• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1969-1970
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• 2006

본 연구는, 장애물과 지형에 순응할 수 있는 새로운 형태의 변형 가능한 로봇을 제안하고자 한다. 사람이 활동하는 영역에서 로봇을 사용할 때, 항상 로봇의 이동에 적합한 환경을 제공해 줄 수는 없다. 따라서 로봇 자체가 환경을 인식하고 그에 맞게 동작할 수 있어야 한다. 로봇은 바퀴구동을 통한 평탄한 지형에서의 빠른 이동성과 보행을 통한 평탄하지 않은 지형에서의 이동성의 장점들을 동시에 지닐 수 있는 구조로 설계되었다. 스테레오 영상 시스템과 거리감지 센서모듈을 통해 로봇의 안정적이고 효과적인 동작을 구현하고자 한다. 본 논문에 대해서는 실험을 통해 이를 검증한다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.7
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• pp.1260-1272
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• 2008

This paper proposes object detection algorithm using laser scanner and vision system for the path planning of autonomous mobile agents. As the scanner-based method can observe the obstacles in only two dimensions, it is hard to detect the shape and the number of obstacles. On the other hand, vision-based method is sensitive to the environment and has its difficulty in the accurate distance measurement. Thus, we combine these two methods based on K-means algorithm such that the obstacle avoidance and optimal path planning of autonomous mobile agents can be achieved.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.4
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• pp.525-532
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• 2017

The system is consisted of arduino and sensors for protecting bicycle and safety of driver. The speed indicator is composed of speed alarms which are less than 15km/h, 15~30km/h, over 30km/h through limit switch. At that time, the accuracy is 96.6% compared to actual speed. Also, It gives a person warning ablut the obstacle of 5cm tall through ultrasonic sensor in night. Auto Lock System is operated to protect bicycle and the text message is sent to the user, if the bicycle lock was broken. This system puts emphasis on safety and usability, providing a application to know consuming calories.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.766-772
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• 2015

This paper proposes an object detection method based on motion estimation using background subtraction in the fisheye images obtained through omni-directional camera mounted on the vehicle. Recently, most of the vehicles installed with rear camera as a standard option, as well as various camera systems for safety. However, differently from the conventional object detection using the image obtained from the camera, the embedded system installed in the vehicle is difficult to apply a complicated algorithm because of its inherent low processing performance. In general, the embedded system needs system-dependent algorithm because it has lower processing performance than the computer. In this paper, the location of object is estimated from the information of object's motion obtained by applying a background subtraction method which compares the previous frames with the current ones. The real-time detection performance of the proposed method for object detection is verified experimentally on embedded board by comparing the proposed algorithm with the object detection based on LKOF (Lucas-Kanade optical flow).

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.3
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• pp.287-292
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• 2003

The ability of robot is being various and complex. The robot is utilizing distance, image data and voice data for sensing its circumstance. This paper suggests the 2-layer fuzzy control as the algorithm that control robot with various sensor information. In a obstacle avoidance, it utilizes many range finders and classifies them into 3parts(front, left, right). In 3 sub-controllers, the controller executes fuzzy conference. And then it executes combined control with a combination of outputs of 3 sub-controllers in the second step. The text compares the 2-layer fuzzy controller with the hierarchical fuzzy controller that has analogous structure. And the performance of the 2-layer fuzzy controller is confirmed by application this controller to robot following, simulation to each other and real experiment.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.6
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• pp.1075-1080
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• 2021

In this paper, we designed a 24.4GHz 2-channel TX and 4-channel RX patch array antenna mounted on a short-range vehicle radar system to simultaneously measure the range and speed of a single object within a single measurement cycle. The antenna was designed and fabricated using Rogers' RO4350B(ε_r=3.48, 0.5T) board. Through measurement, it was confirmed that the design specifications of antenna gain (> 10dBi or more) and radiation pattern (Elevation HPBW > 10deg.) were satisfied at 24.4 GHz frequency.

