• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.758-771
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• 2021

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.

• 한국컴퓨터정보학회논문지
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• 제21권5호
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• pp.41-47
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• 2016

This paper considers simple polygon search problem. How many searchers find a mobile intruder that is arbitrarily faster than the searcher within polygon art gallery? This paper uses the visibility graph that is connected with edges for mutually visible vertices. Given visibility graph, we select vertex u that is conjunction ${\Delta}(G)$ in $N_G(v)$ for $d_G(v){\leq}4$. We decide 1-searchable if $1{\leq}{\mid}u{\mid}{\leq}2$ and 2-searchable if ${\mid}u{\mid}{\geq}3$. We also present searcher's shortest path. This algorithm is verified by varies 1 or 2-searchable polygons.

• 한국통신학회:학술대회논문집
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• 한국통신학회 1991년도 추계종합학술발표회논문집
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• pp.145-149
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• 1991

In this paper, an algorithm is proposed to analyze the approximating reliability of the capacity considered communication networks. In the case ofthe former methods to evaluate the source-to-termianl node reliability, it is very difficult to contract and delete the jointed terms in the simple path group. Therefore, the reliability bounds are used and compared to the exact reliability by TURBO PROLOG, the natural lanquage of artficial intelligence. In the reliability bounds, the upper bound used the valid cutset that isthe group of simple path and the lower bound used the minimal cutset by complement operation and the esact reiability is compared to this reliability bounds.

• 대한수학회지
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• 제42권4호
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• pp.847-856
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• 2005

M. Junger, G. Reinelt, and W. R. Pulleyblank asked the following questions ([2]). (1) Is it true that every simple planar 2-edge connected bipartite graph has a 3-partition in which each component consists of the edge set of a simple path? (2) Does every simple planar 2-edge connected graph have a 3-partition in which every component consists of the edge set of simple paths and triangles? The purpose of this paper is to provide a positive answer to the second question for simple outerplanar 2-vertex connected graphs and a positive answer to the first question for simple planar 2-edge connected bipartite graphs one set of whose bipartition has at most 4 vertices.

• 한국경영과학회지
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• 제16권2호
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• pp.86-102
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• 1991

The purpose of this paper is to present a branch and bound algorithm for the hierarchical transportation network design problem in 2-level directed networks. This problem is to find the least cost of hierarchical transportation networks which consist of a primary path and a secondary path. The primary path is a simple path from a prespecified orgin node to a prespecified terminal node. All nodes must be either a transsipment node on the primary path or connected to that path via secondary arcs. This problem is formulated to a 0-1 inter programming problem with assignment and illegal subtour elimination equations as constaints. We show that the subproblem relaxing subtour elimination constraints is transformed to a linear programming problem by means of the totally unimodularity. Optimal solutions of this subproblem are polynoially obtained by the assignment algorithm and complementary slackness conditions. Therefore, the optimal value of this subproblme is used as a lower bound. When an optimal solution of the subproblem has an illegal subtour, a better disjoint rule is adopted as the branching strategy for reducing the number of branched problems. The computational comparison between the least bound rule and the depth first rule for the search strategy is given.

• International Journal of Aeronautical and Space Sciences
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• 제10권2호
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• pp.1-11
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• 2009

In this paper, two algorithms to solve the path planning problem with constraints from obstacles are presented. One proposed Algorithm is "Grid point-based path planning". The first step of this algorithm is to set points which can be the waypoints around the field. These points can be located inside or outside of the field or the obstacles. Therefore, we should determine whether those points are located in the field or not. Using the equations of boundary lines for a region that we are interested in is an effective approach to handle. The other algorithm is based on the boundary lines of the agricultural field, and the concept of this algorithm is well known as "boustrophedon method". These proposed algorithms are simple but powerful for complex cases since it can generate a plausible path for the complex shape which cannot be represented by using geometrical approaches efficiently and for the case that some obstacles or forbidden regions are located on the field by using a skill of discriminants about set points. As will be presented, this proposed algorithm could exhibit a reasonable accuracy to perform an agricultural mission.

