• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.982-983
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• 2023

본 논문은 시각장애인에게 큰 위험이 되는 주거 공간 내 위험 요소들을 감시하고, 경고를 알리는 "시각장애인 주거 공간 내 스마트 안전 시스템"을 제안한다. 주요 특징은 다음과 같다. 첫째, 정해진 시간 또는 음성 명령이 입력되면 이동로봇이 각 방을 자율주행으로 순회하며 위험 요소를 측정한다. 레이저 거리 센서를 활용한 단차 측정값, 열화상 카메라를 활용한 물웅덩이 위험도, 웹캠을 활용한 물체 변위 값을 측정하여 서버에 전송한다. 둘째, 각 방에 설치된 인체 감지 센서를 통해 사용자의 접근을 인식하고, 방에 들어가기 전 서버에 저장된 측정 데이터를 기반으로 스마트 스피커를 통해 위험 요소를 알린다. 셋째, 앱을 통해 관리자가 즉시 검사, 기록조회, 방 정보 수정 등을 이용하여 시스템을 관리한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.866-867
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• 2023

기존의 무인 경로 로봇 시스템은 지형 제약과 높은 가격으로 인해 범용성에 한계를 갖는다. 이러한 한계를 극복하기 위해 철조망 위를 자율 주행하는 로봇 시스템(FPS, Fence Patrol System)을 소개하고, 하드웨어와 소프트웨어 측면에서 FPS 의 시스템 작동 원리를 설명한다. FPS 는 철조망 위에서 진동이 감지된 지역으로 이동해 객체를 탐지하고 추적하면서 관리자에게 전송한다. FPS 는 다양한 폭을 갖는 철조망 위에서 주행이 가능하고 완만한 곡률이 있는 철조망도 주행할 수 있도록 설계되었다. 이를 통해 지상 무인 경계 시스템의 한계를 해결하고 다양한 분야에 활용될 것으로 기대한다.

• Journal of Korean Tunnelling and Underground Space Association
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• v.23 no.6
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• pp.503-516
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• 2021

Autonomous fire detection and suppression system requires advanced technology for complex detection technology and injection/control technology for accurate hitting by fire location. Also, foam spraying should be included to respond to oil fires. However, when a single spray monitor is used in common, water and foam spray properties appear different, so for accurate fire suppression, research on the spray trajectory and distance will be required. In this study, experimental studies and numerical analysis studies were combined to analyze the foam spray characteristics through the spray monitor developed for the establishment of an autonomous fire extinguishing system. For flow analysis of foam injection, modeling was performed using OpenFOAM analysis software, and the commonly used foaming agent (Aqueous Film-Forming Foam) was applied for foam properties. The injection distance analysis was performed according to the injection pressure and the injection angle according to the form of the foam, and at the same time, the results were verified and presented through the injection experiment.

• Journal of Platform Technology
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• v.11 no.2
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• pp.26-38
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• 2023

This paper is a study on a transport robot capable of autonomously driving to a destination using a QR code in an indoor environment. The transport robot was designed and manufactured by attaching a lidar sensor so that the robot can maintain a certain distance during movement by detecting the distance between the camera for recognizing the QR code and the left and right walls. For the location information of the delivery robot, the QR code image was enlarged with Lanczos resampling interpolation, then binarized with Otsu Algorithm, and detection and analysis were performed using the Zbar library. The QR code recognition experiment was performed while changing the size of the QR code and the traveling speed of the transport robot while the camera position of the transport robot and the height of the QR code were fixed at 192cm. When the QR code size was 9cm × 9cm The recognition rate was 99.7% and almost 100% when the traveling speed of the transport robot was less than about 0.5m/s. Based on the QR code recognition rate, an experiment was conducted on the case where the destination is only going straight and the destination is going straight and turning in the absence of obstacles for autonomous driving to the destination. When the destination was only going straight, it was possible to reach the destination quickly because there was little need for position correction. However, when the destination included a turn, the time to arrive at the destination was relatively delayed due to the need for position correction. As a result of the experiment, it was found that the delivery robot arrived at the destination relatively accurately, although a slight positional error occurred while driving, and the applicability of the QR code-based destination self-driving delivery robot was confirmed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.3
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• pp.292-297
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• 2016

This paper presents a navigation problem for an autonomous mobile robot in an unknown environment. The environment contains various types of obstacles and is completely unknown to the robot. Therefore, all of the surrounding information must be detected by the robot's proximity sensors. A navigation method was developed based on a fuzzy inference system to guide the robot to move along a collision-free path and reach the goal position quickly. The obstacles are assumed to be static, and both regular and irregular types of obstacles were investigated. A wall following method is also proposed for a special environment that contains a labyrinth or sharp U-valley obstacles. Simulation results demonstrate that the proposed method has great potential for this navigation problem.

