• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.141-143
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• 2012

There are services, which can only verify simple objects ahead, to help visually impaired people using ultrasonic wave or RFID tag. Specially, RFID cannot manage emergency situations, since it is can only verify short distances. The purpose of the thesis is to design a device to provide locations in real time visually and audibly to the guardian of the user using Android Platform.

• Journal of the KSME
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• v.34 no.10
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• pp.787-795
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• 1994

이상과 같이 소개한 KIST 휴먼 로봇의 4족 보행시스템을 개발하는 데에 있어서 최대 목표는 보행제어의 지능화를 통해서 외관상 유사한 히타치사의 극한작업 로봇과 차별화시키는 것이다. 이를 위해서는 성능이 급격히 향상되어가고 있는 최신의 컴퓨터와 센서들을 적극 활용하면서 국내외 관련 전문가들이 축적하고 있는 노우 하우들을 최대한 활용하는 것이 필요하고, 기술적 으로는 걸음새의 지능제어, 반사제어, 소비동력의 최소화 등을 집중적으로 해결하는 것이 요구 된다. 휴먼 로봇 보행기구의 연구 성과는 궁극적으로 계단 등과 같은 단순 장애물은 물론 얼마나 악조건의 험로 위 자율 보행이 가능하고, 평제에서는 얼마나 빠른 최대 보행속도를 발휘할 수 있으며, 로봇에 탑재된 축전지만으로 얼마나 먼거리를 보행할 수 있는 지에 의해 그 질적 수 준이 판가름 나게 될 것이다. 이러한 점에서 이 과제의 추진은 국내의 로봇 연구 분야에 있어서 전혀 새로운 매우 거대한 도전이라고 할 수 있다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1133-1137
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• 1995

This paper presents a numerical method of the global search for an optimal geometric path for a manipulator arm amid obstacles. Finite term quintic B-splines are used to describe an arbitrary point-to-point manipulator motion with fixed moving time. The coefficients of the splines span a linear vector space, a point in which uniquely represents the manipulator motion. All feasible geometric paths are searched by adjusting the seed points of the obstacle models in the penetration growth distances. In the numerical implementation using nonlinear programming, the globally optimal geometric path is obtained for a spatial 3-link(3-revolute joints) manipulator amid several hexahedral obstacles without simplifying any dynamic or geometric models.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.6
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• pp.1149-1157
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• 1994

In this case of the mobile communication of vehicles with satellite, the signal at attenuation is due to roadside trees. To analyze this signal attenuation, a roadside tree was modeled as different obstacles of rectangular type and then using Fresnel and Kirchhoff diffraction theory, a formula was derived for signal intensity variation caused by the roadside tree model. The signal attenuation of a roadside tree model was obtained by numerical analysis with variation of the elevation angle, the position and distance between a receiver and a transmitter, and these were compared with experimental results. The results of comparison between theoretical and experimental values show, as expected, the good agreement of the signal attenuation trend.

• 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.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.1
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• pp.1-8
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• 2012

Obstacle detection is much studied by using sensors such as laser, vision, radar and ultrasonic in path planning for UGV(Unmanned Ground Vehicle), but not much reported about its characterization. In this paper not only an obstacle classification method using 2-dimensional LMS(Laser Measurement System) but also a decision making method whether to avoid or traverse the obstacle is proposed. The basic idea of decision making is to classify the characteristics by 2D laser scanned data and intensity data. Roughness features are obtained by range data using a simple linear regression model. The standard deviations of roughness and intensity data are used as measures for decision making by comparing with those of reference data. The obstacle classification and decision making for the UGV can facilitate a short path to the target position and the survivability of the robot.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.92-94
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• 2005

Unmanned ground vehicles(UGVs) are expected to play a key role in the future army. These UGVs would be used for weapons platforms. logistics carriers, reconnaissance, surveillance, and target acquisition in the rough terrain. Most of path planning methodologies for UGVs offer an optimal or sub-optimal shortest-path in a 20 space. However, those methodologies do not consider increment and reduction effects of relative distance when a UGV climbs up or goes down in the slope of rough terrain. In this paper, we propose a novel path planning methodology using the modified distance transform algorithm. Our proposed path planning methodology employs two kinds of map. One is binary obstacle map. The other is the DEM. With these two maps, the modified distance transform algorithm in which distance between cells is increased or decreased by weighting function of slope is suggested. The proposed methodology is verified by various simulations on the randomly generated DEM and obstacle map.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1034-1039
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• 1991

A robot motion planning algorithm for time-varying obstacle avoidance is proposed. The robot motion planning problem is replaced with the optimization problem by using the distance function with the divided configuration space. To divide the configuration space, the polar coordinate system is used. For each divided configuration space, the admissible region where the robot can reach without collisions is obtained using the distance function. For an object moving in a plane, the admissible region is described by linear constraints on the polar coordinate system. A numerical algorithm that solves the optimization problem is shown and the computer simulation is carried out.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.12
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• pp.1-12
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• 1996

A new local path planning algorithm using DPH (distance profile histogram) is suggested in this paper. The proposed method makes a grid type world map using distance values from multiple ultrasonic sensors and genrates local points through which the mobile robot can avoid obstcles safely. The DPH (distance profile historgram) represents geometrical arrangement of obstacles around the robot in the local polar coordinate system which is assumed to be atached to the robot. To control robot's navigation, a three-layered control structure is adopted. The proposed local path planning algorithm is placed on the top level. And a point-to-point translation controller takes the middle level. The bottom level consists of a velcoity servo and sonar driver modules which take charge of driving physical hardwares. The validity of the propsoed method is demonstated through several experiments.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1523-1524
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• 2008

이 논문에서는 주어진 복도 환경에서 원호경로 알고리즘을 제안함으로써 장애물 회피 알고리즘을 적용하였을 때 보다 이동로봇의 실제적 이동거리를 적게하고 또한 각속도의 변화를 적게하여 결과적으로 이동로봇에 가해지는 기계적, 에너지적 부담을 줄일수 있도록 하였다. 실험 결과는 제안된 알고리즘이 효율적임을 보여준다.