• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(5)
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• pp.25-28
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• 2001

This paper introduce a millimeter-wave radar system. As Fig 1 shows, This system consists of millimeter-wave radar front-end and digital signal processing parts through receive waves regarding up-coming obstacles. The system works as follow process; (1) Generate regular tripodal waves using the FMCW pulse generator (2) Transmit/Receive waves regarding up-coming obstacles (3) Analog filtering (4) FIFO memory interface (5) FFT(Fast Fourier Transform) (6) Calculation of distance / speed between cars (7) Object display and calibration. We have progress to solve the problem like as increase of traffic accidents causing damage and injuries due to the increased number of motor vehicles and long distance driving, and Need for a device to help drivers who are in trouble due to bad weather conditions. We are expect to Take the lead as a core technology in the ITS industry and to develop circuit and signal processing technologies related to millimeter-wave bandwidth.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.100-105
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• 1993

This paper discusses an approach to real-time path-planning of mobile robot navigating amidst multiple obstacles. Given an environment with the coordinates of known obstacles, the moving area of a mobile robot is divided into many patches of triangles with small edge length, in order to ensure a path better than those reported in the literature. After finding a minimum-distance to minimize the number of turns and total path-length by two-step path-revision and path-smmothing.

• 대한기계학회논문집B
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• 제33권4호
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• pp.225-234
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• 2009

The present study has been preformed to investigate the effect of obstacles around a cooling tower with air-guide to prevent recirculation. The external region as well as the cooling tower are included in the computational domain to analyze the flow phenomena around a cooling tower accurately. Three-dimensional analysis is performed using the finite volume method with non-orthogonal and unstructured grid system. The standard turbulence model is used to consider the turbulence effect. In order to investigate the recirculation phenomena, flow and temperature fields are calculated with the distance between cooling tower and obstacle, the allocated geometrical type and the air-guide. The moisture fraction rates decrease with increment of the distance between cooling tower and obstacle. The effect of air-guide to reduce the mean recirculation rate is obviously observed.

• 한국전자통신학회논문지
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• 제4권1호
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• pp.37-45
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• 2009

The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely with panning scan from sensors of distance measurement and fuzzy control. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.490-496
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• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권3호
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• pp.220-224
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• 2008

This paper presents the polygon-based Q-leaning and Parallel SVM algorithm for object search with multiple robots. We organized an experimental environment with one hundred mobile robots, two hundred obstacles, and ten objects. Then we sent the robots to a hallway, where some obstacles were lying about, to search for a hidden object. In experiment, we used four different control methods: a random search, a fusion model with Distance-based action making (DBAM) and Area-based action making (ABAM) process to determine the next action of the robots, and hexagon-based Q-learning, and dodecagon-based Q-learning and parallel SVM algorithm to enhance the fusion model with Distance-based action making (DBAM) and Area-based action making (ABAM) process. In this paper, the result show that dodecagon-based Q-learning and parallel SVM algorithm is better than the other algorithm to tracking for object.

• 전자공학회논문지T
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• 제35T권3호
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• pp.67-75
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• 1998

이 논문은 이동 장애물 회피를 위한 새로운 로봇 동작 계획을 제안한다. 이동 장애물의 운동성을 고려하여, 로봇과 장애물 사이의 관계를 위해 가상거리 함수를 정의한다. 각각의 샘플링 시간에, 장애물의 움직임을 고려한 인공 전위계를 구성하기 위해 가상거리 함수를 이용한다. 로봇은 인공 전위 함수에 의해 유도된 인력과 척력 벡터에 따라 이동한다. 제안된 알고리즘은 실시간으로 이동 장애물을 회피할 수 있었다. 시뮬레이션 결과를 통해 제안된 알고리즘의 효율성을 입증한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.411-413
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• 2002

In this paper we researched about the ultrasonic cane which aids the blind to walk. We used ultrasonic in recognizing the object and implemented pulse counting method in measuring the distance. The distance measuring system consists of transmitter unit, receiver unit and micro-processor. We used broadband ultrasonic sensors in transmitter unit and receiver unit. The blind is able to recognize the distance between obstacles and himself as it used a vibration system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.88-93
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• 1993

This paper introduces an ARV(Autonomous Road Vehicle) system which can run on orads without help of a driver by detecting road boundaries through computer vision. This vehicle can also detect obstacles in front through sonar sensors and infrared sensors. This system largely consists of a handle steering module and a braking module. From road boundaries, the steering module determines handle turn angle. The braking module stops or decelerates to avoid collision depending on the relative speeds and distance to the obstacles detected by different sensors. This ARV system has been implemented in a small jeep and can run 30-40 km/h city traffic. In this paper, we illustrate the structure of the ARV systems and its operation principle.

• 한국멀티미디어학회논문지
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• 제6권3호
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• pp.375-383
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• 2003

공간 마이닝에서 클러스터링은 오브젝트간의 거리나 연결 상태, 또는 공간상에서의 상대적인 밀도를 기반으로 서로 비슷한 오브젝트들을 하나의 그룹으로 묶는 과정이다. 실세계에서 공간 상에 분포하는 강이나 호수, 고속도로와 같은 장애물들은 클러스터링의 결과에 영향을 줄 수 있다. 본 논문은 장애물을 고려한 오브젝트 사이의 거리를 정의하고, 이를 이용하여 공간 오브젝트들을 밀도를 기반으로 클러스터링 하면서 동시에 공간상에 존재하는 장애물을 고려하는 새로운 공간 클러스터링 알고리즘(DBSCAN-O)을 제안한다. 또한 실험을 통해 DBSCAN-O가 기존의 밀도 기반 알고리즘인 DBSCAN에서 찾아내지 못한 새로운 형태의 클러스터링 결과를 도출하는 것을 보인다.