• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.1
• /
• pp.105-110
• /
• 2009

In this paper, we proposed a navigation algorithm of the mobile robot for obstacle avoidance using a circular path planning method. The proposed method makes circular paths in order to avoid obstacles in the front side of the mobile robot. An optimal path for approaching to the target is selected and the linear and angular speeds for stable moving of the mobile robot are controlled. Obstacles are detected by image processing which reduce image data obtained from a web camera. Performance of the proposed algorithm is shown by experiments with application to the Pioneer-2DX mobile robot.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.21 no.8
• /
• pp.2077-2089
• /
• 1996

In this paper, a memory organization and its control method are proposed for the implementation of parallel Virterbi decoders. The design is mainly focused on lowering the hardware complexity of a parallel Viterbi decoder which is to reduce the decoding speed. The memories requeired in a Viterbi decoder are the SMM(State Metric Memory) and the TBM(Traceback Memory);the SMM for storing the path metrics of states and the TBM for storing the survial path information. A general parallel Viterbi decoder for high datarate usually consists of multiple ACS (Add-Compare-Select) units and their corresponding memeory modules.for parallel ACS units, SMMs and TBMs are partitioned into smaller independent pairs of memory modules which are separately interleaved to provide the maximum processing speed. In this design SMMs are controlled with addrss generators which can simultaneously compute addresses of the new path metrics. A bit shuffle technique is employed to provide a parallel access to the TBMs to store the survivor path informations from multiple ACS modules.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.10a
• /
• pp.396-399
• /
• 2002

A roughing process is the one of most important shoe manufacturing processes. Especially, it is indispensable to manufacture the leather shoes such as dress shoes, safety shoes, golf shoes, etc. The roughing process relies greatly on the operator's skill and experience. Therefore, the automation of roughing process is necessary to establish the improvement of productivity. We are trying to develop the Automatic Roughing Machine controlled by NC. As pre-study to do this, we need to measure the roughing path for NC, because there is no study on this pan and no reference about this. In this study, we proposed the 3-Dimensional Scanner System to measure the roughing path with new concept. The developed 3-D scanner System generates the roughing path using the 3 images obtained from 3 CCD cameras. The experimental results show that the proposed system can measure accurately the roughing path.

• The Transactions of the Korea Information Processing Society
• /
• v.4 no.2
• /
• pp.491-498
• /
• 1997

Geographic Infprmation System(GIS)is being apply to extended from specified ppkication to general purpose deu to the omprovement of computing power.As one part of postal Integarated Information Servies, Postalroute Optimication system(PROS) is comprsed of the composed of the shortest pathe genrator for providing fast and shortest route of postal delivery, the ischronal area generator, the boudary relacation generator, GIS engine, road map, and rdelational database , etc.This paper is related to creation algorithm of the shortest path generation (SPAWD;Shortest Path Algorithm With Direction)from PEOS model.To differ from the exsting shortest path generating methods, this paper suggests SPAWD alforithm for searching destinations of fast time between start and destination points with dirdstion.It comapares and analyzes the new algorithm with existion algorithms, and suggests directions of future studies.

• Journal of Practical Engineering Education
• /
• v.12 no.2
• /
• pp.309-319
• /
• 2020

Billiards is a fun and popular sport, but both route planning and cueing prevent beginners from becoming skillful. A beginner in billiards requires constant concentration and training to reach the right level, but without the right motivating factor, it is easy to lose interests. This study aims to induce interest in billiards and accelerate learning by utilizing billiard path prediction and visualization on a highly immersive augmented reality platform that combines a stereo camera and a VR headset. For implementation, the placement of billiard balls is recognized through the OpenCV image processing program, and physics simulation, path search, and visualization are performed in Unity Engine. As a result, accurate path prediction can be achieved. This made it possible for beginners to reduce the psychological burden of planning the path, focus only on accurate cueing, and gradually increase their billiard proficiency by getting used to the path suggested by the algorithm for a long time. We confirm that the proposed AR billiards is remarkably effective as a learning assistant tool.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.2 no.1
• /
• pp.37-42
• /
• 2009

The digital filter is essential element in digital signal processing area. It needs a high computational burden caused by multiplying and adding. The multiplier in digital filter is a dominant element, which occupies an wide area at the field of VLSI design, needs high power-consuming and also decides critical path that affects to filter performance. In this paper we proposed the simultaneous transform method which is represented 2's complementary representation to CSD and MSD representation to solve a complexity problem and to improve a computational speed. The performance of proposed method was implemented in VHDL and applied to an digital filters, was evaluated the decreasing of critical path delay.

• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.8
• /
• pp.73-82
• /
• 2004

In this paper, implementation of obstacle avoidance of a nonholonomic mobile robot in unstructured environment is introduced. To avoid obstacles, first, a reference collision-free path for the MR is generated off-line using HJB-based optimal path planning method. A controller is designed using integrator backstepping method for tracking the generated reference path. To implement the designed controller, a control system are needed and composed of camera system and PIC-based controller. The workspace is observed by a ceiling-mounted USB camera as part of an un-calibrated camera system. Thus the positional information of the MR is updated frequently and the MR can get the useful inputs for its tracking controller. The whole control system is realized by integrating a computer with PIC-based microprocessor using wireless communication: the image processing control module and path planning module serve as high level computer control while the device control serves as low level PIC microprocessor control. The simulation and experimental results show the effectiveness of the designed control system.

• The KIPS Transactions:PartD
• /
• v.11D no.7 s.96
• /
• pp.1409-1416
• /
• 2004

Recently, due to the popularity and explosive growth of the Internet, information exchange is increasing dramatically over the Internet. Also the XML is becoming a standard as well as a major tool of data exchange on the Internet. so that in retrieving the XML document. the problem for speeding up evaluation of path-oriented queries is a main issue. In this paper, we propose a new indexing technique to advance the searching performance of path-oriented queries in document databases. In the new indexing technique, an abbreviation-path file to perform path-oriented queries efficiently is generated which is able to use its hash-code value to index keys. Also this technique can be further enhanced by combining the Extendible Hashing technique with the abbreviation path file to expedite a speed up evaluation of retrieval.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.2
• /
• pp.168-177
• /
• 2008

Path finding is a key element in the navigation of a mobile robot. To find a path, robot should know their position exactly, since the position error exposes a robot to many dangerous conditions. It could make a robot move to a wrong direction so that it may have damage by collision by the surrounding obstacles. We propose a method obtaining an accurate robot position. The localization of a mobile robot in its working environment performs by using a vision system and Virtual Reality Modeling Language(VRML). The robot identifies landmarks located in the environment. An image processing and neural network pattern matching techniques have been applied to find location of the robot. After the self-positioning procedure, the 2-D scene of the vision is overlaid onto a VRML scene. This paper describes how to realize the self-positioning, and shows the overlay between the 2-D and VRML scenes. The suggested method defines a robot's path successfully. An experiment using the suggested algorithm apply to a mobile robot has been performed and the result shows a good path tracking.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.7
• /
• pp.641-647
• /
• 2015

This paper proposes a new strategy for a quad-rotor to track a moving object efficiently by using image processing and an extended Kalman filter. The goal of path planning for the quad-rotor is to design an optimal path from the start point to the destination point. To lengthen the freight time of the quad-rotor, an optimal path is required to reduce the energy consumption. To track a moving object, the mark signed on the moving object has been detected by a camera mounted first on the quad-rotor. The center coordinates of the mark and its area are calculated through the blob analysis which is one type of image processing. The mark coordinates are utilized to obtain information on the motion direction and the area of the mark is utilized to recognize whether the object moves backward or forward from the camera on the quad-rotor. In addition, an extended Kalman filter has been applied to predict the direction and speed of the dynamically moving object. Through these schemes, it is aimed that the quad-rotor can track the dynamic object efficiently in terms of flight distance and time. Through the two different route freights of the quad-rotor, the performance of the proposed system has been demonstrated.