• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2004년도 춘계학술대회 학술발표 논문집 제14권 제1호
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• pp.139-143
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• 2004

Lee et al have proposed a framework for the linguistic map-based navigational planning of a mobile robot on dynamic environment and provided simulation results applied it to the static environment[1], In this paper, we extends the navigational planning of a mobile robot into dynamic environment. There are two kinds of dynamic obstacles： (1) Time-obstacles that change condition of obstacles with time. (2) Space-obstacles that move their position with time. We propose an algorithm which a mobile robot identifies and avoids the two kinds of dynamic obstacles. The proposed algorithm consists of two stages： (1) The fuzzy logic-based perception stage which identifies the dynamic obstacles around a mobile robot by using sensory data and fuzzy rules, (2) The planning stage which plans the path to goal by avoiding the dynamic obstacles[2-6]. We provide computer simulation results for a mobile robot in order to show the validity of the proposed algorithm.

• 로봇학회논문지
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• 제3권3호
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• pp.212-218
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• 2008

Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

• 품질경영학회지
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• 제31권2호
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• pp.82-97
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• 2003

The study attempts to review TQM models used in the health care sector and the obstacles to the application of TQM in the sector. Even though the TQM models in the manufacturing and service sectors were successfully applied, the applicability of TQM in the health care sector is still in question. The reason is the unique characteristics of the medical sector such as medical and management practices. The most of the TQM models in the health care sector come from manufacturing industries. The importance of the professional groups is, however, more emphasized in the sector than in manufacturing sector. The role of the groups are idiosyncratic to the sector. They generate some obstacles to the application of TQM in the sector. The barriers include cultural obstacles of health care organization. It naturally follows that the TQM in the health care sector requires the change of the organizational culture of the sector. The culture embraces the norms, rules, regulations, compensation system, morale, practices, and common experiences. To change the culture needs long term effort and modification of the rules, regulations, compensation system, and practices. It also requires staffs' training in the problem solving methods. The TQM in the health care sector needs that the interested parties should change. Since doctors group and nurses group are controlled in the bureaucratic and authoritative manner, they should learn the problem solving techniques which require the interaction with other groups. The management also needs to learn management skills and get thorough training on them.

• 대한조선학회논문집
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• 제61권3호
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• pp.170-184
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• 2024

With the advancement of autonomous navigation technology in maritime domain, there is an active research on swarming Unmanned Surface Vehicles (USVs) that can fulfill missions with low cost and high efficiency. In this study, we propose a formation control algorithm that maintains a certain shape when multiple unmanned surface vehicles operate in a swarm. In the case of swarming, individual USVs need to be able to accurately follow the target state and avoid collisions with obstacles or other vessels in the swarm. In order to generate guidance commands for swarm formation control, the potential field method has been a major focus of swarm control research, but the method using the potential field only uses the position information of obstacles or other ships, so it cannot effectively respond to moving targets and obstacles. In situations such as the formation change of a swarm of ships, the formation control is performed in a dense environment, so the position and velocity information of the target and nearby obstacles must be considered to effectively change the formation. In order to overcome these limitations, this paper applies a method that considers relative velocity to the potential field-based guidance law to improve target following and collision avoidance performance. Considering the relative velocity of the moving target, the potential field for nearby obstacles is newly defined by utilizing the concept of Velocity Obstacle (VO), and the effectiveness and efficiency of the proposed method is verified through swarm control simulation, and swarm control experiments using a small scaled unmanned surface vehicle platform.

• 대한기계학회논문집A
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• 제21권10호
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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.

• 대한화학회지
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• 제65권4호
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• pp.268-278
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• 2021

