• Proceedings of the KIEE Conference
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• 2002.11c
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• pp.495-500
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• 2002

Recently, a service robot industry outstands as an up and coming industry of the next generation. Specially, there are so many research in self-steering movement(SSM). In order to implement SSM, robot must effectively recognize all around, detect objects and make a surrounding map with sensors. So, many robots have a sonar and a infrared sensor, etc. But, in these sensors, We only know informations about between the robot and the object as well as resolution faculty is of inferior quality. In this paper, we will introduce new algorithm that recognizes objects around robot and makes a two dimension surrounding map with a omni-direction vision camera and two stereo vision cameras.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.117-124
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• 2006

In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2381-2383
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• 2003

This paper presents an effective approach to dynamic obstacle avoidance for mobile robot. The main concept of this approach includes modified polar mapping for recognition of the moving obstacle in vision-based robot systems. To simplify the segmentation of the moving obstacle from the background and to obtain its relative position data the modified polar mapping is proposed. Dynamic moving obstacles are avoided with a vision sensor and stationary obstacles are avoided with a sonar sensor.

• The Journal of the Acoustical Society of Korea
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• v.38 no.2
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• pp.193-199
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• 2019

In this paper, the results of underwater vibration experiment are analyzed to verify platform vibration-induced noise isolation characteristics of a hull-mounted acoustic sensor. The experimental condition causing platform vibration-induced noise is generated using the mock-up hull, where the acoustic sensor is installed, with shaker in an acoustic water tank. The performance indices of ATF (Acceleration Transfer Function), AVS (Acceleration Voltage Sensitivity), and IL (Insertion Loss) for the acoustic sensor are calculated from the output of the standard accelerometers, which are installed on the mock-up hull and the acoustic sensor, and the output signal of the acoustic sensor. The frequency-dependent noise isolation characteristics of the acoustic sensor are analyzed based on the calculated performance indices and an effectiveness of the experiment is examined.

• The Journal of the Acoustical Society of Korea
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• v.41 no.4
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• pp.435-445
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• 2022

In this study, the reverberation of a bistatic sonar operated in southeastern coast in the East Sea in July 2020 was analyzed. The reverberation sensor data were collected through an LFM sound source towed by a research vessel and a horizontal line array receiver 1 km to 5 km away from it. The reverberation sensor data was analyzed by various methods including geo-plot after signal processing. Through this, it was confirmed that the angle reflected from the sound source through the scatterer to the receiver has a dominant influence on the distribution of the reverberation sound, and the probability distribution characteristics of bistatic sonar reverberation varies for each beam. In addition, parametric factors of K distribution and Rayleigh distribution were estimated from the sample through moment method estimation. Using the Kolmogorov-Smirnov test at the confidence level of 0.05, the distribution probability of the data was analyzed. As a result, it could be observed that the reverberation follows a Rayleigh probability distribution, and it could be estimated that this was the effect of a low reverberation to noise ratio.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.2
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• pp.209-218
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• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.6
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• pp.549-559
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• 2015

In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

• The Journal of the Acoustical Society of Korea
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• v.39 no.4
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• pp.255-262
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• 2020

In modern passive sonar systems, a towed array sensor is used to minimize the effects of own ship noise and to get a higher SNR. The thin and long towed array sensor can be guided in a non-linear form according to the maneuvering of tow-ship. If this change of the array shape is not considered, the performance of beamformer may deteriorate. In order to properly beamform the elements in the array, an accurate estimate of the array shape is required. Various techniques exist for estimating the shape of the linear array. In the case of a method using a heading sensor, the estimation performance may be degraded due to the effect of heading sensor noise. As means of removing this potential error, weighted polynomial fitting technique for estimating array shape is developed here. In order to evaluate the performance of proposed method, we conducted computer simulation. From the experiments, it was confirmed that the proposed method is more robust to noise than the conventional method.

• The Journal of the Acoustical Society of Korea
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• v.40 no.4
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• pp.391-399
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• 2021

The conformal array sensor has different sub-array depending on different beam steering directions. According to the method to effective the sensor, the performance of the conformal array sensor can be different, where the sub-array selects an effective sensor. Also, due to the figure of the conformal array sensor, the figure of the sub-array can be different each other, which results in different performance on directivity index, beam width and etc. In this paper, two methods to select sub-array which is the criteria for each sensors position vector and directive vector were proposed. For two sub-array selection methods, the performance of the directivity index, horizontal and vertical beam width were compared with the average and variance. In addition, this comparison was conducted when the number of sensors was fixed. When the number of sensors was not fixed, the directional vector method mainly results in high performance, but the performance of vertical beam width was lower or equal. When the number of sensors was fixed, the performance of two methods is similar, but the performance of variance was deteriorated.

• The Journal of the Acoustical Society of Korea
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• v.36 no.5
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• pp.353-360
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• 2017

The single sensor based acoustic reflection control system separates the incident and reflected signals from the single sensor output, and reduces the reflected signal by generating an out-of-phase signal from the incident signal component. In this paper, we propose an optimal filter design method for a single sensor based reflection control system. In the proposed method, it is shown that the optimum control filter design is possible by using the measured impulse responses of the reflection and control paths. The reflection control algorithm based on the proposed optimal filter achieves better performance than the conventional adaptive filter-based algorithm and effectively controls the reflection without the initial convergence time. We performed computer simulations using the signals obtained in a 1-dimensional acoustic duct environment, and from the simulation results, it was confirmed that the proposed optimal filter has robust performance even in noisy environment.