• Journal of Electrical Engineering and Technology
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• v.8 no.1
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• pp.1-10
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• 2013

The power industry is currently facing many challenges, due to the new environment created by the introduction of smart grid technologies. In particular, the large-scale deployment of electric vehicles (EVs) may have a significant impact on demand for electricity and, thereby, influence generation and transmission system planning. However, it is difficult to deal with uncertainties in EV charging loads using deterministic planning methods. This paper presents a two-stage stochastic decomposition method with Latin-hyper rectangle sampling (LHRS) to solve the integrated generation and transmission planning problem incorporating EV deployment. The probabilistic distribution of EV charging loads is estimated by Latin-hyper rectangle sampling (LHRS) to enhance the computational performance of the proposed method. Numerical results are presented to show the effectiveness of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.192-198
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• 2016

Motion planning problem is still one of the important issues in robotic applications. In many real-time motion planning problems, it is advisable to find a feasible solution quickly and improve the found solution toward the optimal one before the previously-arranged motion plan ends. For such reasons, sampling-based approaches are becoming popular for real-time application. Especially the use of a rapidly exploring random $tree^*$ ($RRT^*$) algorithm is attractive in real-time application, because it is possible to approach an optimal solution by iterating itself. This paper presents a modified version of informed $RRT^*$ which is an extended version of $RRT^*$ to increase the rate of convergence to optimal solution by improving the sampling method of $RRT^*$. In online motion planning, the robot plans a path while simultaneously moving along the planned path. Therefore, the part of the path near the robot is less likely to be sampled extensively. For a better solution in online motion planning, we modified the sampling method of informed $RRT^*$ by combining with the sampling method to improve the path nearby robot. With comparison among basic $RRT^*$, informed $RRT^*$ and the proposed $RRT^*$ in online motion planning, the proposed $RRT^*$ showed the best result by representing the closest solution to optimum.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.27 no.2
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• pp.1-8
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• 2019

Optimal path planning refers to find the safe route to the destination at a low cost, is a major problem with regard to autonomous navigation. Sampling Based Planning(SBP) approaches, such as Rapidly-exploring Random Tree Star($RRT^*$), are the most influential algorithm in path planning due to their relatively small calculations and scalability to high-dimensional problems. $RRT^*$-Smart introduced path optimization and biased sampling techniques into $RRT^*$ to increase convergent rate. This paper presents an improvement plan that has changed the biased sampling method to increase the initial convergent rate of the $RRT^*$-Smart, which is specified as m$RRT^*$-Smart. With comparison among $RRT^*$, $RRT^*$-Smart and m$RRT^*$-Smart in 2 & 3-D environments, m$RRT^*$-Smart showed similar or increased initial convergent rate than $RRT^*$ and $RRT^*$-Smart.

• Proceedings of the Korea Information Processing Society Conference
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• 2019.05a
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• pp.76-78
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• 2019

Sampling-based algorithms are one of the most commonly approaches which give good results in robot path planning with many degree of freedom. So that many proposed methods as well as their improvement based on these approaches have been proposed. The purpose of this paper is to survey some current algorithms using for path planning, the original proposed methods as well as their improvement. Some advantages and disadvantages of these algorithms will be also mentioned, how the improved version of the proposed methods overcome the original proposed methods' drawback.

• Nuclear Engineering and Technology
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• v.51 no.3
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• pp.825-836
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• 2019

One of the most challenging safety precautions for workers in dynamic, radioactive environments is avoiding radiation sources and sustaining low exposure. This paper presents a sampling-based algorithm, DL-RRT*, for minimum dose walk-path re-planning in radioactive environments, expedient for occupational workers in nuclear facilities to avoid unnecessary radiation exposure. The method combines the principle of random tree star ($RRT^*$) and $D^*$ Lite, and uses the expansion strength of grid search strategy from $D^*$ Lite to quickly find a high-quality initial path to accelerate convergence rate in $RRT^*$. The algorithm inherits probabilistic completeness and asymptotic optimality from $RRT^*$ to refine the existing paths continually by sampling the search-graph obtained from the grid search process. It can not only be applied to continuous cost spaces, but also make full use of the last planning information to avoid global re-planning, so as to improve the efficiency of path planning in frequently changing environments. The effectiveness and superiority of the proposed method was verified by simulating radiation field under varying obstacles and radioactive environments, and the results were compared with $RRT^*$ algorithm output.

