• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.442-449
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• 2013

In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.8 no.1
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• pp.82-86
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• 2008

The article presents ARTMAP and Fuzzy BK-Product approach underwater obstacle avoidance for the Autonomous underwater Vehicles (AUV). The AUV moves an unstructured area of underwater and could be met with obstacles in its way. The AUVs are equipped with complex sensorial systems like camera, aquatic sonar system, and transducers. A Neural integrated Fuzzy BK-Product controller, which integrates Fuzzy logic representation of the human thinking procedure with the learning capabilities of neural-networks (ARTMAP), is developed for obstacle avoidance in the case of unstructured areas. In this paper, ARTMAP-Fuzzy BK-Product controller architecture comprises of two distinct elements, are 1) Fuzzy Logic Membership Function and 2) Feed-Forward ART component. Feed-Forward ART component is used to understanding the unstructured underwater environment and Fuzzy BK-Product interpolates the Fuzzy rule set and after the defuzzyfication, the output is used to take the decision for safety direction to go for avoiding the obstacle collision with the AUV. An on-line reinforcement learning method is introduced which adapts the performance of the fuzzy units continuously to any changes in the environment and make decision for the optimal path from source to destination.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.496-501
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• 2007

Recently, as MEMS and NEMS devices have been widely used in the various engineering applications, the characteristics of nanoscale systems are investigated in the limelight. However, as opposed to a macroscale system, the identification of the state of nanoscale systems is extremely hard because they can include only the order of $10^{3}\sim10^{5}$ molecules, which requires highly expensive and accurate experimental apparatus for an investigation. This limitations make the study on nanoscale system use computer simulations. Therefore, it is strongly required to identify the state of nanoscale system simulated in computer simulation. In these molecular dynamics(MD) study, we suggest that the potential energy of individual molecule can be used as criterion for defining the state of clusters or nanoscale systems. In addition, we compared the phase state from the potential energy with one from the radial distribution function(RDF) for verification. The comparison showed that the intermolecular potential energy can be used as a criteria distinguishing the phase state of nanoscale systems (This study will be published soon in the KSME transaction of the section B).

• 한국연소학회:학술대회논문집
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• 2000.12a
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• pp.33-46
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• 2000

In the present study, a systematic chemical kinetic calculations were made to investigate the augmentation of NO-$NO_2$ conversion due to the addition of various hydrocarbons (methane, ethylene, ethane, propene, propane) in the nonthermal plasma treatment. It is included in the present conclusion that the reaction between hydrocarbon and oxygen radicals induced by electron collision, is believed to be a primarily process for triggering the overall NO oxidation and the eventual NOx reduction. Upon the completion of the initiating step, various radicals (OH, $NO_2$ etc.) successively produced by hydrocarbon decomposition form the primary path of NO-$NO_2$ conversion. When the initiating step is not activated, hydrocarbon consumption rate appeared to be very low, thereby the targeted level of NO conversion can only be achieved by the addition of more input energy. Present study showed ethylene and propene to have higher affinity with 0 radical under all conditions, thereby both of these hydrocarbons show very fast and efficient NO-$NO_2$ oxidation. It was also shown that propene is superior to ethylene in the aspect of NOx removal.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.7
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• pp.1721-1736
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• 2013

Black and gray hole attack is one kind of routing disturbing attacks and can bring great damage to the network. As a result, an efficient algorithm to detect black and gray attack is important. This paper demonstrate an adaptive approach to detecting black and gray hole attacks in ad hoc network based on a cross layer design. In network layer, we proposed a path-based method to overhear the next hop's action. This scheme does not send out extra control packets and saves the system resources of the detecting node. In MAC layer, a collision rate reporting system is established to estimate dynamic detecting threshold so as to lower the false positive rate under high network overload. We choose DSR protocol to test our algorithm and ns-2 as our simulation tool. Our experiment result verifies our theory: the average detection rate is above 90% and the false positive rate is below 10%. Moreover, the adaptive threshold strategy contributes to decrease the false positive rate.

• 한국연소학회:학술대회논문집
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• 2000.05a
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• pp.178-188
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• 2000

In the present study, a systematic chemical kinetic calculations were made to investigate the augmentation of $NO-NO_{2}$ conversion due to the addition of various hydrocarbons (methane, ethylene, ethane, propene, propane) in the nonthermal plasma treatment. It is included in the present conclusion that the reaction between hydrocarbon and oxygen radicals induced by electron collision, is believed to be a primarily process for triggering the overall NO oxidation and the eventual NOx reduction. Upon the completion of the initiating step, various radicals (OH, $HO_{2}$ etc.) successively produced by hydrocarbon decomposition form the primary path of $NO-NO_{2}$ conversion. When the initiating step is not activated, hydrocarbon consumption rate appeared to be very low, thereby the targeted level of NO conversion can only be achieved by the addition of more input energy. Present study showed ethylene and propene to have higher affinity with 0 radical under all conditions, thereby both of these hydrocarbons show very fast and efficient $NO-NO_{2}$ oxidation. It was also shown that propene is superior to ethylene in the aspect of NOx removal.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.499-505
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• 2004

In this paper, we studied about AGVs modeling and material handling automation simulation using a virtual AGV. The proposed virtual AGV model that operates independently each other is based on a real AGV. Continuous straight-line and workstation model using vector drawing method that could easily, rapidly work system modeling are suggested. Centralized traffic control, which could collision avoidance in intersection and should not stop AGV as possible, and algorithm for detour routing which performs when another AGV is working in pre-routed path are proposed. The traffic control and the algorithm have been proved efficience by simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.818-826
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• 2015

This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.10
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• pp.59-70
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• 1997

Until now, considerable progress has been made in the application of range finding techanique performing direct 3-D measurement from the object. However, ther are few use of the method in the area of the application of material handing. We present a range finding vision system consisting of static and dynamic range finders to automate a reclaimer used for material handling. A static range finder detects range data of the front part of the piles of material, and a height map is obtained from the proposed image processing algorithm. The height map is used to calculate the optimal job path as features for required information for material handling function. A dynamic range finder attached on the side of the arm of the reclaimer detects the change of the local properties of the material with the handling function, which is used for avoiding collision and detecting the ending point for changing direction. the developed vision systm was applied to a 1/20 simulator and the results of test show that it is appropriate to use for automating the material handling.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.31 no.5
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• pp.435-447
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• 2007

Recently, as MEMS and NEMS devices have been widely used in the various engineering applications, the characteristics of nanoscale systems are investigated in the limelight. However, as opposed to a macroscale system, the identification of the state of nanoscale systems is extremely hard because they can include only the order of $10^3{\sim}10^5$ molecules, which requires highly expensive and accurate experimental apparatus for an investigation. This limitations make the study on nanoscale system use computer simulations. Therefore, it is strongly required to identify the state of nanoscale system simulated in computer simulation. In this molecular dynamics(MD) study, we suggest that the potential energy of individual molecule can be used as criterion for defining the state of clusters or nanoscale systems. In addition, we compared the phase state from the potential energy with one from the radial distribution function(RDF) for verification. The comparison showed that the intermolecular potential energy can be used as a criteria distinguishing the phase state of nanoscale systems.