• Journal of Advanced Navigation Technology
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• v.20 no.3
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• pp.226-231
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• 2016

Researching and developing mobile robot are quite important. Autonomous driving of mobile robot is important in various working environment. For its autonomous driving, mobile robot detects obstacles and avoids them. Purpose of this thesis is to analyze kinematics model of the mobile robot and show the efficiency of type-2 fuzzy self-tuning PID controller used for controling steering angle. Type-2 fuzzy is more flexible in verbal expression than type-1 fuzzy because it has multiple values unlike previous one. To compare these two controllers, this paper conduct a simulation by using MATLAB Simulink. The result shows the capability of type-2 fuzzy self-tuning PID is effective.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.10a
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• pp.435-438
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• 2012

Today, In all fields, As combination of ubiquitous computing-based technologies between electronic space and physical space, has been active trend research about wireless integration sensor network between sensors and wireless technology. Also, but in ship is underway research about Ship Area Network(SAN) of intelligent ship to integrate wireless technology, ship is required SAN-bridge technology of a variety of wired, wireless network integration and heterogeneous sensor and interoperability of the controller and SAN configuration management technology of remote control. Ship keep safe of all the surrounding environment including crew besides structural safety and freight management monitoring. In this paper, for monitoring design such as on climate change detection and temperature, pressure about various structures, there identify technology trends for routing and data aggregation to use energy efficiency in wireless sensor network. And to analyze self-organizing clustering method, study For wireless sensor network configuration in ship.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.6
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• pp.535-542
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• 2011

The Global Navigation Satellite System(GNSS) is being utilized in numerous applications. The research for autonomous guided vehicles(AGVs) using precise positioning of GNSS is in progress. GNSS based AGVs is useful for setting driving path. This AGV system is more efficient than the previous one. Escipecially, the obstacle is positioned the driving path. Previcious AGVs which follow marker or wires laid out on the road have to stop the front of obstacle. But GNSS based AGVS can continuously drive using obstacle avoidance. In this paper, we developed collision avoidance system for GNSS based AGV using laser scanner and collision avoidance path setting algorithm. And we analyzed the developed system.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.53-58
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• 2001

This paper presents a high resolution capacitive microaccelerometer for applications to personal information systems. We reduce the mechanical noise level of the microaccelerometer by increasing the proof-mass based on deep RIE process. We reduce the electrical noise level by increasing the amplitude of an AC sense voltage. The high sense voltage is obtained by DC-to-DC voltage multiplier. In order to solve the nonlinearity problem caused by the high sense voltage, we modify the conventional comb electrode of straight finger type into that of branched finger type, resulting in self force-balancing effects for enhanced detection linearity. The proposed branched finger capacitive microaccelerometer was fabricated by the deep RIE process of an SOI wafer. The fabricated microaccelerometer reduces the electrical noise at the level of $2.4{\mu}g/\sqrt{Hz}$ for the sense voltage of l6.5V, which is 10.1 times smaller than the electrical noise level of $24.3{\mu}g/\sqrt{Hz}$ at 0.9V. For the sense voltage higher than 2V, the electrical noise level of the microaccelerometer became smaller than the constant mechanical noise level of $11{\mu}g/\sqrt{Hz}$. Total noise level, including the electrical noise and the mechanical noise, has been measured as $9{\mu}g/\sqrt{Hz}$ for the sense voltage of 16.5V, which is 3.2 times smaller than the total noise of $28.6{\mu}g/\sqrt{Hz}$ for the sense voltage of 0.9V. The self force-balancing effect results in the increased stiffness of 1.98 N/m at the sense voltage of 17.8V, compared to the stiffness of 1.35 N/m at 0V, thereby generating the additional stiffness at the rate of $0.002N/m/V^{2}$.

• Journal of Broadcast Engineering
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• v.18 no.4
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• pp.543-549
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• 2013

Motion artifacts of central and autonomic nervous system signals degrades the performance of the bio-signal based human factor analysis. Firstly, we propose a defining method of motion artifact section by analyzing successive image frames. Motion artifact section is defined when the amount of motion is greater than the pre-defined threshold. In here, the amount of motion is estimated by first derivation of image frames at temporal domain. Secondly, we propose another defining method of motion artifact section through designing 2D Gaussian probability density function model by analyzing feature vectors of one cycle of signal such as length and amplitude. The defined motion artifact sections are interpolated on the basis of 1D Gaussian function. At result of applying the method into photoplethysmography signal, we confirmed that the calculated heartbeat rate from the restored photoplethysmography came up to the one from electrocardiography. Also, we found that the video based method generated relatively more false acceptance of motion artifact section and the probability density function based method generated relatively more false rejection of motion artifact section.