• Advances in environmental research
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• v.6 no.3
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• pp.229-240
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• 2017

This paper assessed environmental sanitation behaviour of market operators in selected markets in Ibadan, Nigeria. The two largest markets in the study area (Aleshinloye and Bodija markets) were selected for sampling. The selected markets represented the two types of markets; modern and traditional markets. The modern market comprises 3803 shops while the traditional market comprises 5943 shops. Multistage sampling technique was adopted in questionnaire administration. The selected markets were stratified into zones based on the goods sold. Systematic sampling was used in the selection of traders across the markets. 2% of traders were selected for sampling in each category of goods sold making a total of 189 respondents. This comprises 77 of traders from modern market and 112 traders from traditional markets. Descriptive and Inferential statistics were used in analysing the data. Findings revealed poor access to environmental sanitation facilities especially at the traditional market. The study also established poor environmental sanitation behaviour in terms of utilisation of available amenities across both markets. It recommended a synergy of efforts by all environmentally concerned institutions in managing the market environment. It also advocated for the provision of environmental sanitation facilities in markets by, government, market management authorities, traders, Community Based Organizations (CBOs) and Non-governmental Organizations (NGOs). In addition environmental education is imperative while enforcement of environmental regulations in the market and others with similar setting is strongly encouraged.

• Journal of Soil and Groundwater Environment
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• v.19 no.1
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• pp.26-33
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• 2014

Uncertainty associated with a sampling method is very high in evaluating the degree of site contamination; therefore, such uncertainty affects the reliability of precise investigation and remediation verification. In particular, in evaluating a site for a small-sized filling station, underground utilities, such as connection pipes and oil storage tanks, make grid-unit sampling impossible and the resulting increase in uncertainty is inevitable. Accordingly, this study quantified the uncertainty related to the evaluation of the degree of contamination by total petroleum hydrocarbon and by benzene, toluene, ethylene, and xylene. When planning a grid aimed at detecting a hot spot, major factors that influence the increase in uncertainty include grid interval and the size and shape of the hot spot. The current guideline for soil sampling prescribes that the grid interval increase in proportion to the area of the evaluated site, but this heightens the possibility that a hot spot will not be detected. In evaluating a site, therefore, it is crucial to estimate the size and shape of the hot spot in advance and to establish a sampling plan considering a diversity of scenarios.

• Communications for Statistical Applications and Methods
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• v.18 no.1
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• pp.147-153
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• 2011

In this paper a new sampling procedure for estimating the population mean is introduced. The performance of the new population mean estimator is discussed, along with its properties, and it is shown that the proposed method generates an unbiased estimator. The relative efficiency of the suggested estimator is computed, in regards to the simple random sample(SRS), and comparisons are made to the ranked set sampling(RSS) and extreme ranked set sampling(ERSS) estimators used for asymmetric distributions. The results indicate that the proposed estimator is more efficient than the estimators based on the ERSS. In addition, the folded ranked set sampling(FRSS) procedure has an advantage over the RSS and ERSS in that it reduces the number of unused sampling units.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.256-261
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• 2005

In this research, we propose a path-planning algorithm for an autonomous mobile robot using geographical information, under the condition that the robot moves in unknown environment. All image inputted by camera at every sampling time are analyzed and geographical elements are recognized, and the geographical information is embedded in environmental map. The geographical information was transformed into 1-dimensional evaluation value that expressed the difficulty of movement for the robot. The robot goes toward the goal searching for path that minimizes the evaluation value at every sampling time. Then, the path is updated by integrating the exploited information and the prediction on unexploited environment. We used a sensor fusion method for improving the mobile robot dead reckoning accuracy. The experiment results that confirm the effectiveness of the proposed algorithm on the robot's reaching the goal successfully using geographical information are presented.

• Journal of Soil and Groundwater Environment
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• v.16 no.6
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• pp.1-9
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• 2011

A bibliographical review of Gy sampling theory for particulate materials was conducted to provide readers with useful means to reduce errors in soil contamination investigation. According to the Gy theory, the errors caused by the heterogeneous nature of soil include; the fundamental error (FE) caused by physical and chemical constitutional heterogeneity, the grouping and segregation error (GE) aroused from gravitational force, long-range heterogeneous fluctuation error ($CE_2$), the periodic heterogeneity fluctuation error ($CE_3$), and the materialization error (ME) generated during physical process of sample treatment. However, the accurate estimation of $CE_2$ and $CE_3$ cannot be estimated easily and only increasing sampling locations can reduce the magnitude of the errors. In addition, incremental sampling is the only method to reduce GE while grab sampling should be avoided as it introduces uncertainty and errors to the sampling process. Correct preparation and operation of sampling tools are important factors in reducing the incremental delimitation error (DE) and extraction error (EE) which are resulted from physical processes in the sampling. Therefore, Gy sampling theory can be used efficiently in planning a strategy for soil investigations of non-volatile and non-reactive samples.