• 한국컴퓨터산업학회논문지
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• 제2권8호
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• pp.1015-1024
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• 2001

인터넷 환경이 급속도로 변화하면서, 관리해야하는 내부 네트워크의 규모도 커지게 되었다. 이에 따라서 보안의 중요성에 대한 인식이 확대되고, 내부 정보의 보호를 위해 많은 보안 시스템이 도입되었다. 그러나 분산된 보안 시스템들은 각각이 다른 사용자 인터페이스로 인하여 효율적인 보안관리가 어려울 뿐만 아니라 장애발생 시 일괄적이고 즉각적인 대처가 어렵고 관리 인력의 비대화를 야기 시킨다. 따라서 본 논문에서는 시스템의 일관적이고 통합적인 관리를 위해서 중앙에서 각 시스템의 상태를 파악하고 관리하는 통합보안관리시스템을 제안한다. 제안하는 통합보안관리시스템은 다중 에이전트를 이용함으로써 장애 대처가 빠르며, 각각의 보안 솔루션들에 대한 취약점을 최소화할 수 있고, 분산된 보안 시스템들을 일괄적으로 통제 및 관리할 수 있다.

• 한국치위생학회지
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• 제13권1호
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• pp.38-44
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• 2013

Objectives : This study is to dental knowledge and awareness of special education teachers. Methods : This study is conducted with a total of 244 special education teachers in Dae Gu, Gyeong Buk, Gyeong Nam, Bu San city from 1st April to 30th April, 2011. Results : More healthy state of oral health reflected higher point of oral health behavior. In the correlation among the oral health knowledge, behavior and education, higher oral health knowledge reflected higher oral health behavior. In the obstacle factors against oral health education, 41.0% was in the lack of professionalism and understanding of oral health education. The majority method for oral health education was regular teaching and the oral health in charge of education was school nurse 67.1%. The most important point for improvement for oral health class enabled was oral health recognition of teachers about the importance of education. Conclusions : For improving the oral health of the disabled, it is needed to develop the educational program or awareness of oral health monitoring like applying fluorine by special education teachers and parents, including the necessity of various oral health education development suitable for the special education school to make awareness in the importance and necessity of oral health.

• 한국산업융합학회 논문집
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• 제17권4호
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.236-241
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• 2008

This paper presents a method to recognize the plane regions for movement of walking robots. When the autonomous agencies using stereo camera or laser scanning sensor is under unknown 3D environment, the mobile agency has to detect the plane regions to decide the moving direction and perform the given tasks. In this paper, we propose a very fast method for plane detection using normal vector of a triangle by 3 vertices defined on a small circular region. To reduce the effect of noises and outliers, the triangle rotates with respect to the center position of the circular region and generates a series of triangles with different normal vectors based on different three points on the boundary of the circular region. The vectors for several triangles are normalized and then median direction of the normal vectors is used to test the planarity of the circular region. The method is very fast and we prove the performance of algorithm for real range data obtained from a stereo camera system.

• 전자공학회논문지S
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• 제36S권1호
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• pp.93-103
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• 1999

본 논문은 주행중의 자동차에 장착된 카메라의 입력 영상으로부터 이동창을 활용하여 차선을 인식하고 장애물을 감지하는 기법을 기술한다. 영상 정보로부터 장애물을 감지하기 위해서 차선의 위치를 빠른 시간에 추출하는 것이 매우 중요하다. 이를 위하여 한 프레임의 영상에서 차선의 입력이 예상되는 일부분만을 선정하는 기법이 일반적이다. 본 논문에서는 주행 차량의 영상 정보로부터 장애물을 감지하기 위하여, 도로의 곡률에 따라 차선의 입력 예상 위치를 측정하여 크기가 조절된 이동하는 창을 설정하여 정확한 차선의 위치를 추출하고, 나아가 주행 차선 내에 위치하는 장애물을 점출할 수 있는 기법을 제안한다. 이를 고정창을 이용하는 경우와 레이저 혹은 레이터 센서를 사용하는 경우와 비교하여, 정확도가 높음을 보였다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 춘계학술발표대회
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• pp.25-27
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• 2016

