• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1738-1741
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• 1997

This paper addresses the issue fo target classification and localization with a SONAR for mobiler robot indoor navigation. In particular, multiple refetions of SONAR sound are used actively and interntionally. As for the SONAR sensor, the multiple reflection has been generally considered as one of the noisy phenomena, which is inevitable in the indoor environments. However, these multiple reflections can be a clue for classifying and localizing targets in the indoor environment if those can be controlled and used well. This paper develops a new SONAR sensor module with a reflection plane which can actively create the multiple refection. This paper also intends to suggest a new target classification emthod which uses the multiple refectiions. We approximate the world as being two dimensional and assume that the targets consisting of the indoor environment are pland, corner, and edge. Multiple reflection paths of an acoustic bean by a SONAR are analyzed, by simulations and the patterns of the TOPs (Time Of Flight) and angles of multiple reflections from each target are also analyzed. In addition, a new algorithm for target classification and localization is proposed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1309-1314
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• 2003

If an agent has a learning ability using previous knowledge, then it is expected that the agent can speed up learning by interacting with environment. In this paper, we present an improved reinforcement learning algorithm using domain knowledge which can be represented by problem-independent features and their classifiers. Here, neural networks are employed as knowledge classifiers. To show the validity of our proposed algorithm, computer simulations are illustrated, where navigation problem of a mobile robot and a micro aerial vehicle(MAV) are considered.

• 한국음향학회:학술대회논문집
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• 한국음향학회 2000년도 하계학술발표대회 논문집 제19권 1호
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• pp.141-144
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• 2000

최근에 무선통신망을 이용한 데이터 서비스가 폭넓게 제공되면서, 이동체(MS:mobile station)에 대한 위치정보나 교통상황 둥의 부가 정보 서비스가 제공되고 있다. 이와 같이 이동체가 자동차와 같은 운행수단일 때 사용자가 디스플레이 되는 문자정보를 확인하게 되면 운전의 안정성이 저하되어 실용적이지 못하다. 이를 위해서 문자를 음성으로 전환하여 주는 문자-음성변환기(text to speech : TTS)가 필요하다. 본 논문은 car navigation용 '한국어 무제한 어휘 음성합성기' 를 저가의 DSP chip(ADSP-2185)과 저용량의 4M bits ROM을 사용하여 low-cost system으로 하드웨어를 구성하였다. 본 연구에서 개발된 실시간 한국어 음성 합성기는 저가의 통신 단말기로서 사용 될 수 있으나, 반음절 연결부분의 연결이 불완전한 경우가 많았다. 그러나 종성이 없는 음절에 대해서는 명료도가 비교적 우수하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.411-414
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• 2003

Particle swarm optimization (PSO) is employed to train fuzzy-neural networks (FNN), which can be employed as an important building block in real life robot systems, controlled by voice-based commands. The FNN is also trained to capture the user spoken directive in the context of the present performance of the robot system. The system has been successfully employed in a real life situation for navigation of a mobile robot.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2005년도 추계학술대회 학술발표 논문집 제15권 제2호
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• pp.427-430
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• 2005

지능형 로봇이 성장동력 산업으로 선정되면서 국내에서도 로봇 산업이 급속도로 성장하고 있다. 지능형 로봇과 관련해서는 특히 자율 이동 로봇, 그리고 그것의 경로계획과 주행에 관한 연구가 널리 진행되고 있다. 자율 이동 로봇은 주어진 환경에서 효율적인 주행을 하기 위하여 환경 지도를 구성하고, 이를 기반으로 목표 지점에 대한 효율적인 광역 주행 경로를 계산하게 되고, 계산된 광역 경로를 주행하여 목표 지점에 이르게 된다. 본 논문에서는 퍼지 환경 지도를 제안하고, 퍼지 환경 지도로부터 최단시간 광역 경로 계산 알고리즘을 소개하며, 주행 제어를 위한 퍼지 논리 제어기를 제안한다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2005년도 Proceedings of ISRS 2005
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• pp.317-320
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• 2005

The LBS (Location-Based Services) are valuable information services combined the location of moving object with various contents such as map, POI (point of Interest), route and so on. The must general service of LBS is route determination service and its applicable parts are FMS (Fleet Management System), travel advisory system and mobile navigation system. The core function of route determination service is determination of optimal route from source to destination in various environments. The MODB (Moving Object Database) system, core part of LBS composition systems, is able to manage current or past location information of moving object and massive trajectory information stored in MODB is value-added data in CRM, ERP and data mining part. Also this past trajectory information can be helpful to determine optimal route. In this paper, we suggest methods to determine optimal route by querying past trajectory information in MODB system and verify the effectiveness of suggested method.

• 한국정밀공학회지
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• 제16권12호
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• pp.182-189
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• 1999

In this paper, we present an ultrasonic sensor based path planning method using fuzzy logic for obstacle avoidance of an intelligent vehicle in unknown environments. Generally, Robot navigation in unknown terrains is a very complex task difficult to control because of the great amount of imprecise and ambiguous sensor information that has to be considered. In this case, fuzzy logic can satisfactorily deal with such information in quite efficient manner. In this study, we propose two fuzzy logic controller which is composed of steering controller and velocity controller respectively. Our object is to develop a fuzzy controller that can enable a mobile robot to navigate from a start point to a goal point without collisions, in the least possible travel time. The ability and effectiveness for the proposed algorithm will be demonstrated by simulation and expeiment.

• 제어로봇시스템학회논문지
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• 제8권7호
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• pp.607-612
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• 2002

An automatic design method of behaviors in behavior-based robotics is proposed. With this method, a robot can design its behaviors by itself without aids of human designer. Automating design procedure of behaviors can make the human designer free from somewhat tedious endeavor that requires to predict all possible situations in which the robot will work and to design a suitable behavior for each situation. A simple reinforcement learning strategy is the main frame of this method and the key parameter of the learning process is significant change of reward value. A successful application to mobile robot navigation is reported too.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 추계학술대회 논문집 전기설비전문위원
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• pp.81-82
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• 2008

배전설비 고장복구나 유지보수와 같은 현장업무에서 신속하게 출동하여 이동 및 고장복구 시간의 단축, 고객 정전시간의 단축을 목적으로 전력설비의 전주번호나 전산화번호, 전력 고객의 명칭, 상호명, 주소, 번호, 계기번호, 그리고 설비 GIS(Geographic Information System) 좌표로 목적지론 설정하고, 경로를 탐색하여 이동중 길안내를 할 수 있는 배전설비 네비게이션 기반의 모바일시스템을 개발하였다. 또한 모바일 단말장치의 제한된 용량과 성능에서 설비도면과 기본도면을 기반으로 빠르게 경로탐색이 동작하여 현장에서 활용이 가능하며, 무선통신망과 연계하여 다양한 현장업무를 현장에서 실시간으로 처리할 수 있는 모바일시스템을 개발 결과를 기술한다.

• Journal of information and communication convergence engineering
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• 제6권4호
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• pp.370-375
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• 2008

Automatic Identification System (AIS) is recently introduced to the maritime navigation systems. It is aimed to increase safety of vessels at sea by exchanging information to coastal monitoring stations. This article presents a ship traffic monitoring system by using the AIS information communication system using MS Visual C++. Then, the mobile Internet AIS introduced here is considerably improving and extending AIS functionalities compared to VHF AIS. When each ship is connected to the Internet network through the developed AIS system with her own client ID, all of her AIS information is surely sent to a server at her own base station by processing the information via the Internet network.