• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.283-284
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• 2007

In this paper we introduce a compensation of nonlinearity Heterodyne laser interferometer. The Laser Interferometer is used for length measurement in various industries. However, it has nonlinearity error caused by the imperfect optical equipment. This acts as an obstacle in the measurement improvement. We propose an adaptive error compensation using least mean square(LMS) to improve precision.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.171-175
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• 2004

A tactile stimulator array using stacked PZT is fabricated and evaluated in this paper. The purpose of this research is the development of a tactile stimulator to represent the obstacle information for the visually disabled. As a first step of this research, we investigate the physiological characteristics of tactile stimuli and design a tactile stimulator based on the investigated results. Also we evaluated a fabricated tactile stimulator. The prototype of tactile stimulator which has 2x2 tactor elements with 3mm spacing is fabricated using stacked PZT actuator. In order to evaluate the characteristics of this tactile stimulator, physiological experiments are carried out. In the experiment, the threshold of tactile stimulus intensity within a frequency range of 5-500Hz and at various stimulus amplitudes are investigated. According to the obtained experimental result, the input signal of tactile stimulator for the transfer of obstacle information is determined. Also physiological experiments of multi-stimuli recognition such as shift and rotation are carried out.

• Journal of Korea Society of Digital Industry and Information Management
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• v.11 no.3
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• pp.145-158
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• 2015

Disposable marine product packaging materials such as wooden, Styrofoam, and corrugated cardboard boxes have a very low reuse rate, thus causing the logistics costs to rise and making it difficult to establish a unit load system for marine products. Disposable packing containers to be discarded are accompanied by resource and environmental issues home and abroad. Transportation vehicles for marine products have to return empty without loading different kinds of products after delivery due to the smell and properties of marine products, thus posing as an obstacle to logistics rationalization. In an effort to overcome those limitations, this study examined the stages of transportation including "producer-wholesale market in the producing area-commission merchant-wholesale market in the consumption area-commission merchant-quasi-wholesale market-consumer" and also analyzed the utilization and distribution of disposable packaging materials currently used in the circulation of marine products including wooden, Styrofoam, and corrugated cardboard boxes. Based on the analysis results, the investigator developed a logistics rationalization model capable of promoting semi-permanent reuse and lowering empty vehicle rate on return routes as an alternative to address environmental issues caused by disposable packaging materials, which have been an obstacle to the logistics rationalization of marine products, packaging costs in the process of repeating packing and unpacking at each stage of marine products circulation, and empty vehicle rates on return routes after marine products delivery.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.155-163
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• 2000

This paper presents a path planning method of the sensor based intelligent vehicle using fuzzy logic controller for avoidance of moving obstacles in unknown environments. Generally it is too difficult and complicated to control intelligent vehicle properly by recognizing unknown terrain with sensors because the great amount of imprecise and ambiguous information has to be considered. In this respect a fuzzy logic can manage such the enormous information in a quite efficient manner. Furthermore it is necessary to use the relative velocity to consider the mobility of obstacles, In order to avoid moving obstacles we must deliberate not only vehicle's relative speed toward obstacles but also self-determined acceleration and steering for the satisfaction of avoidance efficiency. In this study all the primary factors mentioned before are used as the input elements of fuzzy controllers and output signals to control velocity and steering angle of the vehicle. The main purpose of this study is to develop fuzzy controllers for avoiding collision with moving obstacles when they approach the vehicle travelling with straight line and for returning to original trajectory. The ability are and effectiveness of the proposed algorithm are demonstrated by simulations and experiments.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.2
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• pp.163-173
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• 2013

We present a new computer vision technique which can detect unexpected or static vertical objects in road driving environment. We first obtain temporal and spatial difference images in each frame of a stereo video sequence. Using the difference images, we then generate VO and HO maps by improving the conventional V and H disparity maps. From the VO and HO maps, candidate areas of vertical obstacles on the road are detected. Finally, the candidate areas are merged and refined to detect vertical obstacles.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.4
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• pp.782-791
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• 2005

In this paper, path planning and tracking problems are mentioned to guarantee efficient and safe navigation of autonomous mobile robots. We focus on the path planning and also deal with the path tracking and obstacle avoidance. We improved the conventional distance transform (DT) algorithm for the path planning. Using the improved DT algorithm, we obtain paths with shorter distances compared to the conventional DT algorithm. In the stage of the Path tracking, we employ the fuzzy logic controller to conduct the path tracking behavior and obstacle avoidance behavior. Through computer simulation studies, we show the effectiveness of the Nosed navigational algorithm for autonomous mobile robots.

