• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.12
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• pp.2937-2943
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• 2013

This paper introduces a real-time flocking simulation framework through radial basis function(RBF). The proposed framework first divides the entire environment into a grid structure and then assign a vector per each cell. These vectors are automatically calculated by using RBF function, which is parameterized from user-input control lines. Once the construction of vector field is done, then, flocks determine their path by following the vector field flow. The collision with static obstacles are modeled as a repulsive vector field, which is ultimately over-layed on the existing vector field and the inter-individual collision is also handled through fast lattice-bin method.

• Journal of the Korea Institute of Military Science and Technology
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• v.25 no.6
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• pp.586-595
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• 2022

In this paper, we propose a formation control algorithm for multi-USVs according to COLREGs. First, we applied the Dynamic Window Approach algorithm that can reflect the kinematic characteristics for the path movement of USVs. Then, we propose a virtual structure-based virtual leader-follower method that applies the advantages of leader-follower and virtual structure methods among conventional formation control algorithms for stability. Next, we proposed a collision avoidance algorithm according to all COLREGs when encountering an opposing ship by adding COLREGs situational conditions to the virtual leader, and finally confirmed the feasibility of the proposed method through simulation.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.5
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• pp.557-565
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• 2021

Path-following control is considered as one of the most fundamental skills to realize autonomous navigation of marine vessels in the ocean. This study addresses with the path-following control for a ship in which there are environmental disturbances in the directions of the surge, sway, and yaw motions. The guiding principle and back-stepping method was utilized to solve the ship's tracking problem on the reference path generated by a virtual ship. For path-following control, error dynamics is one of the most important skills, and it extends to the research fields of automatic collision avoidance and automatic berthing control. The algorithms for the guiding principles and error variables have been verified by numerical simulation. As a result, most error variables converged to zero values with the controller except for the yaw angle error. One of the most interesting results is that the tracking errors of path-following control between two ships are smaller than the existing safe passing distances considering interaction forces from near passing ships. Moreover, a trade-off between tracking performance and the ship's safety should be considered for determining the proper control parameters to prevent the destructive failure of actuators such as propellers, fins, and rudders during the path-following of marine vessels.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.9
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• pp.1795-1802
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• 2009

Motion based serious game is a new style of game and exercise using hands, arms, head and whole body. At that time gamer's reachable movement space is an important game space and interaction happening place. We propose efficient game spatial division and analysis algorithm that gives special information for collision avoidance of game objects. We devide into 9 parts of game space and check the enemy position and upper, down, left and right side movement information of gamer and calculate optimal path for collide avoidance of the enemy. To evaluate the method, we implemented a motion base serious game that consists of a web cam, a player, an enemy, and we obtained some valid results of our method for the collision avoidance. The resole demonstrated that the proposed approach is robust. If movement information is in front of enemy, then the enemy waits and finds the place and runs to avoid collision. This algorithm can be used basic development of level control and effective interaction method for motion based serious game.

• The Journal of Korea Robotics Society
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• v.4 no.2
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• pp.121-129
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• 2009

This paper presents a goal-directed reactive obstacle avoidance method based on lane method. The reactive collision avoidance is necessarily required for a robot to navigate autonomously in dynamic environments. Many methods are suggested to implement this concept and one of them is the lane method. The lane method divides the environment into lanes and then chooses the best lane to follow. The proposed method does not use the discrete lane but chooses a line closest to the original target line without collision when an obstacle is detected, thus it has a merit in the aspect of running time and it is more proper for narrow corridor environment. If an obstacle disturbs the movement of a robot by blocking a target path, a robot generates a temporary target line, which is parallel to an original target line and tangential to an obstacle circle, to avoid a collision with an obstacle and changes to and follows that line until an obstacle is removed. After an obstacle is clear, a robot returns to an original target line and proceeds to the goal point. Obstacleis recognized by laser range finder sensor and represented by a circle. Our method has been implemented and tested in a corridor environment and experimental results show that our method can work reliably.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.5
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• pp.391-399
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• 2020

KASI (Korea Astronomy and Space Science Institute) has been developing the multipurpose laser tracking system with three functions of satellite laser tracking, adaptive optics and space debris laser tracking for scientific research and national space missions. The space debris laser tracking system provides the distance to space debris without a laser retro-reflector array by using a high power pulse laser, which employs a spinning disk to change the optical path between the transmit and receive beams. The spinning disk causes the collision band which is unable to reflect the returned signal to a detector and then has an effect on the tracking coverage of space debris. This study proposed the mathematical model for tracking coverage by taking into account the various specifications of spinning disk such as disk size, spinning velocity and collision rate between the disk and hole. In addition, the spinning disk specifications were analyzed in terms of tracking coverage and collision band based on the mathematical model to investigate tracking requirements of the Geochang laser tracking system.

