• Journal of the Institute of Convergence Signal Processing
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• v.12 no.1
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• pp.67-75
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• 2011

This paper presents the systematic optimal design of an overlapped ultrasonic sensor ring for high performance obstacle detection using effective beam overlap. Basically, a set of low directivity ultrasonic sensors of the same type are arranged in a circle at regular intervals with their beams overlapped. First, both real and simplified beam patterns of an ultrasonic sensor and several sensor models for obstacle position estimation within its beam pattern are introduced. Second, the obstacle detection range of an overlapped ultrasonic sensor ring and its simple sensor model for obstacle position estimation are described. Third, for both conic and non-conic shaped beam pattern, the design indices of an overlapped ultrasonic sensor ring for minimal positional uncertainty in obstacle detection are defined. Fourth, the constraints imposed on the structural parameters of an overlapped ultrasonic sensor ring to guarantee non empty beam overlap and to avoid excessive beam overlap are derived. Fifth, the optimal number of ultrasonic sensors for a given radius of an overlapped ultrasonic sensor ring and the optimal radius of an overlapped ultrasonic sensor ring are determined. Throughout this paper, the MA40B8 from Murata Inc. is taken as a representative commercial low directivity ultrasonic sensor.

• Journal of Aerospace System Engineering
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• v.18 no.1
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• pp.37-45
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• 2024

This paper presents a design approach for passive vibration control to reduce vertical vibrations transmitted to the control unit during hovering flight of a quadrotor drone. Ground vibration test simulation based on finite element model was performed for forced vibration analysis of the quadrotor drone. First, modal analysis was performed to evaluate dynamic characteristics. Forced vibration response analysis was then performed to obtain the steady-state response within the operating frequency range under the hovering flight condition. Furthermore, to obtain the vibration reduction effect, a viscous damping tape was applied at positions that could induce vibrations transmitted to the control unit under the same conditions. Such a passive vibration control approach was investigated. Relevant vibration reduction effect was assessed with respect to the application of damping materials and the attachment position.

• Journal of Digital Convergence
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• v.11 no.12
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• pp.417-422
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• 2013

In this paper, the implementation of a null-steering antenna array using GPS patch antennas is suggested. The antenna array consists of five patch antenna elements fabricated on the ceramic substrate. The antenna element proposed here is a typical circular polarization patch and a prototype patch array antenna is manufactured on the PCB. The antenna has one reference element located at the center and other four elements are placed at the corners. A null in the direction of the jamming signal can be produced by changing the phases of 4-elements. Simulation results of the array antenna by CST MWS are presented and discussed. The basic performances are measured and the results are shown. The results show that the antenna presented here can be used to remove the signals from the directions of any jammers.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.13 no.6
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• pp.10-24
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• 2014

In-vehicle warning information systems(IWIS) is an effective countermeasure for preventing traffic crashes. It provides drivers with warnng messages about upcoming hazards to draw proper evasive maneuvering. This study developed a methodology for evaluating the effectiveness of IWIS based on an integrated index to identify driver's responsive behavior. The proposed index consists of characteristics of longitudinal and lateral behavior of vehicle maneuverings. Also, a method to assign mixed-weights in the context of multi-criteria decision making framework was adopted to develop the evaluation method. It is expected that the outcome of this study is useful in designing more effective in-vehicle warning information systems.

• 한국HCI학회:학술대회논문집
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• 2008.02a
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• pp.534-539
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• 2008

This paper is about intelligent hexapod robot for the support walking of the aged person. The robot using various sensors and small camera has various abilities of forward backward walking, turing left or right, control the speed of walking, avoiding the obstacles and detecting risky situation of fire or gas. To let the aged feel soft and safe walking, we used special servo motor and developed hexapod walking mechanism and effective algorithm.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.2
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• pp.181-190
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• 2014

The optimized flight path planning which is appropriate for UAV operation with high performance and multiplex sensors is required for efficient ISR missions. Furthermore, a mission visualization tool is necessary for the assessment of MoE(Measures of Effectiveness) prior to mission operation and the urgent tactical decision in peace time and wartime. A mission visualization and analysis tool was developed by combining STK and MATLAB, whose tool was used for UAV ISR mission analyses in this study. In this mission analysis tool, obstacle avoidance and FoM(Figure of Merit) analysis algorithms were applied to enable the optimized mission planning.

• Journal of Korean Society of Transportation
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• v.28 no.3
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• pp.39-49
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• 2010

Provision of in-vehicle warning information is of keen interest since it can be effectively used to prevent traffic accident on the road. This study evaluates the effectiveness of information provision modalities based on kansei engineering. Various warning information scenarios using different modalities are devised for the evaluation. Statistical data analysis techniques including factor analysis, correlation analysis, and the general linear model are used to assess the user's affect for information modalities. The evaluation result shows that the provision of visual information consisted of 'text and pictogram' leads to higher understandability. The combination of beep sound and voice message' was identified as a more effective modality for auditory warning. In addition, the red color for the blinking warning signal was preferred by users.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.8
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• pp.1483-1490
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• 2009

This parer is presented multiple path-planning of unmanned autonomous forklift using modified genetic algorithm and fuzzy inference system. There are a task-level feedback method and a method that path is dynamically replaned in realtime while the autonomous vehicles are moving by means of an optimal algorithm for existing multiple path-planning. However, such methods cause malfunctions and inefficiency in the sense of time and energy, and path-planning should be dynamically replanned in realtime. To solve these problems, we propose multiple path-planning using modified genetic algorithm and fuzzy inference system and show the performance with autonomous vehicles. For experiment, we designed and built two autonomous mobile vehicles that equipped with the same driving control part used in actual autonomous forklift, and test the proposed multiple path-planning algorithm. Experimental result that actual autonomous mobile vehicle, we verified that fast optimized path-planning and efficient collision avoidance are possible.

• Journal of Advanced Navigation Technology
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• v.18 no.3
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• pp.236-241
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• 2014

In a mobile ad hoc networks, multi-hop transmission is used to transfer data from source node to destination node and the routing protocol is the one of the important technical issues. The links between nodes can be unstable due to the changes of node location and channel conditions, and it can induce link error. To solve this problem, multipath routing was proposed. Multipath routing can reduce the data congestion and increase data throughput. In the multipath routing, however, each path can be interfered by the other path, and it can aggravate network performance. In this paper, we propose the multipath routing technique in the multi-rate MANET. The proposed multipath routing can avoid interference without the knowledge of node location. Simulation results show that the proposed multipath routing can reduce transmission delay and error.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.521-528
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• 2017

Research on AI is essential to build a system with collective intelligence that allows a large number of UAVs to maintain their flight while carrying out various missions. A typical approach of AI includes 'top-down' approach, which is a rule-based logic reasoning method including expert system, and 'bottom-up approach' in which overall behavior is determined through partial interaction between simple objects such as artificial neural network and Flocking Algorithm. In the same study as the existing Flocking Algorithm, individuals can not perform individual tasks. In addition, studies such as UAV formation flight can not flexibly cope with problems caused by partial flight defects. In this paper, we propose organic integration between top - down approach and bottom - up approach through multi - agent system, and suggest a flight flight algorithm which can perform flexible mission through it.