• Journal of Korean Society for Geospatial Information Science
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• v.22 no.3
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• pp.39-46
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• 2014

Network RTK positioning, one of GNSS positioning systems, is currently very popular due to its easy operation and low cost. However, the network RTK positioning unquestioningly accepts observation result acquired with an ambiguity fixed-solution regardless of different field conditions and situations, and then it is applied to the practice. This paper, therefore, has investigated the effects of field conditions obtained network RTK survey data for the area with obstacles on the variation of positioning accuracy. Being explained in detail, after conducting survey by GPS-only positioning and combined GPS/GLONASS observations giving changes to the distance from obstacles and elevation angles, and then accuracy results of each positioning method were compared each other. As a result, while GPS-only point positioning method showed more stable results than combined GPS/GLONASS method in the areas with no obstacles, combined method gave better result than GPS-only for the areas with presence of obstacles. Based on the results of this experiment, when the further study is conducted with a variety of different field conditions affecting the survey accuracy, it can be expected that the accuracy of network RTK survey method would become to more popular.

• Journal of the Korea Society of Computer and Information
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• v.18 no.2
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• pp.117-126
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• 2013

Path planning is an essential problem to make virtual characters navigate in many applications including computer games. In many cases, multiple characters move in a group and qualitative aspects of planned paths are emphasized rather than optimality unlike Robotics. In this paper, we propose a two-level path planning algorithm in which the global path is planned for a single character specified as a leader and then the local path is planned to avoid dynamic obstacles while the group following this path. The space for group movement is achieved in the form of square grid array called a grid window. Member characters are located relatively to the leader within a space and moved. The static environment is reduced to the configuration space of this grid window to generate a roadmap on which a grid window can move. In local path planning, only the leader avoids dynamic obstacles by using an artificial potential field and the rest of members are located relatively to the leader in the grid window, which reduces computational load. Efficient algorithms to implement the proposed planning methods are introduced. The simulation results show that a group can handle with dynamic obstacles effectively while moving along the planned path for a static environment.

• Proceedings of the Korea Information Processing Society Conference
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• 2003.11b
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• pp.639-642
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• 2003

본 논문에서는 청소로봇이 전 청소 영역을 CCPP(Complete Coverage Path Planning)를 이용해 경로를 생성한 후 재 경로계획 시 장애물의 미소한 변화로도 기존에 생성한 전 경로패턴을 바꾸지 않고 수정 할 수 있는 CD(Cell Decomposition)와 FN(Flow Network)을 이용한 CCPP 방식을 제안 하였다. 그리고 제안된 경로 계획에 대해 시뮬레이션으로 결과를 제시하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2016.04a
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• pp.975-976
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• 2016

Beacon 기술은 배터리 소모가 적고 간편하게 장치와의 거리를 측정할 수 있어 여러 분야에 사용되고 있지만 장애물의 간섭에 약하다는 문제점이 있다. 따라서 본 논문에서는 이러한 문제를 개선하고자 간섭에 강한 WiFi 환경과 오픈소스 Frameware인 OpenWrt를 이용해 Raspberry pi를 AP화 시켜 Beacon 장치를 탐지하여 수신한 데이터를 사설 네트워크 내 장치들에게 안정적으로 전달할 수 있는 장치를 제안한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2019.05a
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• pp.260-262
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• 2019

2족 보행로봇의 가장 중요한 해결 과제는 인간과의 유사성일 것이다. 본 논문에서 2족 보행로봇의 기구부에서는 인간과 비슷한 관절 구조로, 제어부에서는 인간과 유사한 보행 알고리즘을 구현하고 계속해서 검토해나가며 기구부와 제어부를 조절하여 결론적으로는 인간과 유사하게 걸을 수 있도록 하는 것이 최종 목표이다.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.526-528
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• 2022

실외 자율주행 청소 로봇을 위한 인공지능기반 자율주행 시스템을 개발하였다. 개발된 시스템은 ROS(Robot Operationg System) 기반으로 이루어졌으며, 3D 라이다와, 초음파 센서를 활용하여 주변의 장애물을 감지하고 GPS와 영상을 활용하여 로봇의 위치 인식을 하여 자율 주행을 진행하였다. 자율주행 실험결과 영상과 RTK-GPS를 사용하여 정해진 경로를 ±20cm이내의 오차를 가지고 추종하면서 청소를 진행하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2008.11a
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• pp.853-856
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• 2008

