, respectively. Because the BRS method was designated and developed to be suitable for field application for route planning and operation, the method can be used instantly and directly to estimate and adjust the on-operation bus transit line and route design.

Machine Learning Framework for Predicting Voids in the Mineral Aggregation in Asphalt Mixtures (아스팔트 혼합물의 골재 간극률 예측을 위한 기계학습 프레임워크)

  • Hyemin Park;Ilho Na;Hyunhwan Kim;Bongjun Ji
    • Journal of the Korean Geosynthetics Society
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    • 제23권1호
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    • pp.17-25
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    • 2024
  • The Voids in the Mineral Aggregate (VMA) within asphalt mixtures play a crucial role in defining the mixture's structural integrity, durability, and resistance to environmental factors. Accurate prediction and optimization of VMA are essential for enhancing the performance and longevity of asphalt pavements, particularly in varying climatic and environmental conditions. This study introduces a novel machine learning framework leveraging ensemble machine learning model for predicting VMA in asphalt mixtures. By analyzing a comprehensive set of variables, including aggregate size distribution, binder content, and compaction levels, our framework offers a more precise prediction of VMA than traditional single-model approaches. The use of advanced machine learning techniques not only surpasses the accuracy of conventional empirical methods but also significantly reduces the reliance on extensive laboratory testing. Our findings highlight the effectiveness of a data-driven approach in the field of asphalt mixture design, showcasing a path toward more efficient and sustainable pavement engineering practices. This research contributes to the advancement of predictive modeling in construction materials, offering valuable insights for the design and optimization of asphalt mixtures with optimal void characteristics.

A Study on the Spatial Control Effect of Panjang in Donggwoldo (동궐도(東闕圖) 판장(板墻)의 공간통제 효과에 관한 연구)

  • HA Yujeong;KIM Choongsik
    • Korean Journal of Heritage: History & Science
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    • 제55권4호
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    • pp.196-209
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    • 2022
  • This study compared and analyzed the spatial division function and role of partitions by comparing the entire space and the spatial changes before and after the installation of partitions in <Donggwoldo>, which was manufactured in the late Joseon Dynasty. As a research method, a set standard was prepared to decompose the space of <Donggwoldo> into a unit space, and the standard was set according to the role and height of the space by classifying it into a main space, sub space, and transition space. Two convex maps were prepared according to before and after the installation of the Panjang, and the values of connectivity, control, and integration, which are spatial syntax variables, were calculated and analyzed. The results of the study are as follows. First, the partition in <Donggwoldo(東闕圖)> did not affect the overall spatial arrangement and control or connection of Donggwol, but the movement and access of space is limited to specific areas. Second, the partition was a facility intensively distributed in Naejeon(內殿) and Donggung(東宮) to be used actively in the way of space utilization. It shows that the unit space increased rapidly due to the installation of the partition. Since the partition was installed in the spaces that were open and under high control in the case of Naejeon(內殿), it helped to secure private spaces as closed ones under low control. On the other hand, for Donggung(東宮), the spaces were compartmented and divided with the partition to guide the movement path through narrow gates of the partition and increase the depth of the space. This helped to create spaces that are free and can be hidden as it increased the number of spaces coming through. Third, In addition to the functions of "eye blocking, space division, and movement path control" revealed in prior research, the partition has created a "space that is easy to control" within a specific area. The installation of the partition reduced the scale through the separation of spaces, but it occurred the expansion of the movement path and space. Also, the partition functioned to strengthen hiding and closure or increase openness as well through space division. This study is significant in that it revealed the value of the spatial control function of panjang through the analysis of spatial control and depth by analyzing the function of the partition with a mathematical model in addition to the analysis and study of the function and role of panjang. In addition, it is valuable in that it has prepared a framework for analysis tools that can be applied to traditional residential complexes similar to palaces by applying space syntax to <Donggungdo> to create convex spaces according to unit space division and connection types of palace architecture and landscape elements.

