• Journal of Advanced Navigation Technology
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• v.13 no.5
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• pp.646-655
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• 2009

This paper presents a new search strategy based on models of evolution in order to solve the problem of collision-free robotic path planning. We designed the robot path planning method with genetic algorithm which has become a well-known technique for optimization, intelligent search. Considering the path points as genes in a chromosome will provide a number of possible solutions on a given map. In this case, path distances that each chromosome creates can be regarded as a fitness measure for the corresponding chromosome. The effectiveness of the proposed genetic algorithm in the path planning was demonstrated by simulation. The proposed search strategy is able to use multiple and static obstacles.

• Journal of Digital Contents Society
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• v.13 no.3
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• pp.451-457
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• 2012

Recently, as the use of real time traffic information of a car navigation system increases rapidly with the development of Intelligent Transportation Systems (ITS), path search is getting more important. Previous algorithms, however, are mostly for the shortest distance searching and provide route information using static distance and time information. Thus they could not provide the most optimal route at the moment which changes dynamically according to traffic. Accordingly, in this study, Semantic Shortest Path algorithm with Reduction ratio & Distance(SSP_RD) is proposed to solve this problem. Additionally, a routing model based on velocity reduction ratio and distance and a dynamic route link map are proposed.

• Journal of the Korea Society of Computer and Information
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• v.12 no.3
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• pp.67-73
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• 2007

This paper presents a panoramic reference image generation based automatic algorithm for moving objects detection robust to illumination variations under moving camera. Background image is generated by rotating the fixed the camera on the tripod horizontally. aligning and reorganizing this images. In generation of the cylindrical panoramic image, most of previous works assume the static environment. We propose the method to generating the panoramic reference image from dynamic environments in this paper. We develop an efficient approach for panoramic reference image generation by using accumulated edge map as well as method of edge matching between input image and background image. We applied the proposed algorithm to real image sequences. The experimental results show that panoramic reference image generation robust to illumination variations can be possible using the proposed method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.1067-1071
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• 2004

In this paper, the characteristic of the regenerative pump is reviewed by the measurement and the analysis. The dominant noise sources are harmonic components of the rotating impeller frequency. The acoustic characteristics and the noise source position at the dump are identified. In order to reduce the high-level peak noise, the interior flow of the pump chamber is analyzed by CFD (Computational Fluid Dynamics). Acoustic pressure is calculated with Ffowscs Williams and Hawkings equation. As the result of the analysis new design of the pump chamber is recommended. The recommended pump is compared with original pump by evaluating the RMS value of a interior static pressure and the sound pressure level. The new pump chamber recommended by analysis results is proved by a process of the measurement. The overall SPL of a recommended pump is reduced about 3 dBA.

• Journal of Auto-vehicle Safety Association
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• v.11 no.2
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• pp.17-22
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• 2019

This paper describes the tracking algorithm performance evaluation for autonomous vehicle using a safety envelope based path. As the level of autonomous vehicle technologies evolves along with the development of relevant supporting modules including sensors, more advanced methodologies for path generation and tracking are needed. A safety envelope zone, designated as the obstacle free regions between the roadway edges, would be introduced and refined for further application with more detailed specifications. In this paper, the performance of the path tracking algorithm based on the generated path would be evaluated under safety envelop environment. In this process, static obstacle map for safety envelope was created using Lidar based vehicle information such as current vehicle location, speed and yaw rate that were collected under various driving setups at Seoul National University roadways. A level of safety was evaluated through CarSim simulation based on paths generated with two different references: a safety envelope based path and a GPS data based one. A better performance was observed for tracking with the safety envelop based path than that with the GPS based one.