센서 네트워크의 한 개의 노드인 모바일 센서 차량들은 주위를 이동하면서 장애물을 탐지하고, 자신이 만든 지도를 서로 교환하여 합쳐 자신의 위치를 지역화한다. 이를 위해서 모바일 센서 차량들은 각종 센서를 탑재하여 자신의 위치를 파악한다. 이 논문에서는 데드-레코닝, 카메라, 그리고 RSSI 를 사용한 모바일 센서 차량의 지역화를 개별적으로 실험해봄으로써 거리에 따른 정확성을 알아보고, 이로써 각각 방식들이 가진 장점을 융합하여 보다 낳은 지역화할 수 있는지 살펴본다.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.5
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• pp.312-321
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• 2003

In this paper, we implement robot which are ability to recognize obstacles and moving automatically to destination. we present two results in this paper; hardware implementation of image processing board and software implementation of visual feedback algorithm for a self-controlled robot. In the first part, the mobile robot depends on commands from a control board which is doing image processing part. We have studied the self controlled mobile robot system equipped with a CCD camera for a long time. This robot system consists of a image processing board implemented with DSPs, a stepping motor, a CCD camera. We will propose an algorithm in which commands are delivered for the robot to move in the planned path. The distance that the robot is supposed to move is calculated on the basis of the absolute coordinate and the coordinate of the target spot. And the image signal acquired by the CCD camera mounted on the robot is captured at every sampling time in order for the robot to automatically avoid the obstacle and finally to reach the destination. The image processing board consists of DSP (TMS320VC33), ADV611, SAA7111, ADV7l76A, CPLD(EPM7256ATC144), and SRAM memories. In the second part, the visual feedback control has two types of vision algorithms: obstacle avoidance and path planning. The first algorithm is cell, part of the image divided by blob analysis. We will do image preprocessing to improve the input image. This image preprocessing consists of filtering, edge detection, NOR converting, and threshold-ing. This major image processing includes labeling, segmentation, and pixel density calculation. In the second algorithm, after an image frame went through preprocessing (edge detection, converting, thresholding), the histogram is measured vertically (the y-axis direction). Then, the binary histogram of the image shows waveforms with only black and white variations. Here we use the fact that since obstacles appear as sectional diagrams as if they were walls, there is no variation in the histogram. The intensities of the line histogram are measured as vertically at intervals of 20 pixels. So, we can find uniform and nonuniform regions of the waveforms and define the period of uniform waveforms as an obstacle region. We can see that the algorithm is very useful for the robot to move avoiding obstacles.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.320-322
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• 2021

As the world's elderly population increases, the proportion of visually impaired is also increasing, and there are still many restrictions on the use of outside activities, such as safety problems and lack of guidance information. To solve this problem, research on smart devices such as smart glasses with optical character recognition (OCR) function is being actively conducted. In this paper, we propose a system that recognizes obstacles ahead and informs information by voice, and also guides the way to the destination. Using the deep learning object recognition model Yolo, it let them to recognize the risk factors as obstacles such as stairs and Larva cones. and it also deliver the information with a voice. so you can expect that the visually impaired can do a lot of different activity even more now that system takes the visually impaired to the destination by using the directions API, voice recognition, TTS library.

• Review of KIISC
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• v.23 no.1
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• pp.68-77
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• 2013

최근 들어 개인정보 유출 사고가 빈번히 발생하고 있어, 개인정보 보호를 위한 법제도적 대책뿐만 아니라 기술적 보호대책의 강화가 요구되고 있다. 그러나 국가마다 지역마다 서로 다른 개인정보보호관련 법 제도적 요구사항의 상이는 서로 다른 보호조치 수준을 초래하며, 이는 궁극적으로 국가 간 또는 지역 간 개인정보의 자유로운 이전의 커다란 장애물이 되고 있다. 따라서 글로벌하게 합의된 프라이버시 원칙이 요구되었으며, 이에 기반을 둔 보호대책(control)의 개발이 필요하게 되었으며, 이 보호대책은 기업에 의해 수립되는 개인정보보호관리체계 (PIMS, personal information management system)의 인증 기준이 되며, 개인정보관리체계의 인증은 국가간 개인정보보호의 원만한 이동을 가능케 할 것이다. 본 논문에서는 각각 경제협력개발기구(OECD), 아시아태평양경제협력기구(APEC), 그리고 국제표준화 기구인 ISO/IEC, 그리고 한국 정보통신기술협회(TTA) 정보통신단체표준에서 정의된 프라이버시 원칙을 살펴보고, 각 프라이버시 원칙을 비교한다. 또한, 최근 구글의 개인정보통합관리에 대응할 수 있는 비연결성(unlikability) 원칙을 포함한 추가적인 프라이버시 원칙도 제시한다. 참고로 본 논문의 내용은 TTA 표준[4] 개발 시에도 반영 되었다.