Development of Intelligent ATP System Using Genetic Algorithm (유전 알고리듬을 적용한 지능형 ATP 시스템 개발)

  • Kim, Tai-Young
    • Journal of Intelligence and Information Systems
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    • 제16권4호
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    • pp.131-145
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    • 2010
  • The framework for making a coordinated decision for large-scale facilities has become an important issue in supply chain(SC) management research. The competitive business environment requires companies to continuously search for the ways to achieve high efficiency and lower operational costs. In the areas of production/distribution planning, many researchers and practitioners have developedand evaluated the deterministic models to coordinate important and interrelated logistic decisions such as capacity management, inventory allocation, and vehicle routing. They initially have investigated the various process of SC separately and later become more interested in such problems encompassing the whole SC system. The accurate quotation of ATP(Available-To-Promise) plays a very important role in enhancing customer satisfaction and fill rate maximization. The complexity for intelligent manufacturing system, which includes all the linkages among procurement, production, and distribution, makes the accurate quotation of ATP be a quite difficult job. In addition to, many researchers assumed ATP model with integer time. However, in industry practices, integer times are very rare and the model developed using integer times is therefore approximating the real system. Various alternative models for an ATP system with time lags have been developed and evaluated. In most cases, these models have assumed that the time lags are integer multiples of a unit time grid. However, integer time lags are very rare in practices, and therefore models developed using integer time lags only approximate real systems. The differences occurring by this approximation frequently result in significant accuracy degradations. To introduce the ATP model with time lags, we first introduce the dynamic production function. Hackman and Leachman's dynamic production function in initiated research directly related to the topic of this paper. They propose a modeling framework for a system with non-integer time lags and show how to apply the framework to a variety of systems including continues time series, manufacturing resource planning and critical path method. Their formulation requires no additional variables or constraints and is capable of representing real world systems more accurately. Previously, to cope with non-integer time lags, they usually model a concerned system either by rounding lags to the nearest integers or by subdividing the time grid to make the lags become integer multiples of the grid. But each approach has a critical weakness: the first approach underestimates, potentially leading to infeasibilities or overestimates lead times, potentially resulting in excessive work-inprocesses. The second approach drastically inflates the problem size. We consider an optimized ATP system with non-integer time lag in supply chain management. We focus on a worldwide headquarter, distribution centers, and manufacturing facilities are globally networked. We develop a mixed integer programming(MIP) model for ATP process, which has the definition of required data flow. The illustrative ATP module shows the proposed system is largely affected inSCM. The system we are concerned is composed of a multiple production facility with multiple products, multiple distribution centers and multiple customers. For the system, we consider an ATP scheduling and capacity allocationproblem. In this study, we proposed the model for the ATP system in SCM using the dynamic production function considering the non-integer time lags. The model is developed under the framework suitable for the non-integer lags and, therefore, is more accurate than the models we usually encounter. We developed intelligent ATP System for this model using genetic algorithm. We focus on a capacitated production planning and capacity allocation problem, develop a mixed integer programming model, and propose an efficient heuristic procedure using an evolutionary system to solve it efficiently. This method makes it possible for the population to reach the approximate solution easily. Moreover, we designed and utilized a representation scheme that allows the proposed models to represent real variables. The proposed regeneration procedures, which evaluate each infeasible chromosome, makes the solutions converge to the optimum quickly.

A Study on Deriving Process of a Design Alternative to the Forest Experience Center for Children through Preschooler Participatory (유아참여를 통한 유아숲체험원 설계안 도출과정에 관한 연구)

  • Kang, Tae-Sun
    • Journal of the Korean Institute of Landscape Architecture
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    • 제47권5호
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    • pp.1-13
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    • 2019
  • This study is to derive a design alternative to the FECC (Forest Experience Center for Children) that meets the preschooler's preferences. For this purpose, preschooler participation is included in each phase of the FECC, the site perception phase, the deriving design elements phase, and the deriving design alternative phase. In this study, the process of the deriving design alternative phase was carried out with kindergarteners and preschoolers (6, 7 years olds; all 41 students) at Songsan-mulbit FECC in Gwangsan-gu, Gwangju. In order to derive the design alternatives, three detailed design processes (preschooler participation 2 times, researcher analysis 1 time), tool construction, and a preschooler participation workshop were conducted. The results of this study are as follows. First, as a result of the preschooler's design process, 41 designs were drawn, and an average of 7.66 spaces were drawn by each preschooler. The 6-year-old males designed the least (average 6.80 spaces) and the 7-year-old females designed the most (9.0 spaces). The physical and adventure play spaces were most common (38.9% to 48.7%) regardless of gender or age. To analyze the feasibility of the preschooler's design using a base map, the appearance of the physical environmental characteristics (7 items) in the site were analyzed in each of the 41 designs. As a result, the environmental characteristics were apparent a total 72 times overall. Similar environmental characteristics appearing more than once were apparent in 87.8% (26 designs) of designs. Second, three design alternatives were derived: APS- types (intensive planning of active play facility spaces) was presented in 15 designs, NS-types (planning focused on nature spaces) was presented in 14 designs, and SPS-types (planning focused on static play facility spaces) were presented 12 designs. Third, NS-type, which were finally selected through a preference assessment (5-point scale) and a comparative assessment of the three alternatives, has mainly natural spaces (forest space, forest path, shelter, natural exploration space, and ecological pond) and active play facility spaces, water play space and soil (sand) play spaces was appropriately designed. Therefore, the NS-type was analyzed as the design alternative that can fully accomplish all types of cognitive development through developed through play (functional play, constructive play, dramatic(symbolic) play).