• Journal of the Society of Disaster Information
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• v.4 no.2
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• pp.138-154
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• 2008

The conventional non-dig underground structure building method which made an appearance to reduce the social and environmental costs and maximize the efficiency of the social overhead capital facilities could not help being uneconomical because of many problems such as unnecessary excessive excavation, water leakage, obstacle interference, difficulty of curvilinear application and connection complexity between propelled and injected bodies due to indiscriminate application of small and large circular steel pipes without consideration of the site conditions. The T.S.T.M, in which a protruded square tube is applied as a propulsion and injection body in a design that considered site conditions such as ground condition, depth of soil and live load, was able to be economical as it solved the problems of water resistance, minimization of obstacle interference and curvilinearity, and we can see that it can be applied to all grounds by utilizing or complementing the target ground in terms of engineering. Also in configuring the transverse section, it is possible to not only secure excellent structural safety but also implement all of the above engineering characteristics not only in the square cross section but also in the arch cross section, so it was possible to build structures on any section or ground, and we could confirm the LCC reduction effect and the VE effect.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.12
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• pp.2220-2227
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• 2008

The safety equipments of railway level crossing which are installed at intersections between roads and railway lines prevent level crossing accidents by informing all of the vehicles and pedestrians of approaching trains. The intelligent safety system for level crossing which employs information and communication technology has been developed in USA and Japan, etc. But, in Korea, the relevant research has not been performed. In this paper, we analyze the cause of railway level crossing accidents and the inherent problem of the existing safety equipments. Based on analyzed results, we design the intelligent safety system which prevent collision between a train and a vehicle. This system displays train approaching information in real-time at roadside warning devices, informs approaching train of the detected obstacle in crossing areas, and is interconnected with traffic signal to empty the crossing area before train comes. Especially, we present the video based obstacle detection algorithm and verify its performance with prototype H/W since the abrupt obstacles in crossing areas are the main cause of level crossing accidents. We identify that the presented scheme detects both pedestrian and vehicle with good performance.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.4
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• pp.237-243
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• 2014

In this paper we present an real-time obstacle avoidance technique of autonomous mobile robot with steering system and implementation of user interface for mobile devices with Android platform. The direction of autonomous robot is determined by virtual force field concept, which is based on the distance information acquired from 5 ultrasonic sensors. It is converted to virtual repulsive force around the autonomous robot which is inversely proportional to the distance. The steering system with PD(proportional and derivative) controller moves the mobile robot to the determined target direction. We also use PSD(position sensitive detector) sensors to supplement ultrasonic sensors around dead angle area. The mobile robot communicates with Android mobile device and PC via Ethernet. The video information from CMOS camera mounted on the mobile robot is transmitted to Android mobile device and PC. And the user can control the mobile robot manually by transmitting commands on the user interface to it via Ethernet.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.295-299
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• 2005

In this paper, path planning and tracking problems are mentioned to guarantee efficient and safe navigation of autonomous mobile robots. We focus on the path planning and also deal with the path tracking and obstacle avoidance. We improved the conventional distance transform (DT) algorithm for the path planning. Using the improved DT algorithm, we obtain paths with shorter distances compared to the conventional DT algorithm. In the stage of the path tracking, we employ the fuzzy logic controller to conduct the path tracking behavior and obstacle avoidance behavior. Through computer simulation studies, we show the effectiveness of the proposed navigational algorithm for autonomous mobile robots.