• Journal of Korea Game Society
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• v.15 no.4
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• pp.29-38
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• 2015

In the stealth game design, level designers are to develop many interesting game environments with a variety of difficulties. J. Tremblay and his co-authors developed a Unity-based level design tool to help and automate this process. Given a map, if the designer inputs several game factors such as guard paths and velocities, their vision, and the player's initial and goal positions, then the tool visualizes simulation results including (clustered) possible paths a player could take to avoid detection. Thus with the help of this tool, the designer can ensure in realtime if the current game factors result in the intended difficulties and players paths, and if necessary adjust the factors. In this note, we present our improvement on this tool in two aspects. First, we integrate a function that if the designer inputs some vertices in the map, then the tool systematically generates and suggests interesting guard paths containing these vertices of various difficulties, which enhances its convenience and usefulness as a tool. Second, we replace the collision-detection function and the RRT-based (player) path generation function, by our new collision-check function and a Delaunay roadmap-based path generation function, which remarkably improves the simulation process in time-efficiency.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.7
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• pp.131-139
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• 2013

To overcome the limitations in performance and power consumption of traditional electrical interconnection based network-on-chips (NoCs), a hybrid optical network-on-chip (HONoC) architecture using optical interconnects is emerging. However, the HONoC architecture should use circuit-switching scheme owing to the overhead by optical devices, which worsens the latency unfairness problem caused by frequent path collisions. This resultingly exert a bad influence in overall performance of the system. In this paper, we propose a new task mapping algorithm for optimizing latency by reducing path collisions. The proposed algorithm allocates a task to a certain processing element (PE) for the purpose of minimizing path collisions and worst case latencies. Compared to the random mapping technique and the bandwidth-constrained mapping technique, simulation results show the reduction in latency by 43% and 61% in average for each $4{\times}4$ and $8{\times}8$ mesh topology, respectively.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38B no.9
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• pp.751-764
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• 2013

In cognitive radio ad-hoc networks, common control channel overload and packet collisions are occured due to indiscriminate broadcasting of control packets. So that the path reliability is reduced and control channel is easily saturated. In this paper, we propose a new routing algorithm considering the probability of appearance of primary user and channel status of neighbor nodes. When the source node needs to transmit a data packet to the destination, it performs route discovery process by exchanging control messages using a control channel in ADOV CR Ad-hoc networks. If any intermediate node doesn't have common data channel with previous node to transmit data, it doesn't rebroadcast control packet. And if it has common data channels with previous node, each node determines channel contribution factor with the number of common channels. Based on the channel contribution factor, each node performs different back-off broadcasting. In addition, each node controls control packet flooding by applying to proposed advanced mode using such as number of available channels and channel stability. With the proposed method, the number of control packets to find the data transmission path and the probability of collision among control packets can be decreased. While the path reliability can be increased. Through simulation, we show that our proposed algorithm reduces packet collisions in comparison with the traditional algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1636-1639
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• 2005

The process equipment and remote handling for the deep geological disposal of high-level radioactive waste(HLW) should be checked prior to the operation in view of reliability and operability. In this study, the concept of virtual environment workcell is implemented to analyze and define the feasible disposal process instead of real mock-up, which is very expensive and time consuming. To do this, the parts of process equipment for the disposal and maintenance will be modeled in 3-D graphics, assembled, and kinematics will be assigned. Also, the virtual workcell for the encapsulation and disposal process of spent fuel will be implemented in the graphical environment, which is the same as the real environment. This virtual workcell will have the several functions for verification such as analyses for the equipment's work space, the collision detection, the path planning and graphic simulation of the processes etc. This graphic virtual workcell of the HLW disposal process can be effectively used in designing of the processes for the hot cell equipment and enhance the reliability of the spent fuel management.