Utilizing Visual Information for Non-contact Predicting Method of Friction Coefficient (마찰계수의 비접촉 추정을 위한 영상정보 활용방법)

  • Kim, Doo-Gyu;Kim, Ja-Young;Lee, Ji-Hong;Choi, Dong-Geol;Kweon, In-So
    • Journal of the Institute of Electronics Engineers of Korea SP
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    • 제47권4호
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    • pp.28-34
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    • 2010
  • In this paper, we proposed an algorithm for utilizing visual information for non-contact predicting method of friction coefficient. Coefficient of friction is very important in driving on road and traversing over obstacle. Our algorithm is based on terrain classification for visual image. The proposed method, non-contacting approach, has advantage over other methods that extract material characteristic of road by sensors contacting road surface. This method is composed of learning group(experiment, grouping material) and predicting friction coefficient group(Bayesian classification prediction function). Every group include previous work of vision. Advantage of our algorithm before entering such terrain can be very useful for avoiding slippery areas. We make experiment on measurement of friction coefficient of terrain. This result is utilized real friction coefficient as prediction method. We show error between real friction coefficient and predicted friction coefficient for performance evaluation of our algorithm.

3D Terrain Reconstruction Using 2D Laser Range Finder and Camera Based on Cubic Grid for UGV Navigation (무인 차량의 자율 주행을 위한 2차원 레이저 거리 센서와 카메라를 이용한 입방형 격자 기반의 3차원 지형형상 복원)

  • Joung, Ji-Hoon;An, Kwang-Ho;Kang, Jung-Won;Kim, Woo-Hyun;Chung, Myung-Jin
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • 제45권6호
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    • pp.26-34
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    • 2008
  • The information of traversability and path planning is essential for UGV(Unmanned Ground Vehicle) navigation. Such information can be obtained by analyzing 3D terrain. In this paper, we present the method of 3D terrain modeling with color information from a camera, precise distance information from a 2D Laser Range Finder(LRF) and wheel encoder information from mobile robot with less data. And also we present the method of 3B terrain modeling with the information from GPS/IMU and 2D LRF with less data. To fuse the color information from camera and distance information from 2D LRF, we obtain extrinsic parameters between a camera and LRF using planar pattern. We set up such a fused system on a mobile robot and make an experiment on indoor environment. And we make an experiment on outdoor environment to reconstruction 3D terrain with 2D LRF and GPS/IMU(Inertial Measurement Unit). The obtained 3D terrain model is based on points and requires large amount of data. To reduce the amount of data, we use cubic grid-based model instead of point-based model.

The Role of Postdoctoral Experience in Research Performance and the Size of Research Network of Young Researchers: An Empirical Study on S&T Doctoral Degree Holders (신진연구자의 연구 성과 및 연구 네트워크 규모에서 포닥 경험의 역할: 이공계 박사학위 취득자를 대상으로)

  • Ko, Yun Mi
    • Journal of Technology Innovation
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    • 제24권4호
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    • pp.1-26
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    • 2016
  • The period after the PhD has a huge impact on the careers of researcher from a researcher lifecycle perspective. This is a turning point which student receives guidance from professor and become an independent researcher. Furthermore, they learn to develop ideas for independent research, apply for grants and manage a project; they also form expert networks in related filed and publish papers to share their findings. This study focuses on the period between earning doctoral degree and being employed as a stable position in university. This study starts from a research questions that asks which factors of postdoctoral experience affect research output. In this study, the paper performance, especially co-authorship of paper, of postdoctoral researchers was investigated. The cumulative advantage theory and Matthew effect were employed to shed a light on this research question. The empirical work is based on the Survey & Analysis of National R&D program in Korea conducted by Korea Institute of S&T Evaluation and Planning (KISTEP). The correlations between the research output and characteristics of postdoctoral experience were verified. These results are expected to contribute as new empirical evidences on investigating knowledge transfer activities of new PhDs.