• Journal of the Korean Mathematical Society
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• v.37 no.4
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• pp.565-577
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• 2000

We consider regularity questions arising in the degenerate elliptic vector valued variational inequalities -div(｜▽u｜p-2∇u)$\geq$b(x, u, ∇u) with p$\in$(1, $\infty$). It is a generalization of the scalar valued inequalities, i.e., the obstacle problem. We obtain the C1,$\alpha$loc regularity for the solution u under a controllable growth condition of b(x, u, ∇u).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.11
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• pp.1193-1199
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• 2014

To achieve safe and high-speed navigation of a mobile service robot, velocity of dynamic obstacles should be considered while planning the trajectory of a mobile robot. Trajectory planning schemes without considering the velocity of the dynamic obstacles may collide due to the relative velocities or dynamic constraints. However, the general planning schemes that considers the dynamic obstacle velocities requires long computational times. This paper proposes a velocity control scheme by scaling the time step of trajectory to deal with dynamic obstacle avoidance problem using the RNLVO (Robot Nonlinear Velocity Obstacles). The RNLVO computes the collision conditions on the basis of the NLVO (Nonlinear Velocity Obstacles). The simulation results show that the proposed scheme can deal with collision state in a short period time. Furthermore, the RNLVO computes the collisions using the trajectory of the robot. As a result, accurate prediction of the moving obstacles trajectory does not required.

• 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.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• autumn
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• pp.567-570
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• 2002

our country school construction from 1990 year middle the facility expension for the improvement or education environment and the maintenance expense of various conservative construction for old education facilities is increasing. It accomplishes the each subject wild for business which maintains the training facility enterprise to be, the minute paragraph of information and deficient standard of information. It brings about the duplication investment a waste of the revenue source which is limited. Occurrence information which it follows consequently in business process and requirement must clear. We the maintenance phase of the education facilities understand, problem point and obstacle VIP analysis it leads it presents it does analyze. The improvement process model which leads a hereafter function for obstacle VIP extraction and information model construction must be accomplished.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.8
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• pp.1213-1218
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• 2013

Recently, although the need of marine robots such as the underwater robot, surface robot and airborne robot being raised in extreme areas, the basis is very deficient. Fortunately, as the need of the robot education is increasing, it is desirable to establish the R&D basis of marine robots and to train future talents through the development and diffusion of marine robot kits. However, in conventional case, there is no marine robot-kit based on the balloon, which has the abilities of the airborne locomotion and obstacle avoidance. To solve this problem, a balloon-based autonomous airborne robot-kit that has the ability of the obstacle avoidance with an infrared sensor, is developed. The test and evaluation results show the possibility of the real applications and the necessity of additional work.

• Journal of the Korean Society of Safety
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• v.13 no.4
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• pp.162-171
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• 1998

This paper presents the harmonics obstacle analysis and countermeasure of electrical consumption a place. Harmonics that can be cosidered as a environmental pollution of the power systems become the cause of the accidents and damages. The responsibility of eliminating the harmonics firstly lies on the generating side. But the original characteristics of the system sush as the harmonic transfer characteristics and the impedance of the system affect each other in the process of the generation and transmission of the harmonic. Therefore it is very difficult to specify clearly the harmonic controlling responsibility, because electric machinery generating harmonics are various in the industrial fields. The output of a inverter has a high harmonic content. There are several ways of minimizing the output harmonic content. One way is to use pulse width modulation techniques within inverter. An alternative method is to combine a number of square-wave inverters. In this research, we measure the harmonic of the countermeasure of electrical consumption a place. The paper present the problem of new harmonic elimination method of PWM inverter fed induction motor system using W-FT series. In the future, the proposed PWM pattern by W-FT series is effective not only to the induction motor but also to the electromagnetic machine such as voltage reglator, UPS.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.5
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• pp.182-189
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• 2002

This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.10
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• pp.1551-1560
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• 1997

This study is devoted to the detection of the 3-dimensional point obstacles on the plane by using accumulated scan line images. The proposed accumulating only one scan line allow to process image at real time. And the change of motion of the feature in image is small because of the short time between image frames, so it does not take much time to track features. To obtain recursive optimal obstacles position and robot motion along to the motion of camera, Kalman filter algorithm is used. After using Kalman filter in case of the fixed environment, 3-dimensional obstacles point map is obtained. The position and motion of moving obstacles can also be obtained by pre-segmentation. Finally, to solve the stereo ambiguity problem from multiple matches, the camera motion is actively used to discard mis-matched features. To get relative distance of obstacles from camera, parallel stereo camera setup is used. In order to evaluate the proposed algorithm, experiments are carried out by a small test vehicle.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.8
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• pp.3270-3294
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• 2020

Some things come easily to humans, one of them is the ability to navigate around. This capability of navigation suffers significantly in case of partial or complete blindness, restricting life activity. Advances in the technological landscape have given way to new solutions aiding navigation for the visually impaired. In this paper, we analyze the existing works and identify the challenges of path selection, context awareness, obstacle detection/identification and integration of visual and nonvisual information associated with real-time assisted mobility. In the process, we explore machine learning approaches for robotic path planning, multi constrained optimal path computation and sensor based wearable assistive devices for the visually impaired. It is observed that the solution to problem is complex and computationally intensive and significant effort is required towards the development of richer and comfortable paths for safe and smooth navigation of visually impaired people. We cannot overlook to explore more effective strategies of acquiring surrounding information towards autonomous mobility.