• IEMEK Journal of Embedded Systems and Applications
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• 제17권1호
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• pp.33-40
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• 2022

With the recent increase in the development of military drones, they are adopted and used as the combat system of battalion level or higher. However, it is difficult to use drones that can be used in battles below the platoon level due to the current conditions for the formation of units in the Korean military. In this paper, therefore, we developed a program drones equipped with a thermal imaging camera and LiDAR sensor for reconnaissance and exploration that can be applied in battles below the platoon level. Using these drones, we studied the possibility and feasibility of drones for small-scale combats that can find hidden enemies, search for an appropriate detour through image processing and conduct reconnaissance and search for battlefields, hiding and cover-up through image processing. In addition to the purpose of using the proposed drone to search for an enemies lying in ambush in the battlefield, it can be used as a function to check the optimal movement path when a combat unit is moving, or as a function to check the optimal place for cover-up or hiding. In particular, it is possible to check another route other than the route recommended by the program because the features of the terrain can be checked from various viewpoints through 3D modeling. We verified the possiblity of flying by designing and assembling in a form of adding LiDAR and thermal imaging camera module to a drone assembled based on racing drone parts, which are open source hardware, and developed autonomous flight and search functions which can be used even by non-professional drone operators based on open source software, and then installed them to verify their feasibility.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• 제21권6호
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• pp.299-310
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• 2022

The ability of an automated driving system is based on vehicle sensors, judgment and control algorithms, etc. The safety of automated driving system is highly related to the operational status of the road network and compliant road infrastructure. The safe operation of automated driving necessitates continuous monitoring to determine if the road and traffic conditions are suitable and safe. This paper presents a node and link system to build a road monitoring system by considering the ODD(Operational Design Domain) characteristics. Considering scalability, the design is based on the existing ITS standard node-link system, and a method for expressing the monitoring target as a node and a link is presented. We further present a technique to classify and manage hazard risk into five levels, and a method to utilize node and link information when searching for and controlling the optimal route. Furthermore, we introduce an example of system implementation based on the proposed node and link system for Sejong City.

• The KIPS Transactions:PartB
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• 제17B권5호
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• pp.389-398
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• 2010

The Vehicle Routing and Scheduling Problem with Time Windows(VRSPTW) is to establish a delivery route of minimum cost satisfying the time constraints and capacity demands of many customers. The VRSPTW takes a long time to generate a solution because this is a NP-hard problem. To generate the nearest optimal solution within a reasonable time, we propose the heuristic by using an ACO(Ant Colony Optimization) with multi-cost functions. The multi-cost functions can generate a feasible initial-route by applying various weight values, such as distance, demand, angle and time window, to the cost factors when each ant evaluates the cost to move to the next customer node. Our experimental results show that our heuristic can generate the nearest optimal solution more efficiently than Solomon I1 heuristic or Hybrid heuristic applied by the opportunity time.

• Journal of Korean Society for Geospatial Information Science
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• 제21권3호
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• pp.3-9
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• 2013

As interest in green growth picks up, the importance of bicycles which are an environment friendly means of communication has been magnified. However, bicycle routes which are the base of bicycles are designed without considering topographic elements and thus many users are experiencing inconvenience in using bicycles. The present study presents a routing technique to select optimal routes when selecting routes in commuting to school utilizing bicycles. To this end, a formula for optimum route calculation considering slope and intersections was drawn and a method to select optimum routes by applying modified Dijkstra Algorithms was studied. According to the results, the bicycle routes for commuting to school should be selected by the shortest time rather than the shortest distances to the destination, because it required reach the destination faster. Therefore when selecting the routes, it must be based on the shortest time considering waiting time due to crosswalks or crossroads and speed variations due to slopes.

• Journal of Korean Society of Transportation
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• 제23권2호
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• pp.117-130
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• 2005

In both deteministic user Optimal Traffic Assignment Model (UOTAM) and stochastic UOTAM, travel time, which is a major ccriterion for traffic loading over transportation network, is defined by the sum of link travel time and turn delay at intersections. In this assignment method, drivers actual route perception processes and choice behaviors, which can become main explanatory factors, are not sufficiently considered: therefore may result in biased traffic loading. Even though there have been some efforts in Stochastic UOTAM for reflecting drivers' route perception cost by assuming cumulative distribution function of link travel time, it has not been fundamental fruitions, but some trials based on the unreasonable assumptions of Probit model of truncated travel time distribution function and Logit model of independency of inter-link congestion. The critical reason why deterministic UOTAM have not been able to reflect route perception cost is that the route perception cost has each different value according to each origin, destination, and path connection the origin and destination. Therefore in order to find the optimum route between OD pair, route enumeration problem that all routes connecting an OD pair must be compared is encountered, and it is the critical reason causing computational failure because uncountable number of path may be enumerated as the scale of transportation network become bigger. The purpose of this study is to propose a method to enable UOTAM to reflect route perception cost without route enumeration between an O-D pair. For this purpose, this study defines a link as a least definition of path. Thus since each link can be treated as a path, in two links searching process of the link label based optimum path algorithm, the route enumeration between OD pair can be reduced the scale of finding optimum path to all links. The computational burden of this method is no more than link label based optimum path algorithm. Each different perception cost is embedded as a quantitative value generated by comparing the sub-path from the origin to the searching link and the searched link.