이 연구의 목적은 화학교사들의 반응적 교수 유형의 변화를 관찰하기 위하여 선행연구에서 제안한 반응적 교수 유형을 세분화하고, 반응적 교수 유형의 변화에 장애를 주는 요인을 알아보는 것이다. 이를 위하여 교육대학원 과정으로 개설한 화학교육 강좌에 참여한 화학교사들을 대상으로 반응적 교수법에 대한 소개, 반응적 교수법 사례 분석, 촉진자 유형의 교육시나리오에 대한 개별 과제 및 조별 토론 등이 포함된 교육프로그램을 제공하였다. 선행연구를 바탕으로 교사의 교수법은 변별자 유형, 전달자 유형, 안내자 유형, 촉진자 유형으로 분석하였을 때, 분류가 안되는 유형이 관찰되었으므로, 이 연구에서는 탐색자 유형과 해석자 유형 등 2가지 유형을 추가하여 화학교사들의 반응적 교수 유형을 세분화하였다. 또한 개별 과제 및 조별 토론 자료를 통해 교사들의 반응적 교수법 변화에 장애를 주는 요인을 관찰할 수 있었다. 연구에서 찾아낸 장애 요인으로는 교사 요인, 학생 요인, 환경 요인 등이 있었다. 장애 요인 중 교사 요인으로는 교사 주도 수업에 대한 신념, 지식 전달자로서 교사의 역할에 대한 신념, 교육과정에 따라야 한다는 신념, 학생에 대한 교사의 이해 부족, 학생 주도 확장을 이끄는 교사의 역량 부족 등이 나타났다. 학생 요인으로는 학생의 역량에 대한 불신이 있었다. 또한 환경 요인으로는 다인수 학급과 같은 교육 환경이 있었다. 이러한 장애 요인을 제거하기 위한 노력이 함께 이루어질 때 반응적 교수법에 대한 효과적인 교사교육이 이루어질 수 있을 것이다.

• 한국환경과학회지
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• 제19권7호
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• pp.917-929
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• 2010

This paper aims to find out the statistical characteristics of the weather related railroad accidents and incidents. Data from Korea Railroad Operation Information System(KROIS) and Korea Railroad Accidents reports during 1996-2008 were used to investigate the occurrence frequency of railroad accidents and operation obstacles and their association with weather phenomena. The results are as follows; The occurrence frequency of railroad accidents and operation obstacles decrease gradually, and most of railroad accidents is a railroad traffic accidents. The amount of damages by a railroad weather-related accidents is higher than those of the railroad accidents and operation obstacles. It was also found that weather events influencing the railroad weather-related accidents and incidents are rainfall, snowfall, lightning, winds. And they caused a railroad weather-related accidents and incidents, such as railway obstruction, signal failure, and power supply failure. Therefore we need research about threshold review and a quantitative and qualitative analysis of a railroad weather-related accidents and incidents according to climate change.

• 한국전자파학회논문지
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• 제25권1호
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• pp.99-107
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• 2014

돌발적으로 발생하는 도로 장애물은 고속으로 주행하는 차량의 안전운행을 위협한다. 따라서, 악천후 시에도 도로상의 돌발 장애물을 탐지하고, 충돌을 방지할 수 있는 전천후 레이다 센서에 대한 관심이 높아지고 있다. 본 논문에서는 도로 장애물 탐지 및 경보를 위한 Ka-대역 펄스 도플러 레이다 시험모델의 설계 제작 및 성능시험 결과를 제시한다. 레이다 센서는 도로 환경조건에 적합하고, 다양한 고정 및 이동 장애물에 대하여 탐지, 추적 및 차선 식별 기능이 요구된다. 개발된 레이다는 안테나, 송수신기, 신호처리기 및 제어기로 구성된다. 주요 적용 기술은 고정 장애물 탐지를 위한 클러터 맵 기반 변화 탐지 기법, 이동 장애물 속도 탐지를 위한 도플러 추정 기법, 그리고 차선 식별을 위한 3-horn 모노펄스 방위각 추정 및 추적 기법이 포함된다. 개발된 레이다 시스템의 장애물 탐지와 차량 감시 성능은 성능시험과 환경시험을 통하여 설계 요구 조건을 만족하는 것으로 확인되었다.

• 로봇학회논문지
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• 제3권4호
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• pp.338-344
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• 2008

Most omni-directional mobile robots have to change their trajectory for avoiding obstacles regardless of the size of the obstacles. However, an omni-directional mobile robot having kinematic redundancy can maintain the trajectory while the robot avoids small obstacles. This works deals with the kinematic modeling and motion planning of an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms. Each wheel mechanism is modeled as having four joints, while only three joints are necessary for creating the omni-directional motion. Thus, each chain has one kinematic redundancy. Two types of wheel mechanisms are compared and its kinematic modeling is introduced. Finally, several motion planning algorithms using the kinematic redundancy are investigated. The usefulness of this robot is shown through experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.103-108
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• 1988

A walking robot must have the ability to change the body direction in order to avoid the obstacles. In this paper, we develop a gait control algorithm that can maintain the stable movement of the robot for three different modes of changing directions. The algorithm makes it possible for the robot to have the larger gait stability margin than the threshold value by the method of changing the body speed.