• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.05a
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• pp.531-534
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• 2010

Currently the functionality of the PRC-999K radio that is widely used in Korean Army is half-duplex and the broadcasting system that all subscribers have to listen when one subscriber speaks in time. Radio data communication system configures peer-to-peer network between command post and network members in military fire control system. And the system applies CSMA/CA(Carrier Sense Multiple Access/Collision Avoidance) technique to avoid data collision. Such a data transmitting/receiving time could be reduced by allocating address in serial order to each network members. By doing that, command post need to broadcast data only one time and assigned members will reply in order without data collision. This paper provides such a protocol and algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.5
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• pp.635-641
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• 2006

Ship's collision avoidance is a skill that masters of merchant marine vessels have acquired through years of experience and that makes them feel at ease to guide their ship out from danger quickly compared to inexperienced officers. Case based reasoning (CBR) uses the same technique in solving tasks that needs reference from variety of situations. CBR can render decision-making easier by retrieving past solutions from situations that are similar to the one at hand and make necessary adjustments in order to adapt them. In this paper, we propose to utilize the advantages of CBR in a support system for ship's collision avoidance while using fuzzy algorithm for its retrieval of similar navigational situations, stored in the casebase, thus avoiding the cumbersome tasks of creating a new solution each time a new situation is encountered. There will be two levels within the Fuzzy-CBR. The first level will identify the dangerous ships and infer the new case. The second level will retrieve cases from casebase and adapt the solution to solve for the output. While CBR's accuracy depends on the efficient retrieval of possible solutions to be adapted from stored cases, fuzzy algorithm will improve the effectiveness of solving the similarity to a new case at hand.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.39-44
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• 2006

Ship's collision avoidance is a skill that masters of merchant marine vessels have acquired through years of experience and that makes them feel at ease to guide their ship out from danger quickly compared to inexperienced officers. Case based reasoning(CBR) uses the same technique in solving tasks that needs reference from variety of situations. CBR can render decision-making easier by retrieving past solutions from situations that are similar to the one at hand and make necessary adjustments in order to adapt them. In this paper, we propose to utilize the advantages of CBR in a support system for ship's collision avoidance while using fuzzy algorithm for its retrieval of similar navigational situations, stored in the casebase, thus avoiding the cumbersome tasks of creating a new solution each time a new situation is encountered. There will be two levels within the Fuzzy-CBR. The first level will identify the dangerous ships and index the new case. The second level will retrieve cases from casebase and adapt the solution to solve for the output. While CBR's accuracy depends on the efficient retrieval of possible solutions to be adapted from stored cases, fuzzy algorithm will improve the effectiveness of solving the similarity to a new case at hand.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.4
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• pp.449-455
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• 2013

When a missile is launched, a fracture-type canister cover should be properly broken by a collision with a missile or inner pressure of a canister. The fracture performance of a canister cover should be evaluated by a test using a real missile; however, it is unrealistic due to high cost and time restriction in a design stage. In this study, a test technique is newly developed to predict fracture performance of a canister cover. The test was design to have same kinetic energy with a real missile test when the cover is collide with a missile. The effectiveness of the suggested test technique was proved by comparing the test result with that of a real missile test.

• Journal of KIISE:Computing Practices and Letters
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• v.14 no.2
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• pp.191-195
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• 2008

This paper proposes a technique for improving IEEE 802.11e EDCA's performance by dynamically adjusting each class's contention window size based on each class's traffic amount. For providing differentiated service differently from 802.11, 802.11e EDCA maintains four classes each of which specifies different static minimum and maximum contention window sizes. Since the initial window sites significantly affect the 802.11e performance, several window adjustment schemes have been proposed. One of the schemes known as CWminAS (CWmin Adaptation Scheme) dynamically and synchronously determines the four windows' site based on the periodically measured collision rate. This method, however, can lower the send probability of high priority classes since it can't differentiate their collisions from those of low priority classes, leading to the channel underutilization. For solving this problem, we propose ACATICT(Adaptive Contention-window Adjustment Technique based on Individual Class Traffic) algorithm which adapts each class window size based on each individual collision rate rather than one average collision rate. Our simulation experiments show that ACATICT achieves better utilization by around 10% at maximum.

• International Journal of Precision Engineering and Manufacturing
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• v.7 no.1
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• pp.35-41
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• 2006

In this paper, we develop anti-sway control in proposed techniques for an ATC system. The developed algorithm is to build the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the finial coordinate. Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning parameters of controller using NN with 2-DOF PID controller. The experimental results jar an ATC simulator show that the proposed control scheme guarantees performances, trolley position, sway angle, and settling time in NNP PID controller than other controller. As a result, the application of NNP PID controller is analyzed to have robustness about disturbance which is wind of fixed pattern in the yard.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.212-218
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• 2008

Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

• Journal of Korea Game Society
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• v.2 no.1
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• pp.69-76
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• 2002

This paper describes basic producing techniques of fighting game, collision detection between fighters, fighting skill, thinking routine and processing method of enemy characters, and algorithm structure of fighting game. Also, I studied as for algorithm of the template and strategy methods of design pattern class applied to a fighting game.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2017.11a
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• pp.262-265
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• 2017

This study is to calculate the Real-Time Overlapped Area of ellipses with weight by Ship's Bumper Theory. In this paper, The Real-Time Overlapped Area of ellipses with weight can be used the important tool to feel the perceived risk evaluation by navigator. In this paper, through how to feel the risk of collision between the vessels in advance, We will study the technique to certify the perceived risk of collision from several different angles.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.951-957
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• 1988

A collision-free trajectory planning algorithm is proposed to optimally coordinate two robots working in a common 3-D workspace. Each link of the two robots is modeled as a line segment and by their motion priority, one of the two robots is chosen as the master and the other the slave. And the one-step-ahead minimum distance between the two robots is computed by moving the master to the next location on its specified trajectory. Then the nominal trajectory of the slave is modified such that the distance between the next locations of the master and the slave must be larger than a prespecified allowable minimum distance. Here the weighted sum of the trajectory error and the joint motions of the slave is minimized by using the linear programming technique under the constraints that joint angle and velocity limits are not violated. To show the validity of the proposed algorithm, a numerical example is illustrated by employing a two dof's and a three dof's planar robots.