• Journal of the Institute of Electronics Engineers of Korea TE
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• v.42 no.4
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• pp.33-40
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• 2005

This paper represents the stable path recognition by the ultrasonic sensor which gathers navigation environments and the monocular image sensor which generates the self localization information of mobile robot. The proposed ultrasonic sensor and vision camera system recognizes the target and extracts parameters for generating the world map and self localization. Therefore, this paper has developed an indoor mobile robot and has stably demonstrated in a corridor environment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.10a
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• pp.251-255
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• 2012

Structural intensity has been mainly utilized to identify vibration energy flow in a vessel. In this paper, the structural intensity of a shuttle tanker subjected to H-moment of the main engine was calculated using a finite element model. From the analysis, it was found that the top-bracing elements, which support the main engine onto the hull structure to prevent the excessive transverse vibration of the main engine, play the role of the dominant path and sink for vibration energy flow from the main engine. Therefore, the structural intensity was controlled by the modification of stiffness and damping characteristics of the top-bracing elements. As a result, it is observed that the transverse vibration level at the center of navigation bridge deck decreased after the control of structural intensity.

• Journal of Industrial Technology
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• v.20 no.B
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• pp.195-200
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• 2000

This paper describes the path planning method in an unknown environment for an autonomous mobile robot equipped with CCD(Charge-Coupled Device) camera. The mobile robot moves along the guideline. The CCD camera is used for the detection of the existence of a guideline. The wavelet transform is used to find the edge of guideline. It is possible for us to do image processing more easily and rapidly by using wavelet transform. We make a fuzzy control rule using image data as an input then determined the position and the navigation of the mobile robot. The center value of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy controller output. Some actual experiments show that the mobile robot effectively moves to target position by means of the applied fuzzy control.

• Journal of Navigation and Port Research
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• v.29 no.2
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• pp.135-140
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• 2005

In this paper, we propose a human model for analysing the human work pattern or human fault, where a gantry crane simulator is used to survey the property cf human operation From the input and output cf gantry crane response, we make a human operation model by using conventional ARX identification method To identify the human model, we assume the eight inputs and two outputs. By using the achieved input/output data, we estimate the parameters of ARX for the human work model. To verify the proposed method, we compared the real data with the modeled data, where three kinds of work trajectory path are used.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.06a
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• pp.349-354
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• 2011

This paper addresses the trajectory tracking problem for ship berthing using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and performance robustness with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

• Information and Communications Magazine
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• v.31 no.3
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• pp.103-116
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• 2014

This paper proposes the design of Vehicular Cyber-Physical Systems (called VCPS) based on vehicular cloud for smart road networks. Our VCPS realizes mobile cloud computing services where vehicles themselves or mobile devices (e.g., smartphones and tablets of drivers or passengers in vehicles) play a role of both cloud server and cloud client in the vehicular cloud. First, this paper describes the architecture of vehicular networks for VCPS and the delay modeling for the event prediction and data delivery, such as a mobile node's travel delay along its navigation path and the packet delivery delay in vehicular networks. Second, the paper explains two VCPS applications as smart road services for the driving efficiency and safety through the vehicular cloud, such as interactive navigation and pedestrian protection. Last, the paper discusses further research issues for VCPS for smart road networks.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2840-2842
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• 2000

This paper describes sensor-based occupancy grid map construction method through complete coverage navigation algorithm in unknown environment. In this paper, we use the updated Baysian model for probabilistic grid map. For map construction, complete coverage navigation method in which mobile robot can navigate complete field through as short path as possible in unknown environment, is used. The computer simulations result show that map construction method using complete coverage algorithm is efficient.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.325-329
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• 2001

This paper addresses a control architecture for the hospital service robot, SmartHelper. With a sensing-reasoning-acting paradigm, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the control architecture is verified.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.281-291
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• 1999

Productivity of container cranes and gantry cranes is influenced by the performance of crane hardware and cycle time. Cycle time in container handling is influenced by the path of containers and relative positioning of containers. So we have to minimize the sway of containers and spreaders to minimize relative positioning time. And sway minimization is influenced by the skill of workers in manual gantry cranes. In this paper, we will develop anti-sway system using mechanical and electrical method. Proposed hybrid system uses the basic structure of general manual gantry crane. So, it is very useful and effective. Electrical methods are main methods and mechanical methods are auxiliary methods.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.321-332
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• 1999

It is important to detect objects movement for obstacle recognition and path searching of UCT(unmanned container transporters) with vision sensor. This paper shows the method to draw out objects and to trace the trajectory of the moving object using a CCD camera and it describes the method to recognize the shape of objects by neural network. We can transform pixel points to objects position of the real space using the proposed viewport. This proposed technique is used by the single vision system based on floor map.