• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.2
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• pp.123-128
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• 2014

This paper presents the study about MGV(Magnetic guidance vehicle) with up-and-down rotating type differential drive unit. Previous MGV needs the landmarks to get the driving information and additional sensor to recognize the landmarks except for localization sensor. Previous MGV requires at least 2 drive units when common fixed differential drive unit is used because it occurs the problems with driving control and localization error from imbalance of the MGV's weight. To solve such problems, we propose the MGV using up-and-down rotating type differential drive unit. Proposed MGV recognizes the driving information from the pattern which is consisted of both pole of magnet without landmarks and additional sensors, and it control the backward movement using up-and-down rotating type differential drive unit instead of common drive units. Proposed MGV considers KF(Kalman filter) to improve the localization accuracy. To verify the performance of proposed method, we designed MGV for the experiment. As the results, we can confirm the performance of propoesed method to recognize the pattern and to control the backward movement. With respect to localization, proposed method has the less RMSE about 5.6904 mm than previous method.

• Advanced Industrial SCIence
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• v.3 no.1
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• pp.23-29
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• 2024

In this scholarly investigation, the focus is placed on the transformative potential of edge computing in enhancing Intelligent Transportation Systems (ITS) for the facilitation of autonomous driving. The intrinsic capability of edge computing to process voluminous datasets locally and in a real-time manner is identified as paramount in meeting the exigent requirements of autonomous vehicles, encompassing expedited decision-making processes and the bolstering of safety protocols. This inquiry delves into the synergy between edge computing and extant ITS infrastructures, elucidating the manner in which localized data processing can substantially diminish latency, thereby augmenting the responsiveness of autonomous vehicles. Further, the study scrutinizes the deployment of edge servers, an array of sensors, and Vehicle-to-Everything (V2X) communication technologies, positing these elements as constituents of a robust framework designed to support instantaneous traffic management, collision avoidance mechanisms, and the dynamic optimization of vehicular routes. Moreover, this research addresses the principal challenges encountered in the incorporation of edge computing within ITS, including issues related to security, the integration of data, and the scalability of systems. It proffers insights into viable solutions and delineates directions for future scholarly inquiry.

• Journal of Korean Society of Transportation
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• v.23 no.5 s.83
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• pp.147-155
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• 2005

The purpose of this paper is to develop a method for estimation of reliable path-travel time using data obtained from the toll collection system on freeways. The toll collection system records departure and arrival time stamps as well as the identification numbers of arrival and destination tollgates for all the individual vehicles traveling between tollgates on freeways. Two major issues reduce accuracy when estimating path-travel time between an origin and destination tollgate using transaction data collected by the toll collection system. First, travel time calculated by subtracting departure time from arrival time does not explain path-travel time from origin tollgate to destination tollgate when a variety of available paths exist between tollgates. Second, travel time may include extra time spent in service and/or rest areas. Moreover. ramp driving time is included because tollgates are installed before on-ramps and after off-ramps. This paper describes an algorithm that searches for arrival time when departure time is given between tollgates by a Progressive Iterative Forward and Backward (PIFAB) search method. The algorithm eventually produces actual path-travel times that exclude any time spent in service and/or rest areas as well as ramp driving time based on a link-based procedure.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.2
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• pp.585-591
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• 2013

A robot automation system for coating uniformly a big radiator used in PPS(Packaged Power Station), which consists of 6-axis robot with spray gun, travelling vehicle, supply device of coating paint and thinner with pressured air, HMI controller and robot path OLP(Off-Line Programming), was developed. Experimental results on an optimum operation condition show that a coating thickness is $43{\mu}m$, which is satisfied to a design reference of $25-100{\mu}m$. A productivity of the developed coating robot automation system based on OLP is about 12.6 times of that of manual operation.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.4
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• pp.210-217
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• 2014

This paper presents experimental studies on controlling one-wheel robot, GYROBO. The previous one has the problem of falling down because the inside gimbal leans against one direction to make it balancing. This structural problem has been solved by redesigning the system. Gains obtained through experimental tasks are used as a gain scheduling method so that GYROBO is more stabilized. A line trajectory following control task is performed to test the driving control as well.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.915-916
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• 2015

The main sensor of AGV is the guide sensor in order to detect the path, and the sensor consists of 8 or 16-magneto resistance devices arranged by with 10mm. In controlling the AGV posture by using the sensor, AGV is occurred left/right shaking frequently. So, for driving stability of AGV, An accuracy of the sensor should be improved. Therefore, this study proposed sensor signal processing method to improve accuracy of guide sensor, and implemented. The accuracy of sensor in experimentation showed 2.84[mm]. In designing the sensor for controlling AGV posture, the proposed method will be effective.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.6
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• pp.1-7
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• 2011

This paper presents implementation and control of a two wheeled mobile robot system which consists of two systems, an inverted pendulum system and a mobile robot system. Control purpose is to regulate its balancing and navigation. The balancing robot has advantages of one point turning and robust balancing against disturbances from the ground. Simulation studies of local and global control methods are performed. Since the robot is implemented to have a symmetrical structure, simple linear control algorithms are used for balancing and navigation. Low cost sensors such as gyro and tilt sensor are fused together to detect the inclined angle. Experimental studies of following desired circular trajectory are conducted.

• Journal of IKEEE
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• v.2 no.1 s.2
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• pp.139-149
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• 1998

There are some problems in robot navigations with a single kind of sensor. We propose a system that takes advantages of both CCD camera and ultrasonic sensors for the concerning matter. A coordinate extraction algorithm to avoid obstacles during the navigation is also proposed. We implemented a CCD based vision system at the front part of the vehicle and did experiments to verify the suggested algorithm's availability. From experimental results, the error rate was reduced when a CCD camera was used rather than when only ultrasonic sensors were used. Also we can generate path to avoid those obstacles using the measured values.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.6
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• pp.107-115
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• 1998

A path planning using potential field method is very useful for the real-time navigation of mobile robots. However, the method needs high modeling cost to calculate the potential field because of complex preprocessing, and mobile robots may get stuck into local minima. In this paper, An efficient path planning algorithm for multiple mobile robots, based on the potential field method, was proposed. In the algorithm. the concepts of subgoals and obstacle priority were introduced. The subgoals can be used to escape local minima, or to design and change the paths of mobile robots in the work space. In obstacle priority, all the objects (obstacles and mobile robots) in the work space have their own priorities, and the object having lower priority should avoid the objects having higher priority than it has. In this paper, first, potential based path planning method was introduced, next an efficient collision-avoidance algorithm for multiple mobile robots, moving in the obstacle environment, was proposed by using subgoals and obstacle priority. Finally, the developed algorithm was demonstrated graphically to show the usefulness of the algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.4
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• pp.463-470
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• 2008

In this paper, we confirm that the two properties, 'existence of obstacles' and 'connectivity between obstacles', involved in information acquired by a robot can be used efficiently for location recognition of the robot by using rough sets. Moreover, we propose a method which can reduce ambiguity of the location recognition by applying the properties and recognize the robot's location with distrustful information of the environment where the robot moves. We confirmed it through computer simulation that a robot moves to a goal with only the map containing not enough information on the real environment.