• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.686-691
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• 2003

In the paper, an intelligent biped walking robot that can overcome the obstacle is developed. Walking algorithms are designed based on the analysis of the human's manner of walking. Infrared sensors are used to detect the obstacles in the working environment and the remote controller of the biped robot use a RF module. The experiment results show that the developed biped walking robot can perform the stable static walking, attention walking, rotation and side stepping to avoid the obstacle, and hurdling the obstacle using the distance correction algorithm that is designed based on the distance information between the biped robot and the obstacle.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.38 no.1
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• pp.7-18
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• 2001

In this paper, we present a new method to generate obstacle-free path by using conformal mapping, when avatar navigates in virtual environment. First, we show that the proposed method generates a path to keep away from a circular obstacle. Then, we show that the method can be extended to an elliptical obstacle and multiple obstacles. For real applications, we combine the proposed local method with a global navigation method using sub-target to generate a global obstacle-free path by which avatar navigates naturally in virtual environment.

• Journal of Aerospace System Engineering
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• v.17 no.6
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• pp.16-26
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• 2023

With the growing demand for unmanned aerial vehicles (UAVs), various collision avoidance methods have been proposed, mainly using LiDAR and stereo cameras. However, it is difficult to apply these sensors to small UAVs due to heavy weight or lack of space. The recently proposed methods use a combination of object recognition models and distance sensors, but they lack information on the obstacle size. This disadvantage makes distance determination and obstacle coordination complicated in an early-stage collision avoidance. We propose a method for estimating obstacle sizes using a monocular camera-YOLO and infrared sensor. Our experimental results confirmed that the accuracy was 86.39% within the distance of 40 cm. In addition, the proposed method was applied to a small UAV to confirm whether it was possible to avoid obstacle collisions.

• Journal of Advanced Navigation Technology
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• v.26 no.6
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• pp.427-433
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• 2022

Obstacle detection, collision recognition, and avoidance technologies are required the collision avoidance technology for UAVs. In this paper, considering collinear multiple static obstacle, we propose an obstacle detection algorithm using LiDAR and a collision recognition and avoidance algorithm based on CPA. Preprocessing is performed to remove the ground from the LiDAR measurement data before obstacle detection. And we detect and classify obstacles in the preprocessed data using the K-means clustering algorithm. Also, we estimate the absolute positions of detected obstacles using relative navigation and correct the estimated positions using a low-pass filter. For collision avoidance with the detected multiple static obstacle, we use a collision recognition and avoidance algorithm based on CPA. Information of obstacles to be avoided is updated using distance between each obstacle, and collision recognition and avoidance are performed through the updated obstacles information. Finally, through obstacle location estimation, collision recognition, and collision avoidance result analysis in the Gazebo simulation environment, we verified that collision avoidance is performed successfully.

• Proceedings of the IEEK Conference
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• 2002.07c
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• pp.1499-1502
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• 2002

A method for acquiring an environmental map by integrating distance data obtained by sonars of a moving robot with web interface is proposed. Sonar data contains outliers in some cases such as ultrasonic beam is projected onto a corner of an object. Therefore, the influence of the outliers should be reduced by detecting outliers. In our method, the outliers are detected by two ways: (i) a method considering geometrical .elation among the observed surface and the projected ultrasonic beau, and (ii) a method considering consistency with data obtained by other sonars. By measurement by the sonar, the distance from the sonar to the obstacle is obtained. Assuming the two dimensional space we can know that the inside of the sector, whose renter coincide with the sonar and whose radius is equal to the obtained distance, is the free area, and a part of the arc of this sector is the obstacle area. The generation of the environmental map is done by integrating the free area and the obstacle area obtained by each measurement by the sonars. Before the integration, the outliers detection is done by two ways mentioned above. Experimental results show that obtained maps obtained by our methods with outliers defection are much better than those by a method without outliers detection.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.451-456
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• 2009

In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.11
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• pp.2786-2791
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• 2014

