• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.39 no.12
• /
• pp.1124-1132
• /
• 2011

This paper deals with smooth path generation using B-spline for fixed-wing unmanned aerial vehicles manuevering in 2D environment. Hexagonal cell representation is employed to model the 2D environment, which features increased connectivity among cells over square cell representation. Subsequently, hexagonal cell representation enables smoother path generation based on a discrete sequence of path from the path planner. In addition, we present an on-line path smoothing algorithm incorporating B-spline path templates. The path templates are computed off-line by taking into account all possible path sequences within finite horizon. During on-line implementation, the B-spline curves from the templates are stitched together repeatedly to come up with a reference trajectory for UAVs. This method is an effective way of generating smooth path with reduced on-line computation requirement, hence it can be implemented on a small low-cost autopilot that has limited computational resources.

• Journal of Information Processing Systems
• /
• v.10 no.2
• /
• pp.176-192
• /
• 2014

The realization of Wireless Multimedia Sensor Networks (WMSNs) has been fostered by the availability of low cost and low power CMOS devices. However, the transmission of bulk video data requires adequate bandwidth, which cannot be promised by single path communication on an intrinsically low resourced sensor network. Moreover, the distortion or artifacts in the video data and the adherence to delay threshold adds to the challenge. In this paper, we propose a two stage Quality of Service (QoS) guaranteeing scheme called Prioritized Multipath WMSN (PMW) for transmitting H.264 encoded video. Multipath selection based on QoS metrics is done in the first stage, while the second stage further prioritizes the paths for sending H.264 encoded video frames on the best available path. PMW uses two composite metrics that are comprised of hop-count, path energy, BER, and end-to-end delay. A color-coded assisted network maintenance and failure recovery scheme has also been proposed using (a) smart greedy mode, (b) walking back mode, and (c) path switchover. Moreover, feedback controlled adaptive video encoding can smartly tune the encoding parameters based on the perceived video quality. Computer simulation using OPNET validates that the proposed scheme significantly outperforms the conventional approaches on human eye perception and delay.

• Journal of the Korean Solar Energy Society
• /
• v.27 no.3
• /
• pp.175-179
• /
• 2007

This experimental demonstration has successfully shown that it is possible to use direct sunlight for the illumination of deeper building zones using the material for light path system(light duct). Three kinds of reflectors which were 95% Silver vaporizing fixed, 85% Anodized and 85% Hot melted applied to evaluate and compare their performances each others. Also, these three kind of reflectors were compared in view point of economics. The most high performance was obtained in 95% Silver vaporizing fixed reflector hater than another reflectors of 85% Anodized reflector and 85% Hot melted reflector even though more high production cost in 95% Silver vaporizing fixed reflector. The rest two reflectors of 85% Anodized and 85% Hot melted $10{sim}15%$ less performance than 95% Silver vaporizing fixed reflector but their production cost were low than the production cost of 95% Silver vaporizing fixed reflector which identified very weak and light yellow color in the light.

• Journal of Korea Multimedia Society
• /
• v.18 no.10
• /
• pp.1225-1230
• /
• 2015

Mobile Sensor Networks (MSN) is composed of a distributed collection of mobile sensor nodes, each of which has sensing, computation, communication and locomotion capabilities. Since the routing path can be broken when some nodes on the path move to other position, MSN may have a high rate of communication failure. So, MSN has to provide a means for low-cost and low-power routing to support mobility of sensor nodes. In this paper, a limited flooding scheme for routing in MSN is proposed to allow efficient energy utilization without requiring any complicated tasks for path maintenance.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.8
• /
• pp.147-154
• /
• 2002

In this paper, a path navigation algorithm through use of a sensor platform is proposed. The sensor platform is composed of two electric motors which make panning and tilting motions. An algorithm for computing a real path and an obstacle length is developed by using a scanning method that controls rotation of the sensors on the platform. An Autonomous Robot Vehicle(ARV) can perceive the given path by adapting this algorithm. A sensor scanning method is applied to the sensor platform for using small numbers of sensor. The path navigation algorithm is composed of two parts. One is to perceive a path pattern, the other is used to avoid an obstacle. An optimal controller is designed for tracking the reference path which is generated by perceiving the path pattern. The ARV is operated using the optimal controller and the path navigation algorithm. Based on the results of actual experiments, this algorithm for an ARV proved sufficient for path navigation by small number of sensors and for a low cost controller by using the sensor platform with a scanning method.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.399-399
• /
• 2000

