• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.9
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• pp.208-214
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• 2014

Vehicle dynamic states used in various advanced driving safety systems are influenced by road geometry. Among the road geometry information, the vehicle pitch angle influenced by road slope and acceleration-deceleration is essential parameter used in pose estimation including the navigation system, advanced adaptive cruise control and others on sag road. Although the road slope data is essential parameter, the method measuring the parameter is not commercialized. The digital map including the road geometry data and high-precision DGPS system such as DGPS(Differential Global Positioning System) based RTK(Real-Time Kinematics) are used unusually. In this paper, low-cost cascade extended Kalman filter(CEKF) based road slope estimation method is proposed. It use cascade two EKFs. The EKFs use several measured vehicle states such as yaw rate, longitudinal acceleration, lateral acceleration and wheel speed of the rear tires and 3 D.O.F(Degree Of Freedom) vehicle dynamics model. The performance of proposed estimation algorithm is evaluated by simulation based on Carsim dynamics tool and T-car based experiment.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2002.02a
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• pp.285-291
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• 2002

The shearing process for the sheet metal is normally used in the precision elements such as a frame of TFT-LCD or lead frame of If chips. In these precision elements, the burr formation prevents the system assembly and needs the additional burr removing process. In this paper, we developed the small size NC punching system which has an aligning kinematics between the rectangular shaped punch and die. The punch is driven by an ai cylinder and the sheet metal is moving on the X-Y table system which is driven by two stewing motors. The microprocessor control the whole system and communicate with the monitoring PC by RS232C serial communication protocol. The graphic user interface program in PC monitors nil control the punching system. The cross shaped joint hinge supports the punching die and positioned by two differential screws, whose are installed in perpendicular directions. The aligning between the punch and die is performed using the sheets of half thickness(0.1mm Brass) of the real process for the frame of the TFT-LCD. Using half thickness Brass, the burr formation is magnified and we can decide the aligning direction more easily then using the real thickness(0.2mm) Aluminum. In this paper, the aligning results are measured manually using the SEM photographs and we hope to make the automated aligning procedures using some kinds of image processing techniques.

• Coupled systems mechanics
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• v.9 no.3
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• pp.237-264
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• 2020

This article investigates the static behaviour of functionally graded (FG) plates sometimes declared as advanced composite plates by using a simple and accurate quasi-3D and 2D hyperbolic higher-order shear deformation theories. The properties of functionally graded materials (FGMs) are assumed to vary continuously through the thickness direction according to exponential law distribution (E-FGM). The kinematics of the present theories is modeled with an undetermined integral component and satisfies the free transverse shear stress conditions on the top and bottom surfaces of the plate; therefore, it does not require the shear correction factor. The fundamental governing differential equations and boundary conditions of exponentially graded plates are derived by employing the static version of principle of virtual work. Analytical solutions for bending of EG plates subjected to sinusoidal distributed load are obtained for simply supported boundary conditions using Navier'is solution procedure developed in the double Fourier trigonometric series. The results for the displacements and stresses of geometrically different EG plates are presented and compared with 3D exact solution and with other quasi-3D and 2D higher-order shear deformation theories to verify the accuracy of the present theory.

• Journal of Broadcast Engineering
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• v.1 no.2
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• pp.176-187
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• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.10a
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• pp.864-867
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• 2003

GPS (Global Positioning System) made by the Department of Defense in U.S.A is positioning system to use satellite and initially it has been used only for the military forces but open to civilian in about 1987. This system has widely been used for not only surveying land, but also car navigation on the street and means to build up the data of the GIS. With GPS, recently our country is accelerating to make imbeded system and also the study on imbeded system is well under way. For example, Car navigation and the construction of the Seokang bridge between Willson Arch at Han river by using DGPS were evaluated as successful model to lead accurate location with the precision of the cm. The examples of the project performance with GPS has gradually been extended to the each department organization of the local and central government. for the example, It is true that BIS(Bus Information System) is widely spreading out. In addition, the study on the Distribution Maintenance System is expected to be well in progress to take advantage of GPS based on the data base of the NGIS(National Geography Institute System) of the NGI(National Geography Institute). This paper shows that we embodied not only the large imbeded system for car and finding the location in Korean Land Corporation but also the protype of the kinematics Wrist Held which is easily portable to pedestrian, climber and marathon runner.

• Journal of Korean Society of Transportation
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• v.33 no.4
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• pp.323-336
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• 2015

Estimating the risks on the roadway using surrogate safety measures (SSM) has an advantage in that it focuses on the vehicle trajectory directly involved in conflicts. On the other hand, there is a restriction on estimating the risks of continuous segments due to the limited data collected from a location. To overcome the restriction, this study presents the scheme of acquiring the vehicular trajectory using real time kinematics-differential global positioning system (RTK-DGPS) and develops a methodology which contains the considerations of the problems to calculate the SSM such as time-to-collision (TTC), deceleration rate to avoid collision (DRAC) and acceleration noise (AN). By using the methodology, this study shows a result from an experiment executed in a section where the variation of vehicular movement can be observed from several continuous flow roadway sections near Seoul and Gyeonggi Province in Korea. The result illustrated the risks on the roadway by the SSM metrics in certain situations like merging and diverging, stop-and-go, and weaving. This study would be applied to relate the dangers with characteristics of drivers and roadway sections, and prevenst accidents or conflicts by detecting dangerous roadway sections and drivers' behaviors. This study contributes to improving roadway safety and reducing car-accidents.