This paper describes the smart illuminating system based on the obstacle environmental presetting to improve the user convenience to easy lighting and energy conservation. Obstacle environment has trouble controlling the illuminating equipment using manual buttons in certain circumstances, which requires a smart remote controller. The smart remote controller is operated by the smart phone, motion sensor and timer to turn on and off the lamps. The event sensor module transmits the signals of the event occurrence to equipment on the remote place when smart phone and motion sensor detect an event, and the illuminator received the event turn on or off the lamp. The system results in energy saving by simple on/off control and manipulating the operating time with controlling the illuminating system preset by user's obstacle or preference circumstances. The proposed system implementation is experimented to figure out the energy saving about13.5w/h and the optimized convenience control.

• Journal of the Korea Society of Computer and Information
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• v.27 no.11
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• pp.81-87
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• 2022

In this paper, we propose diffraction-based sound control method to improve sound immersion in a virtual environment. The proposed technique can express the wave and flow of sound in a physical environment and a pattern similar to diffraction in real-time. Our approach determines whether there is an obstacle from the location of the sound source and then calculates the position of the new sound reflected and diffracted by the obstacle. Based on ray tracing, it determines whether or not it collides with an obstacle, and predicts the sound level of the agent behind the obstacle by using the vector reflected and refraction by the collision. In this process, the sound attenuation according to the distance/material is modeled by attenuating the size of the sound according to the number of reflected/refracted rays. As a result, the diffraction pattern expressed in the physics-based approach was expressed in real time, and it shows that the diffraction pattern also changes as the position of the obstacle is changed, thereby showing the result of naturally spreading the size of the sound. The proposed method restores the diffusion and diffraction characteristics of sound expressed in real life almost similarly.

• Journal of the Korea Society of Computer and Information
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• v.14 no.11
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• pp.31-40
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• 2009

The most common cleaning methods of cleaning robot can be divided into two categories: the random and the boustrophedon method. A cleaning robot using the random method moves straight until it bumps into an obstacle. If it collides with an obstacle, the cleaning robot turns a specific angle and continues moving straight. Therefore, the random method often tends to clean the already clean area repeatedly. In addition, it takes a long time to complete cleaning. A cleaning robot using the boustrophedon method moves straight until it collides with an obstacle. If it meets an obstacle, the cleaning robot moves to the next uncleaned space through turning and moving ahead. when resuming cleaning from the new region, a cleaning robot moves in the direction opposite to the direction of the previous cleaning. Because the boustrophedon method cleans a cleaning space more densely, its performance is excellent in an obstacle-free space or a small space. However, In a space with obstacles or a complex structure, it takes a long time to complete the cleaning work. Cleaning should be systematically approached with a good understanding of the work area. The virtual map-based cleaning robot proposed in this paper cleaned a work space efficiently. The efficiency of the proposed method was measured through simulation.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.285-288
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• 2022

Objectives : This study aimed to determine whether Variability of Walking Environment Training can improve gait and balance in stroke patients. Methods : Twenty-four stroke patients are randomly assigned to experimental group 1 (n=8), experimental group 2 (n=8) and control group (n=8). Experimental group 1 performed unexpected obstacle walking training, experimental group 2 performed fixed obstacle walking training and control group performed non obstacle walking training for 12 minutes per session, 5 times a week for 4 weeks. The gait analyzer G-walk were evaluated using gait cadence, gait velocity, and stride length, balance was evaluated using FES-K and BBS. Results : In within-group comparison of gait cadence, gait velocity and stride length of change, the experimental 1,2 groups showed significant improvements post intervention (p<.05) but control group showed no significant improvement. In between-groups comparison there was significant difference in the change of gait cadence, gait velocity and stride length pre and post intervention. In within-group comparison of FES-K and BBS scores, the experimental 1,2 groups showed significant improvements post intervention (p<.05) but control group showed no significant improvement. In between-groups comparison there was significant difference in the change of FES-K and BBS scores pre and post intervention (p<.05).