• 유통과학연구
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• 제13권6호
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• pp.11-15
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• 2015

Purpose - Robot path planning, a constrained optimization problem, has been an active research area with many methods developed to tackle it. This study proposes the use of a Rapidly-exploring Random Tree and Particle Swarm Optimizer algorithm for path planning. Research design, data, and methodology - The grid method is built to describe the working space of the mobile robot, then the Rapidly-exploring Random Tree algorithm is applied to obtain the global navigation path and the Particle Swarm Optimizer algorithm is adopted to obtain the best path. Results - Computer experiment results demonstrate that this novel algorithm can rapidly plan an optimal path in a cluttered environment. Successful obstacle avoidance is achieved, the model is robust, and performs reliably. The effectiveness and efficiency of the proposed algorithm is demonstrated through simulation studies. Conclusions - The findings could provide insights to the validity and practicability of the method. This method makes it is easy to build a model and meet real-time demand for mobile robot navigation with a simple algorithm, which results in a certain practical value for distribution environments.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.319-327
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• 2022

Robots for construction sites, although not deeply widespread, are finding applications in the duties of project monitoring, material movement, documentation, security, and simple repetitive construction-related tasks. A significant shortcoming in the use of robots is the complexity involved in programming and re-programming an automation routine. Robotic programming is not an expected skill set of the traditional construction industry professional. Therefore, this research seeks to deliver a low-cost approach toward re-programming that does not involve a programmer's skill set. The researchers in this study examined an approach toward programming a terrestrial-based drone so that it follows a taped path. By doing so, if an alternative path is required, programmers would not be needed to re-program any part of the automated routine. Changing the path of the drone simply requires removing the tape and placing a different path - ideally simplifying the process and quickly allowing practitioners to implement a new automated routine. Python programming scripts were used with a DJI Robomaster EP Core drone, and a terrain navigation assessment was conducted. The study examined the pass/fail rates for a series of trial run over different terrains. The analysis of this data along with video recording for each trial run allowed the researchers to conclude that the accuracy of the tape follow technique was predictable on each of the terrain surfaces. The accuracy and predictability inform a non-coding construction practitioner of the optimal placement of the taped path. This paper further presents limitations and suggestions for some possible extended research options for this study.

• 한국유체기계학회 논문집
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• 제15권5호
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• pp.32-36
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• 2012

The positive displacement pump and the regenerative pump are widely used in the range of low specific speed, $n_s{\leq}100$[rpm, m3/min, m]. The positive displacement pump is not suitable for miniaturization and operation in high rotational speed. The regenerative pump has a problem with large leakage flow and low efficiency. While the centrifugal pump has advantages of high efficiency, miniaturization and high rotational speed, efficiency drops sharply with decrease in specific speed. Therefore the purpose of this study is to design a new type of centrifugal pump that has advantages of centrifugal pumps in operation in low specific speed. The name of this new type of pump was called 'Pipe type centrifugal pump', since the flow path through the impeller is simple circular pipe. Due to the simple shape of impeller, the manufacturing process is simple and cost is low. There is strong jet flow at the outlet of the impeller. This jet induces flow path loss, meridional dynamic pressure loss and mixing loss. Large disk friction makes the efficiency be limitted in the range of low specific speed. Even though the loss and the low efficiency, 'Pipe type centrifugal pump' represents stable performance, affordable pressure ratio and efficiency better than that of other low specific speed pumps.

• 대한전자공학회논문지
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• 제14권6호
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• pp.10-15
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• 1977

This paper proposes a simple and systematic method for the generation of the fault detection test sets for the combinational logic networks. Based on tile path sensitizing concept, the test patterns for the primary input gates of the network are defined, and then it is shown that, arranging these predefined test patterns according to the path sensitizing characteristics of the given network sturctures, the minimal complete test sets for the fan-out free combinational networks can be found easily. It is also shown that, taking into account the fan-out paths sensitizing compatibility, the proposed method can be extended to the irredundant reconvergent fan-out networks.