• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.331-332
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• 2008

A real-time path planning of mobile robots is a broad topic, covering a large spectrum of different technologies and applications. Briefly a path planning is designated moving technique from current pose to desired pose. It is remarkably easy to handle for human, not for robot. It is difficult that a robot recognizes surround to get a current pose and to avoid an obstacles. In this paper covers kinematics, path planning for efficient movements of a mobile robot. Kinematics of mobile robot which is suggested in this paper is exploited to create reliable and suitable motions. In addition, Gradient method is a algorithm which can guarantee for real-time path planning.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.304-309
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• 2007

This paper describes an efficient path generation method for area coverage. Its applications include robots for de-mining, cleaning, painting, and so on. Our method is basically based on a divide and conquer strategy. We developed a novel cell decomposition algorithm that divides a given area into several cells. Each cell is covered by a robot motion that requires minimum time to cover the cell. Using this method, completeness and time efficiency of coverage are easily achieved. For the completeness of coverage in dynamic environments, we also propose a path following method that makes the robot cover missed areas as a result of the presence of unknown obstacles. The effectiveness of the method is verified using computer simulations.

• Journal of Aerospace System Engineering
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• v.8 no.4
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• pp.32-38
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• 2014

Sufficient energy charging during a day is essential for a solar-powered long-endurance aircraft. Variations of flight path that is superior to a basic circle path are sought in this study for more efficient charging. Flight path associated with roll and pitch attitudes are investigated. It seems that the pitch angle can play more important role than the roll angle for the solar charging efficiency. Thus, more energy charging is observed when the entire flight path is tilted toward the direction of the sun.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.9
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• pp.761-769
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• 2008

The majority of mechanical parts are manufactured by milling machines. Hence, geometrically efficient algorithms for tool path generation and physical considerations for better machining productivity with guarantee of machining safety are the most important issues in milling tasks. In this paper, an optimized path generation algorithm for direction parallel milling which is commonly used in the roughing stage is presented. First of all, a geometrically efficient tool path generation algorithm using an intersection points-graph is introduced. Although the direction parallel tool path obtained from geometric information have been successful to make desirable shape, it seldom consider physical process concerns like cutting forces and chatters. In order to cope with these problems, an optimized tool path, which maintains constant MRR in order to achieve constant cutting forces and to avoid chatter vibrations at all time, is introduced and the result is verified. Additional tool path segments are appended to the basic tool path by using a pixel based simulation technique. The algorithm has been implemented for two dimensional contiguous end milling operations, and cutting tests are conducted by measuring spindle current, which reflects machining situations, to verify the significance of the proposed method.

• Journal of KIISE:Databases
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• v.29 no.4
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• pp.274-284
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• 2002

Queries on XML are based on paths in the data graph, which is represented as an edge labeled graph model. All proposed query languages for XML express queries using regular expressions to traverse arbitrary paths in the data graph. A meaningful query usually has several regular path expressions in it, but much of recent research is more concerned with optimizing a single path expression. In this paper, we present an efficient technique to process multiple path expressions in a query. We developed a data structure named as the path identifier(PID) to identify whether two given nodes lie on the fame path in the data graph or not, and utilized the PID for efficient processing of multiple path expressions. We implement our technique and present preliminary performance results.

• Journal of the Korean Society for Precision Engineering
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• v.11 no.6
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• pp.28-41
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• 1994

An efficient algorithm is proposed to select the proper tools and generate their paths for NC rough cutting of dies and molds with sculptured surfaces. Even though a milling process consists of roughing, semi-finishing, and finishing, most material is removed by a rough cutting process. Therfore it can be said that the rough cutting process occupy an important portion of the NC milling process, and accordingly, an efficient rough cutting method contributes to an efficient milling process. In order work, the following basic assumption is accepted for the efficient machining. That is, to machine a region bounded by a profile, larger tools should be used in the far inside and the region adjacent to relatively simple portion of the boundary while smaller tools are used in the regions adjacent to the relatively complex protion. Thus the tools are selected based on the complexity of the boundary profile adjacent to the region to be machined. An index called cutting path ratio is proposed in this work as a measure of the relative complexity of the profile with respect to a tool diameter. Once the tools are selected, their tool paths are calculated starting from the largest to the smallest tool.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.47 no.8
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• pp.53-60
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• 2010

This paper proposes an efficient path maintaining scheme in the grid based wireless sensor networks. The proposed scheme provides the shortest path from a source node to a mobile sink node in a re-established dissemination path. The shortest path can save energy consumption to deliver data to the destination. The proposed scheme can also reduce the cost for path maintenance by reusing the existing path. The simulation results show that the proposed scheme reduces the path maintenance cost by 60% compared to the conventional schemes.

• Journal of the Korea Society of Computer and Information
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• v.22 no.6
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• pp.49-55
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• 2017

Robots, games and life applications have been developed while computer areas are developed. Moreover, various applications have been utilized for various users including the early childhood. Recently, smart phones have been dramatically used by various users including early childhood. Many applications need to find a path from a starting point to destinations. For example, without using real maps, users can find the direct paths for the destinations in realtime. Specifically, path exploration in game programs is so important to have accurate results. Nowadays, with these techniques, diverse applications for educations of early childhood have been developed. To deal with the functions, necessity of efficient path search programs with high accuracy becomes much higher. In this paper, we design and develop a friendly maze program for early childhood based on a path searching algorithm. Basically, the path of lineal distance from a starting location to destination is considered. Moreover, weight values are calculated by considering heuristic weighted h(x). In our approach, A* algorithm searches the path considering weight values. Moreover, we utilize depth first search approach instead of breadth first search in order to reduce the search space. so it is proper to use A* algorithm in finding efficient paths although it is not optimized paths.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.651-658
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• 2011

An efficient modified $D^*$ lite algorithm is suggested, which can perform online path planning for mobile robots in dynamic indoor environment. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on $D^*$ Lite algorithm, we improved representation of edge cost, heuristic function, and priority queue management, to build a modified $D^*$ Lite algorithm. Performance of the proposed algorithm is revealed via extensive simulation study.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.33A no.2
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• pp.205-216
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• 1996

In this paper we propose an efficient robust path delay fault test genration algorithm for detection of path delay faluts in combinational ligic circuits. In the proposed robust test genration approach, the testability measure is computed for all gates in the circuit under test and these computed values are used to genrate weighted random delay test vetors for detection of path delay faults. For genrated robust test vectors, we perform fault simulation on ISCAS '85 benchmark circuits using parallel pattern technqieus. The results indicate that the proposed test genration method not only increases the number of detected robust path delay faults but also reduces the time taen to genrate robust tests.