• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.6
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• pp.1006-1012
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• 2010

For the autonomous navigation of an unmanned ground vehicle in the rough terrain and combat, the dust environment should necessarily be overcome. Therefore, we propose a robust obstacle detection methodology using laser range sensor and radar. Laser range sensor has a good angle and distance accuracy, however, it has a weakness in the dust environment. On the other hand, radar has not better the angle and distance accuracy than laser range sensor, it has a robustness in the dust environment. Using these characteristics of laser range sensor and radar, we use laser range sensor as a main sensor for normal times and radar as a assist sensor for the dust environment. For fusion of laser range sensor and radar information, the angle and distance data of the laser range sensor and radar are separately transformed to the angle and distance data of virtual range sensor which is located in the center of the vehicle. Through distance comparison of laser range sensor and radar in the same angle, the distance data of a fused virtual range sensor are changed to the distance data of the laser range sensor, if the distance of laser range sensor and radar are similar. In the other case, the distance data of the fused virtual range sensor are changed to the distance data of the radar. The suggested methodology is verified by real experiment.

• The KIPS Transactions:PartA
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• v.18A no.2
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• pp.75-80
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• 2011

Recently, many cleaning robots have been made with various algorithms for efficient cleaning. One of them is a DmaxCoverage algorithm which efficiently clean for the situation when the robot has a time limit. This algorithm uses Rectangle Tiling method for finding the biggest rectangle that doesn't have any obstacle. When the robot uses grid map, Rectangle Tiling method can find the optimal value. Rectangle Tiling method is to find all of the rectangles in the grid map. But when the grid map is big, it has a problem that spends a lot of times because of the large numbers of rectangles. In this paper, we propose Four Direction Rectangle Scanning(FDRS) method that has similar accuracy but faster than Rectangle Tiling method. FDRS method is not to find all of the rectangle, but to search the obstacle's all directions. We will show the FDRS method's performance by comparing of FDRS and Rectangle Tiling methods.

• Archives of design research
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• v.19 no.2 s.64
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• pp.5-14
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• 2006

Visual perception is ability that analyze visual information about things accepting through eyes in central nervous system. That is, it is ability that recognize and discriminates a visual stimulus, and analyzes by combining such stimulus with previous experience. At today, work which clears visual perception obstacle's cause through visual perception test and grasps all special quality of visual perception obstacle's is used method of treating that improve visual perception obstacle by visual perception training program. Present, visual perception test tools using the paper and pens are used mainly on psychological consultation of welfare facilities and education for the handicapped or occupational therapy, but a lot of problems are discovered in it. Therefore, purpose of this paper is to develop prototype of web-based visual perception test program that can construct to database to solve existing problem, and to design graphic item. As a result, classified measurement pattern that can diagnose visual perception by three, and illustrated development direction of graphic item for examination with this. Also, extracted check list item that should consider for design and construction of visual perception test program and the variable for feasibility study of believability, and presented process for prototype development.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.8
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.26 no.11
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• pp.1653-1659
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• 2022

Virtual reality content provides users with a high sense of immersion by using HMD devices. However, while wearing the HMD device, it is difficult to determine the user's location or distance from obstacles, resulting in injuries due to physical collisions. In this paper, we propose a reminder module to prevent accidents by notifying the risk of collision with obstacles while wearing the HMD device. The proposed module receives the user's state from the acceleration and gyro sensor and determines the motion that is likely to cause a collision. If there is an obstacle in the expected collision range, a buzzer sounds to the wearer. As a result of the experiment, the accuracy of obstacle detection in the state of wearing the HMD was 86.6% in the 1st stage and 83.3% in the 2nd stage, confirming the performance of the accident prevention reminder.

• Journal of the Korean BIBLIA Society for library and Information Science
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• v.18 no.2
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• pp.203-228
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• 2007

This study was conducted to explore pending issues as an obstacle factor in the library growth and progress through measurement of Korean and Chinese College undergraduates' perception on the library, and suggest its countermeasure to that the study result showed that their perception to the library's social and cultural function was low, so the library's cultural events need to be consolidated to enhance perception, and the Korean student's study zeal was lower than Chinese, and amny students did not go to the library, but an incentive is needed to escalate the strength of course study or the library availability. Also a countermeasure should be established such as a class link project through continuing specialized librarians' training strengthened, users' group education for the satisfaction enhancement and validity of the information service users.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1621-1624
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• 2003

This paper presents a new method that generates a path that has no collision with the obstacles or the characters by using the three motion parameters, and automatically creates natural motions of characters that are confined to the path. Our method consists of three parameters: the joint information parameter, the behavior information parameter, and the environment information parameter. The joint information parameters are extracted from the joint angle data of the character and this information is used when creating a path following motion by finding the relation-function of the parameters on each joint. A user can set the behavior information parameter such as velocity, status, and preference and this information is used for creating different paths, motions, and collision avoidance patterns. A user can create the virtual environment such as road and obstacle, also. The environment is stored as environment information parameters to be used later in generating a path without collision. The path is generated using Hermit-curve and each control point is set at important places.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.500-503
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• 2003

The navigation problem of robot is one of the main themes to deal with conficts or interferences between obstacles and the robot itself In this case, while the robot avoids obstacles on the space, the passage route should be determined efficiently. In order to solve problems above, we have come up with the distance field space medel (DFM) and then, under known environment, we have presented the distance field A algorithm for passage route path search. In this research, the method of performing the 3-dimensional passage route path search of robot under unknown environment is proposed. It is shown that the authors can build the distance search model the does not need space division by taking into account of sensor information to a distance field space model, and constructing this information as virtual obstacle information.

• Journal of Information Technology Services
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• v.7 no.4
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• pp.87-99
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• 2008

As the technologies for telecommunication have been evolving, more enhanced information services and integrated information systems have been introduced, which can manage a variety of information from the heterogeneous systems. The major obstacle for the integrated information systems is the integrating heterogeneous databases in the systems and the heterogeneity problems can be classified into the structural and data heterogeneities. However, the previous researches have mainly highlighted into the solving structural heterogeneity problems. This paper identifies the data heterogeneity problems for multi-database schema integrations and proposes a new solving method. We analyze the semantics equivalence in data values based on the functional dependency, primary and candidate keys, and present a procedural solution of data heterogeneity in the perspective of the concept of attribute equivalence, integration key and conceptual integration table.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1005-1013
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• 2008

This paper describes a new sensor system for 3D range measurement using the structured infrared light. Environment and obstacle sensing is the key issue for mobile robot localization and navigation. Laser scanners and infrared scanners cover $180^{\circ}$ and are accurate but too expensive. Those sensors use rotating light beams so that the range measurements are constrained on a plane. 3D measurements are much more useful in many ways for obstacle detection, map building and localization. Stereo vision is very common way of getting the depth information of 3D environment. However, it requires that the correspondence should be clearly identified and it also heavily depends on the light condition of the environment. Instead of using stereo camera, monocular camera and the projected infrared light are used in order to reduce the effects of the ambient light while getting 3D depth map. Modeling of the projected light pattern enabled precise estimation of the range. Identification of the cells from the pattern is the key issue in the proposed method. Several methods of correctly identifying the cells are discussed and verified with experiments.