• Nuclear Engineering and Technology
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• v.55 no.5
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• pp.1838-1854
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• 2023

This paper presents a hybrid algorithm to solve the multi-objective path planning (MOPP) problem for mobile robots in a static nuclear accident environment. The proposed algorithm mimics a real nuclear accident site by modeling the environment with a two-layer cost grid map based on geometric modeling and Monte Carlo calculations. The proposed algorithm consists of two steps. The first step optimizes a path by the hybridization of improved ant colony optimization algorithm-modified A^* (IACO-A^*) that minimizes path length, cumulative radiation dose and energy consumption. The second module is the high radiation dose rate avoidance strategy integrated with the IACO-A^* algorithm, which will work when the mobile robots sense the lethal radiation dose rate, avoiding radioactive sources with high dose levels. Simulations have been performed under environments of different complexity to evaluate the efficiency of the proposed algorithm, and the results show that IACO-A^* has better path quality than ACO and IACO. In addition, a study comparing the proposed IACO-A^* algorithm and recent path planning (PP) methods in three scenarios has been performed. The simulation results show that the proposed IACO-A^* IACO-A^* algorithm is obviously superior in terms of stability and minimization the total cost of MOPP.

• KIPS Transactions on Software and Data Engineering
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• v.9 no.3
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• pp.109-122
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• 2020

In recent, projection mapping, which has attracted high attention in the field of realistic media, is regarded as a technology to increase the users' immersion. However, most existing methods perform projection mapping on static objects. In this paper, we developed a technology to track the movements of users and dynamically map the media contents to the users' bodies. The projected media content is built by predefined gestures just using the user's bare hands without the special devices. An interactive immersive media system has been implemented by integrating these dynamic projection mapping technologies and gesture-based drawing technologies. The proposed realistic media system recognizes the movements and open / closed states of the user 's hands, selects the functions necessary to draw a picture. The users can freely draw the picture by changing the color of the brush using the colors of any real objects. In addition, the user's drawing is dynamically projected on the user's body, allowing the user to design and wear his t-shirt in real-time.

• Journal of KIISE
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• v.44 no.1
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• pp.13-20
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• 2017

A message processor is server software that receives various message formats from clients, creates the corresponding threads to process them, and lastly delivers the results to the destination. Considering that each function of an SEDA-based message processor has its own characteristics such as CPU-bound or IO-bound, this paper proposes a thread-mapping strategy called "FC-TM" (function-characteristic aware thread mapping) that schedules the threads to the cores based on the function characteristics in multi-core environments. This paper assumes that message-processor functions are static in the sense that they are pre-defined when the message processor is built; therefore, we profile each function in advance and map each thread to a core using the information in order to maximize the throughput. The benchmarking results show that the throughput increased by up to a maximum of 72 % compared with the previous studies when the ratio of the IO-bound functions to the CPU-bound functions exceeds a certain percentage.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.17 no.1
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• pp.32-40
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• 2005

Recent earthquakes over magnitude 5 in the eastern coast of Korea have aroused interests in the earthquake analyses and seismic design of breakwater structures. Most of earthquake analysis methods such as equivalent static analysis, response spectrum analysis, nonlinear analysis, and capacity analysis methods are deterministic and have been used for seismic design and performance evaluation of breakwater structures. However, deterministic methods are difficult to reflect one of the most important characteristics of earthquakes, i.e. the uncertainty of earthquakes. This paper presents results of probabilistic seismic risk assessment(PSRA) of an actual caisson type breakwater structure considering uncertainties of earthquake occurrences and soil properties. First the seismic vulnerability of a structure and the seismic hazard of the site are evaluated using earthquake sets and seismic hazard map, and then seismic risk of the structure is assessed.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.10a
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• pp.110-112
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• 2010

Because the building of new meteorological observation towers requires high cost, a collection of precise meteorological data over city area is not easy. To collect atmosphere environment data or meteorological data precisely, a new approach is required. This paper introduces a new meteorological data collecting system using the public traffic systems such as regular route bus. On real time, the regular route bus can provide a meteorological data in periodic time interval and provide them on static route. Without constructing new facilities, only simple sensing and transmission equipments to attach on the bus are needed.