• Proceedings of the Korean Society of Computer Information Conference
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• 2021.07a
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• pp.491-492
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• 2021

현대사회의 물류 현장에서 근로자가 직접 물류를 분류하는 작업을 하거나 상하차 작업을 진행하고 있다. 본 논문에서 제안하는 자율주행 로봇을 이용한 물류 분류 시스템은 물류 운반 로봇과 컨베이어 벨트로 구성된다. 물류 운반 로봇은 경로 설정 및 장애물 감지가 가능한 자율주행 기능을 가지며, 컨베이어 벨트는 하차된 물류의 무게 측정과 배송 가격을 표시하는 기능을 가진다. 본 연구의 결과는 근로자들의 노동 강도와 육체적 또는 정신적인 피해로 인해 발생하는 산업재해의 발생률을 감소시킬 수 있는 기대와 심야 시간에 부족한 인력을 보충하여 24시간 물류센터를 가동할 수 있는 가능성을 가진다.

• Journal of Digital Contents Society
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• v.19 no.8
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• pp.1507-1514
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• 2018

The purpose of this study was to propose a functional improvement solution of integrated control board for safe driving of Smart electric wheelchair for a single person. In the case of existing electric wheelchair products in Korea and elsewhere, safety-related functions or devices are not included in many cases. Therefore, the incidence of electric wheelchair-related accidents is continuously increasing in the current situation in which the elderly and the disabled people have been continuously increased. However, currently only high and middle-priced products are equipped with basic safety devices in electric wheelchairs, so low-priced products require safety related functions. Therefore, sensing obstacles that the user can not recognize while moving an electric wheelchair and detecting automatically the terrain change to control the motor by developing a smart control platform. This provides an integrated control board that can be applied to various electric wheelchairs for more stable driving.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2011.04a
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• pp.445-448
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• 2011

최근 재료 및 시공 기술의 지속적 발전으로 인하여, 사장교, 현수교 등 장대교량의 건설이 증가하고 있다. 이러한 장대교량들은 사회적 및 경제적인 중요성이 매우 크므로 교량 완공 후 유지관리 및 구조적 건전성을 모니터링하기 위하여 교량 각 주요 구조부재에 다양한 센서를 설치함으로써 교량모니터링시스템을 구축하여 외부하중에 의한 교량구조물의 거동을 감지, 수집, 분석하여 교량의 건전성을 파악하기 위하여 장대교량의 공용성과 안전성 확보에 많은 연구가 진행 되고 있으며 현재 국내외 다수의 장대교량들에는 다양한 센서로 이루어진 구조 건전성 모니터링 시스템이 설치, 운용되고 있다. 실제로 서해대교, 광안대교, 홍콩 TsingMa Bridge, 미국 Bill Emerson Memorial Bridge와 같은 실제 교량에도 적용된 바 있다. 하지만, 이상의 구조 건전성 모니터링 시스템 기술이 널리 활용되는 데는 여러 가지 장애물이 있는데, 그 중에서 가장 큰 것이 시스템을 구축하는 데 과다한 비용이 소요된다는 점이다. 예로 홍콩의 Tsing Ma 대교의 경우 350개의 센서를 설치하는데 약 8백만불이 넘는 금액이 들었으며(Farrar 등, 2004), Celeby(2002)의 보고에 의하면 각 센서의 채널 당 케이블의 설치 비용으로 약 5000불의 비용이 소모되고 있다. 이에 본 연구에서는 이러한 불편함을 극복하기 위하여 무선 센서를 개발하고, 이를 한강 상 교량 중 올림픽대교에 적용, 사장교의 구조 건전성을 저비용 및 높은 편의성으로 모니터링 하기 위한 테스트베드를 구축하여 무선 계측 시스템의 정확성 및 적용성을 확인하였다.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.3
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• pp.97-107
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• 2017

In the field of automatic door, the infrared rays and microwave sensor are much used as the important components in charge of the motor's operation control of open and close through the incoming signal of object recognition. In case of existing system that the sensor of the infrared rays and microwave are applied to the automatic door, there are many malfunctions by the infrared rays and visible rays of the sun. Because the automatic doors are usually installed outside of building in state of exposure. The environmental change by temperature difference occurs the noise of object recognition detection signal. With this problem, the hardware fault that the detection sensor is unable to follow the object moving rapidly within detection area makes the sensing blind spot. This fault should be improved as soon as possible. Because It influences safety of passengers who use the automatic doors. This paper conducted an experiment to improve the detection area by installing extra ultrasonic sensor besides existing detection sensor. So, this paper realize the computing circuit and detection algorithm which can correctly and rapidly process the access route of objects moving fast and the location area of fixed obstacles by applying detection and advantages of ultrasonic signal to the automatic doors. With this, It is proved that the automatic door applying ultrasonic sensor is improved detection area of blind spot sensing through field test and improvement plan is proposed.