In this paper, path generation using the sensor platform is proposed. The sensor platform is composed two electric motors which make panning and tilting motions. An algorithm fur a real path form and an obstacle length is realized using a scanning algorithm to rotating the sensors on the sensor platform. An ARV (Autonomous Robot Vehicle) is able to recognize the given path by adapting this algorithm. In order for the ARV to navigate the path flexibly, a kinematic model needed to be constructed. The kinematic model of the ARV was reformed around its body center through a relative velocity relationship to controllability, which derives from the nonholonomic characteristics. The optimal controller that is based on tile kinematic model is operated purposefully to track a reference vehicle's path. The path generation algorithm is composed of two parks. On e part is the generating path pattern, and the other is used to avoid an obstacle. The optimal controller is used for tracking the reference path which is generated by recognizing the path pattern. Results of simulation show that this algorithm for an ARV is sufficient for path generation by small number of sensors and for low cost controller.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.22 no.3
• /
• pp.241-249
• /
• 2014

This paper presents a path planning algorithm of an autonomous vehicle (ADAM III) for collision avoidance in the presence of multiple obstacles. Under the requirements that a low-cost GPS is used and its computation should be completed with a sampling time of sub-second, heading angle estimation is proposed to improve performance degradation of its measurement and a hierarchical structure for path planning is used. Once it is decided that obstacle avoidance is necessary, the path planning consists in three steps: waypoint generation, trajectory candidate generation, and trajectory selection. While the waypoints and the corresponding trajectory candidates are generated based on position of obstacles, the final desired trajectory is determined with considerations of kinematic constraints as well as an optimal condition in a term of lateral deviation. Finally the proposed algorithm was validated experimentally through field tests and its demonstration was performed in Autonomous Vehicle Competition (AVC) 2013.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.28 no.9C
• /
• pp.908-922
• /
• 2003

The Public Key Infrastructure (PKI) trends to delegate the certificate path processing to the Delegated Path Discovery (DPD) Server and Delegated Path Validation (DPV) server recently. The most critical factor for the selection of the delegated server is to allow the server to be equipped with a high reliability through a low cost, and simple implementation. In this paper, we propose a new certificate path processing scheme employed the trusted CA as the DPD/DPV server by adding the capability of the Validation Authority (VA) to the trusted CA. Since our proposed scheme uses the existing trusted CA as validation server, we can achieve a high trust through a simple implementation for the processing. Besides, we propose an additional scheme for reducing an overhead on the trusted CA. it is obtained by delegating digital signature verification to CAs on the path and by skipping the repeated path processing. As the result, our proposed validation scheme can be performed efficiently with high speed and low computational overhead.

• Journal of Auto-vehicle Safety Association
• /
• v.12 no.2
• /
• pp.33-39
• /
• 2020

This paper presents an Around View Monitoring (AVM) stop-line detection based longitudinal position correction algorithm for automated driving on urban roads. Poor positioning accuracy of low-cost GPS has many problems for precise path tracking. Therefore, this study aims to improve the longitudinal positioning accuracy of low-cost GPS. The algorithm has three main processes. The first process is a stop-line detection. In this process, the stop-line is detected using Hough Transform from the AVM camera. The second process is a map matching. In the map matching process, to find the corrected vehicle position, the detected line is matched to the stop-line of the HD map using the Iterative Closest Point (ICP) method. Third, longitudinal position of low-cost GPS is updated using a corrected vehicle position with Kalman Filter. The proposed algorithm is implemented in the Robot Operating System (ROS) environment and verified on the actual urban road driving data. Compared to low-cost GPS only, Test results show the longitudinal localization performance was improved.

• International Journal of Internet, Broadcasting and Communication
• /
• v.12 no.1
• /
• pp.116-121
• /
• 2020

With the recent development of the 4th Industrial Revolution, efforts have been made to carry out communication in a smart factory, farm, etc. at low cost and reliably. Methods for utilizing empty frequencies using TVWS(TV White Space) have been studied which can be used locally within 30 km. However, there have not been many studies on Path-Loss model considering Korean environment. In this paper, the Path-Loss model is divided into LOS (Line Of Sight) and NLOS (None LOS). In case of LOS model, we checked the difference between Free space model, Friis model, 2-ray model and Hata model with measured data. In the case of NLOS model, we checked the difference between Lee Model, ITU-R526-3 Model with measured data. In order to overcome the difference in Korean environment, we derived a model that can be applied in LOS and NLOS and prove its usefulness through performance evaluation through simulation.