본 논문은 카메라와 적외선 센서를 이용하여 수직 벽면을 이동하는 로봇에 최적화 된 장애물 인식방법을 제안한다. 장애물을 인식 하는 순서는 적외선 센서를 통해 앞에 장애물이 있는지 확인하고 카메라를 이용하여 앞의 장애물의 유형을 판단한다. 장애물의 유형은 크게 작은 장애물과 직선 장애물 그리고 곡선 장애물이 있다. 곡선 장애물과 작은 장애물의 경우에는 회피를 하고 직선 장애물인 경우 장애물을 넘어간다. 장애물과 로봇은 수평으로 맞추어야 안정적으로 장애물을 건널 수 있으므로 넘어가야 하는 장애물이라면 수평인지 판단하고 수평이 아니라면 회전을 통해서 수평을 맞춘다. 수평이 맞추어 지면 장애물을 넘어간다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제7권3호
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• pp.198-204
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• 2007

In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.

• 전기학회논문지
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• 제67권12호
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• pp.1595-1601
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• 2018

The biggest obstacle to the commercialization of small and medium size microgrid (MG) is the reliability and economics of MG operation and maintenance. In this paper, we propose an autonomous operation method that is implemented as an application program installed in the MG operating system in emergency situations. The proposed algorithm consists of four steps of distinction, recognition, determination and control of emergency situations that can occur in MG. A fuzzy-based situation decision algorithm has been proposed to eliminate the barriers of autonomous operation in actual emergency situation such as occurrence of bad data and communication delay. In addition, countermeasures have been suggested for cases where multiple emergency situations have occurred in combination. The proposed algorithm was tested in a 500kW actual microgrid site of a university. Through the test, the validity of the proposed method and its applicability to practical MG operation are verified.

• 한국멀티미디어학회논문지
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• 제24권2호
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• pp.267-273
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• 2021

Recently, the small-size mobile robots with remote-control are rapidly growth which market of mobile is increased in the world. Especially, the smart-phones are widely used for interface device in the small size of a mobile robot. The research goal is control system design which is applied to miniaturization of a mobile robot using smart-phone and it can be confirmed performance for designed system. Meanwhile, the fabrication of mini-mobile robot can also be remote-control operation through the WIFI performance of a smart-phone. The smart-phone is used to remote-control for robot operation which control data transmit to robot via the WIFI network. To drive the robot, we can observe by the smart-phone screen and it can easily adjust the robot drive condition and direction by smart-phone button. Consequentially, there was no malfunction and images were printed out well. However, in drive, because of blind spot, robot was bumped into obstacle. Therefore, the additional test is necessary to sensor for blind spot which sensor can be equipment to mobile robot. In addition, the experiment with robot object recognition is needed.

• 한국정보통신학회논문지
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• 제25권4호
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• pp.549-557
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• 2021

본 연구는 교육용 로봇 중 한 종류인 스마트로봇을 대상으로 기존의 OID 센서 환경을 이용하되 주행의 문제점을 프로그램으로 처리하는 것을 제안 하고자 한다. 주행 정보를 가지고 있는 지도환경, 위치인식, 경로계획, 장애물 회피 및 경로 재설정을 중심으로 주행 테스트 환경을 구축했으며 평균적인 최종 오류 률이 아니라 오류가 증가하는 시점을 재보정의 순간으로 잡아야 한다는 가정을 통해 실험을 진행했다. 그 과정을 통해 선행실험에 비해 안정적인 주행 결과를 얻었다. 본 연구가 현재 판매되는 저가형 센서를 장착한 교육용 로봇들의 주행 성능을 올릴 수 있는 개발방법이 될 것이라 본다.