• Tunnel and Underground Space
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• 제7권2호
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• pp.116-129
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• 1997

The objective of this study is to predict the minimization effect of the noise and vibration during the construction and the train operation regarding to the design modification of the Taegu Subway Line No. 1. It was suggested optimal control blasting methods to reduce the causing vibration Nuance to the resident in City Taegu and also proposed the better governing method to decrease the environmental hazard to the near buildings and residents during the train operation. When the high-density gaseous reaction of explosion products exerts a high pressure in motion outward, a dynamic stress field will be created in the surrounding buildings. Therefore, in the region close to the charge, permanent damage begins to occur at a great critical level of partial velocity, that is difficult from different structure as working conditions. It is reliable to predict that the damages could be reduced if we know the peak velocity and the exact reasons through the conducting of detail studies of structural analysis of the related buildings with the optimal blasting designs. A blasting technique should be deemed to take advantage of the reduction of damage of the surrounding rocks and structures to improve the in-city blasting. This is a typical in-city blasting operation where success depends on closely controlling the ground vibrations in case of better designed blasting methods. There are techniques that can be applied to prevent large vibrations from damaging the important buildings through the Route Modification of the Taegu Subway Line No. 1.

• Journal of Korea Multimedia Society
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• 제25권2호
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• pp.237-246
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• 2022

Among the technologies of the 4th industrial revolution, drones that have grown rapidly and are being used in various industries can be operated by the pilot directly or can be operated automatically through programming. In order to be controlled by a pilot or to operate automatically, it is essential to predict and analyze the optimal path for the drone to move without obstacles. In this paper, after securing and analyzing the pilot training dataset through the unmanned aerial vehicle piloting training platform designed through prior research, the profile of the dataset that should be preceded to search and derive the optimal route of the unmanned aerial vehicle was designed. The drone pilot training data includes the speed, movement distance, and angle of the drone, and the data set is visualized to unify the properties showing the same pattern into one and preprocess the properties showing the outliers. It is expected that the proposed big data-based profile can be used to predict and analyze the optimal movement path of an unmanned aerial vehicle.

• Journal of Institute of Control, Robotics and Systems
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• 제6권3호
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• pp.273-283
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• 2000

In this paper we suggest an optimal design method of Fuzzy-Neural Networks(FNN) model for complex and nonlinear systems. The FNNs use the simplified inference as fuzzy inference method and Error Back Propagation Algorithm as learning rule. And we use a HCM(Hard C-Means) Clustering Algorithm to find initial parameters of the membership function. The parameters such as parameters of membership functions learning rates and momentum weighted value is proposed to achieve a sound balance between approximation and generalization abilities of the model. According to selection and adjustment of a weighting factor of an aggregate objective function which depends on the number of data and a certain degree of nonlinearity (distribution of I/O data we show that it is available and effective to design and optimal FNN model structure with a mutual balance and dependency between approximation and generalization abilities. This methodology sheds light on the role and impact of different parameters of the model on its performance (especially the mapping and predicting capabilities of the rule based computing). To evaluate the performance of the proposed model we use the time series data for gas furnace the data of sewage treatment process and traffic route choice process.

• Journal of Korean Tunnelling and Underground Space Association
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• 제12권5호
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• pp.379-387
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• 2010

In this study, a case study was introduced for the design of a twin tunnel along high speed national highway Route 12 from Damyang to Sungsan. It was related to determine the optimal tunnel support pattern and excavation method based on a risk analysis in order to incorporate the uncertainty of ground properties. To this end, three alternatives with different amounts of support and excavation method were selected and risk analysis was performed by applying Monte Carlo simulation technique, respectively. Stability of the tunnel was quantified by the factor of safety. To improve the result, the 729 cases of the combination of ground properties (deformation modulus, cohesion, and internal friction angle) satisfying a Gaussian distribution were generated and applied. Also, stability of the tunnel was confirmed by analyzing the distribution of both displacement and shotcrete bending stress.

• Journal of the Korean Society for Aviation and Aeronautics
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• 제27권2호
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• pp.1-8
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• 2019

Optimal path planning refers to find the safe route to the destination at a low cost, is a major problem with regard to autonomous navigation. Sampling Based Planning(SBP) approaches, such as Rapidly-exploring Random Tree Star($RRT^*$), are the most influential algorithm in path planning due to their relatively small calculations and scalability to high-dimensional problems. $RRT^*$-Smart introduced path optimization and biased sampling techniques into $RRT^*$ to increase convergent rate. This paper presents an improvement plan that has changed the biased sampling method to increase the initial convergent rate of the $RRT^*$-Smart, which is specified as m$RRT^*$-Smart. With comparison among $RRT^*$, $RRT^*$-Smart and m$RRT^*$-Smart in 2 & 3-D environments, m$RRT^*$-Smart showed similar or increased initial convergent rate than $RRT^*$ and $RRT^*$-Smart.