• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1039-1043
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• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.

• 한국지능시스템학회논문지
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• 제14권2호
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• pp.171-177
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• 2004

본 논문에서는, 동적환경 하에서 움직이는 이동 로봇을 위한 인지에 기반한 이동 로봇의 운항계획 알고리즘을 제안한다. 제안된 알고리즘은 크게 ‘지각’과 ‘계획’ 부분으로 구성되어 있으며, ‘지각’은 지식을 구성하는 퍼지 규칙과 센서에서 얻은 데이터를 근거로 하는 위치 추론을 담당하고, ‘계획’은 환경에 대한 지식과 ‘지각’ 과정에서 얻은 위치에 대한 정보를 통해 시작점과 목표점 사이의 경로를 생성한다. ‘지각’과 ‘계획’을 통해 이동 로봇은 애매한 정보와 애매한 지식으로 위치를 추론하고 목표점을 찾아 이동한다. 컴퓨터 모의실험을 통해 제안된 알고리즘의 타당성을 보인다.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2002년도 하계학술대회 논문집
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• pp.151-155
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• 2002

This paper presents a micro fluxgate magnetic sensor in printed circuit board (PCB). The fluxgate sensor consists of five PCB stack layers including one layer magnetic core and four layers of excitation and pick-up coils. The center layer as a magnetic core is made of a micro patterned amorphous magnetic ribbon with extremely high DC permeability of ∼100,000 and the core has a rectangular-ring shape. The amorphous magnetic core is easily saturated due to the low coercive field and closed magnetic path for the excitation field. Four outer layers as an excitation and pick-up coils have a planar solenoid structure. The chip size of the fabricated sensing element is 7.3${\times}$5.7m㎡. Excellent linear response over the range of -100${\mu}$T to +100${\mu}$T is obtained with 540V/T sensitivity at excitation square wave of 3V$\_$P-P/ and 360kHz. The very low power consumption of ∼8mW was measured. This magnetic sensing element which measures the lower fields than 50${\mu}$T, is very useful for various applications such as: portable navigation systems, military research, medical research, and space research.

• 한국전기전자재료학회논문지
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• 제15권8호
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• pp.702-707
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• 2002

This paper presents a micro fluxgate sensor in printed circuit board (PCB). The fluxgate sensor consists of five PCB stack layers including one layer magnetic core and four layers of excitation and pick-up coils. The center layer as a magnetic core is made of a micro patterned amorphous magnetic ribbon and the core has a rectangular-ring shape. The amorphous magnetic core is easily saturated due to the low coercive field and closed magnetic path for the excitation field. Four outer layers as an excitation and pick-up coils have a planar solenoid structure. The chip size of the fabricated sensing element is 7.3$\times$5.7$\textrm{mm}^2$. Excellent linear response over the range of -100$\mu$T to +100$\mu$T is obtained with 540V/T sensitivity at excitation square wave of 3 $V_{p-p}$ and 360kHz. The very low power consumption of ~8mW was measured. This magnetic sensing element, which measures the lower fields than 50$\mu$T, is very useful for various applications such as: portable navigation systems, military research, medical research, and space research.h.

• 전기전자학회논문지
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• 제2권1호
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• pp.139-149
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• 1998

이동로봇의 주행에 있어서 단일센서만으로는 문제점들이 있다. 이러한 문제에 대하여 본 논문에서는 초음파센서와 카메라의 장점을 취한 시스템을 제안한다. 또한 이동로봇의 주행동안에 장애물을 회피하기 위한 좌표추출 알고리즘을 제안한다. 이동로봇의 전반부에 카메라를 장착하였으며 제안된 알고리즘의 유용성을 검증하기 위한 실험을 하였다. 실험결과 초음파 센서만을 사용하는 경우보다 영상센서를 사용하는 경우에 에러율이 줄어 들었다. 또한 측정된 값들을 사용하여 장애물을 회피하기 위한 경로를 생성할 수 있다.

• Spatial Information Research
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• 제15권2호
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• pp.95-109
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• 2007

최근 도로네트워크 환경에서 위치기반 서비스를 제공하는데 있어서 2차원 공간 데이터를 기반으로 하고 있다. 3차원 데이터는 사용자에게 2차원 보다 친근감을 주는 중요한 매체가 되지만, 데이터의 크기가 커지기 때문에 이동단말기의 메모리 공간의 한계로 모든 데이터를 저장할 수 없게 되는 문제점이 발생한다. 본 논문에서는 도로네트워크에서 이동객체에게 3차원 데이터를 제공할 수 있는 연속원근질의를 정의하고 이를 처리하는 방법론을 제안하였다.

• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.903-909
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• 2007

Mobile Robots are increasingly being used to perform tasks in unknown environment. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently search in an environment. To achieve autonomous mobile robot navigation, efficient path planner and accurate localization technique are the fundamental issues that should be addressed. This paper presents mobile robot localization using IRID(InfraRed IDentification) as artificial landmarks. IRID has highly deterministic characteristics, different from RFID. By putting several IRID emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Dead-reckoning provides the estimated robot configuration but the error becomes accumulated as the robot travels. IRID information tells the sector the robot is in, but the size of the uncertainty is too large if only the IRID information is used. This paper presents an algorithm which combines both the encoder and the IRID information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed IRID and the proposed algorithm are verified from the simulation results and experiments.

• 제어로봇시스템학회논문지
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• 제13권8호
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• 한국의류산업학회지
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• 제13권4호
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• pp.548-559
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• 2011

The purpose of this study is to find out the important factors and efficient strategies concerning fashion mobile marketing. This study contributes to the effect on shopping behavior of m-commerce consumer applying technology acceptance model(TAM) in the mobile fashion merchandise shopping environment. The areas of study interest are mobile commerce interface characteristics, flow, perceived usefulness, ease of use, attitude, purchase intention. To fulfill the study objectives, a total of 406 questionnaires were conducted to the customers with first-hand experience with merchandise in mobile commerce. The judgement sampling method was employed on sample population ages from 20s to 30s over two month period. Based on the results of the above-mentioned path analysis, The result showed that different factors affect acceptance intention of the fashion M-commerce. The result which extended TAM relationship, excepted affects in perceived ease of use by navigation and Flow, perceived usefulness by perceived ease of use and purchase intention by perceived ease of use considers from all relationships the effect put out. On this wise, mobile commerce interface characteristics needs provider of basic contents to fashion mobile commerce technology acceptance and suggested the ability which diffuses a fashion mobile transactions.

• 정보과학회 컴퓨팅의 실제 논문지
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• 제22권12호
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• pp.654-662
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• 2016

본 논문에서는 가까운 미래에 접하게 될 무인 자율 주행 차량의 주차장에서의 주차 방법과 알고리즘에 대해 살펴보았다. 가장 가까운 주차 장소는 어디이며 어떤 경로를 통해 그 위치로 이동할 것인가 등이 자율주행 차량의 주차를 위한 정보일 것이다. 자율주행 차량의 주차에 적합한 주차장의 구조와 형태를 알아내는 것도 중요한 문제점이 될 것이다. 본 논문에서는 주차장을 그래프로 모델링한 후 중앙제어 시스템을 통해 각 자율주행 차량이 근접한 주차장소로 이동할 수 있도록 안내하는 초기 해결 방법을 제시한다. 몇 가지 구조의 주차장을 모델링한 실험을 통해 본 논문에서 제안한 초기 해결방법이 자율주행차량 주차에 효과적인 안내 시스템이 될 수 있음을 확인하였다.