• 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.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.346-349
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• 2003

For a traveling crane, various control methods such as neural network predictive control and TDOFPID(Two Degree of Freedom Proportional Integral Derivative) are studied. So in this paper, we proposed improved navigation method to reduce transfer time and sway with anti-collision path for avoiding collision in its movement to the finial coordinate. And we constructed the NNPPID(Neural Network Predictive PID) controller to control the precise move and speedy navigation. The proposed predictive control system is composed of the neural network predictor, TDOFPID controller, and neural network self-tuner. We analyzed ASC(Automated Stacking Crane) system and showed some computer simulations to prove excellence of the proposed controller than other conventional controllers.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.226-227
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• 2007

Significant increase of container flows in marine terminals requires more efficient automatic port systems. This paper presents a novel routing and collision avoidance algorithm of linear motor based shuttle cars using random access sequence dynamic programming (RAS DP). The proposed RAS DP is accomplished online for determining optimal paths for each shuttle car.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1907-1908
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• 2006

Recently, an automatic crane control system is required with high speed and rapid transportation. Therefore, when container is transferred from the initial coordinate to the finial coordinate, the container paths should be built in terms of the least time and without sway. Therefore, we calculated the anti-collision path for avoiding collision in its movement to the finial coordinate in this paper. And we constructed the neural network predictive two degree of freedom PID controller to control the precise navigation. The proposed predictive control system is composed of the neural network predictor, two degree of freedom PID controller, neural network self-tuner which yields parameters of two degree of freedom PID. We analyzed crane system through simulation, and proved excellency of control performance over the conventional controllers.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.6
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• pp.1080-1082
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• 2016

In a multi-hop CR (Cognitive Radio) network, each node find a path to destination node through several links. If links have the same frequency channel, there can be a serious interference among the links and it can reduce the network capacity. In multi-channel CR networks, each channel has different capacity according to the inter-link interference, and each channel has different traffic properties of primary users. In this paper, we propose channel scheduling scheme to minimize channel interferences and collision with primary users. Simulation results show the improvement of channel capacity and collision rate with primary users.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1254-1257
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• 1993

Presented in this paper is a newly developed motion planning method of an autonomous mobile robot(MAR) which can be applied to flexible manufacturing systems(FMS). The mobile robot is designed for transporting tools and workpieces between a set-up station and machines according to production schedules of the whole FMS. The proposed method is implemented based on an earlier developed real-time obstacle avoidance method which employs Kohonen network for pattern classification of sonar readings and fuzzy logic for local path planning. Particulary, a novel obstacle avoidance method for moving objects using a collision index, collision possibility measure, is described. Our method has been tested on the SNU mobile robot. The experimental results show that the robot successfully navigates to its target while avoiding moving objects.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.1
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• pp.305-321
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• 2012

Since Internet Protocol (IP) is the most important protocol in Next Generation Networks (NGNs), 3rd Generation Partnership Project (3GPP) utilizes Session Initial Protocol (SIP) based on IP as the base protocol for negotiating sessions in IP Multimedia Subsystem (IMS). Different from traditional circuit-switched network, in IMS, the media traffic and signaling are delivered through IP transport. The media traffic may affect the signaling efficiency in core network, due to traffic collisions and best effort packets delivery. This paper proposes a novel path-migration mechanism for enhancing the traffic efficiency in integrated NGN-IMS. The simulation results show that the interference and traffic collision can be reduce by applying proposed path-migration mechanism and the signaling efficiency in core network can be improved with higher system capability and voice quality.

• Bulletin of the Korean Chemical Society
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• v.13 no.1
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• pp.11-17
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• 1992

Vibration-to-vibration energy transfer probabilities for $HF(v=n)+H_2(v=0){\to}HF(v=n-1)+H_2(v=1)$ and $DF(v=n)+D_2(v=0){\to}DF(v=n-1)+D_2(v=1)$ including both the vibration-to-vibration and translation (V-V, T) and vibration-to-vibration and rotation (V-V, R) energy transfer paths have been calculated semiclassically using a simplified collision model and Morse-type intermolecular interaction potential. The calculated results are in reasonably good agreement with those obtained by experimental studies. They also show that the transition processes for $HF(v=1-3)+H_2(v=0){\to}HF(v=0-2)+H_2(v=1)$ and $DF(v=1,\;4)+D_2(v=0){\to}DF(v=0,\;3)+D_2(v=1)$ are strongly dependent on the V-V, T path at low temperature but occur predominantly via the V-V, R path with rising temperature. The vibration-to-vibration energy transfer for $HF(v=4)+H_2(v=0){\to}HF(v=3)+H_2(v=1)$ and $DF(v=2-3)+D_2(v=0){\to}DF(v=1-2)+D_2(v=1)$ occur predominantly via V-V, R path and V-V, T path through whole temperatures, respectively.

• Nuclear Engineering and Technology
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• v.56 no.1
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• pp.92-99
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• 2024

To minimize the cumulative radiation dose, various path-finding approaches for single agent have been proposed. However, for emergence situations such as nuclear power plant accident, these methods cannot be effectively utilized for evacuating a large number of workers because no multi-agent method is valid to conduct the mission. In this study, a novel algorithm for solving the multi-agent path-finding problem is proposed using the conflict-based search approach and the objective function redefined in terms of the cumulative radiation dose. The proposed method can find multi paths that all agents arrive at the destinations with reducing the overall radiation dose. To verify the proposed method, three problems were defined. In the single-agent problem, the objective function proposed in this study reduces the cumulative dose by 82% compared with that of the shortest distance algorithm in experiment environment of this study. It was also verified in the two multi-agent problems that multi paths with minimized the overall radiation dose, in which all agents can reach the destination without collision, can be found. The method proposed in this study will contribute to establishing evacuation plans for improving the safety of workers in radiation-related facilities.