• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.2
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• pp.141-146
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• 2017

New infectious diseases such as MERS have been in need of many measures such as initial discovery, isolation, and crisis response. In addition, the culture of hospitals is changing, such as the general public 's visiting and Nursing Care Integration Services. However, as the qualifications and regulations of medical personnel in hospitals become rigid, overseas such as linens, wastes movements are replacing possible works with robots. we have developed a hospital logistics robot that can carry out various goods delivery within a hospital, and can move various kinds of objects safely to a desired location. In this thesis, we have studied a hospital logistics robot that can carry out various kinds of goods delivery within the hospital, and can move various kinds of objects such as waste, and linen safely to a desired location. The movement of a robot in a hospital may cause a collision between a person and an object, so that the collision must be prevented. In order to prevent collision, it is necessary to recognize whether or not an object exists in the movement path of the robot. And if there is an object, it should recognize whether it moves or not. In order to recognize human beings and objects, we recognize the person with face/body recognition technology and generate the context awareness of the object using 3D Vision image segmentation technology. We use the generated information to create a map that considers objects and person in the robot moving range. Thus, the robot can be operated safely and efficiently.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.12A
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• pp.1267-1275
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• 2007

An improved backoff algorithm for retransmission randomization for OFDMA/CDMA/slotted ALOHA used in the ranging subchannel of IEEE 802.16 network is proposed. Exploiting the fact that a base station coordinates channel access using UL-/DL-MAP in the IEEE 802.16 networks, we propose a minor modification of the existing IEEE 802.16 in order to increase throughput, decrease delay variation and achieve a graceful performance degradation in case of overload channel condition of the random access protocol. The algorithm basically estimates the number of backlogged users and arrival rate using which, the BS calculates retransmission probability for the subscriber stations involved in a collision. Computer simulation is performed to demonstrate the effectiveness of the proposed algorithm and to compare the performance with existing binary exponential backoff algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1102-1107
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• 2009

An ultrasonic sensor has been widely used as a range sensor for its low cost and capability of detecting some obstacles, such as glasses and black surfaces, which are not well detected by a laser scanner and an IR sensor. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to obstacle avoidance using low-cost anisotropic ultrasonic sensors with wide beam angle. In this paper, obstacles can be detected by the proposed sensor configuration which consists of one transmitter and three receivers. Because even wide obstacles are represented by a point, which corresponds to the intersection of range data from each receiver of the anisotropic sensor, a robot cannot avoid wide obstacles successfully. This paper exploits the probabilistic mapping technique to avoid collision with various types of obstacles. The experimental results show that the proposed method can robustly avoid obstacles in most indoor environments.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.55-61
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• 2020

Getting on and off an elevator is one of the most important parts for multi-floor navigation of a mobile robot. In this study, we proposed the method for the pose recognition of elevator doors, safe path planning, and motion estimation of a robot using RGB-D sensors in order to safely get on and off the elevator. The accurate pose of the elevator doors is recognized using a particle filter algorithm. After the elevator door is open, the robot builds an occupancy grid map including the internal environments of the elevator to generate a safe path. The safe path prevents collision with obstacles in the elevator. While the robot gets on and off the elevator, the robot uses the optical flow algorithm of the floor image to detect the state that the robot cannot move due to an elevator door sill. The experimental results in various experiments show that the proposed method enables the robot to get on and off the elevator safely.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.22 no.8
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• pp.509-514
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• 2010

A numerical simulation of passenger evacuation in a subway station was performed by coupling the passenger flow analysis and the fire simulation. The algorithm of the passenger flow analysis was based on a DEM (Discrete Element Method) using the potential map of the direction vector for each passenger. This algorithm was improved in the present study as to use finer grid smaller than a passenger in order to resolve detailed geometry of the station and to resolve the behavior of passengers in the bottleneck at the ticket gate considering the collision of passengers to a wall or with other passengers. In the fire simulation, the CO distribution predicted by using CFD was used to take into account the effect of toxic gases on the passengers' mobility. The methodology proposed in the present study could be used in designing safer subway station in case of fire occurrence.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.329-334
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• 2011

This paper presents the method for location estimation with obstacle tracking method. A laser scanner is used to implement the system, and we assume that the map information is known. We matches the measurement of the laser scanner to estimate the location of the robot by using sequential monte carlo (SMC) method. After estimating the robot's location, the pose of obstacles are detected and tracked, hence, we can predict the collision risk of them. Finally, we present the experiment results to verify the proposed method.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Journal of Space Technology and Applications
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• v.3 no.2
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• pp.118-143
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• 2023

Space is becoming more commercialized. Despite of its delayed start-up, space activities in Korea are attracting more nation-wide supports from both investors and government. May 25, 2023, KSLV II, also called Nuri, successfully transported, and inserted seven satellites to a sun-synchronous orbit of 550 km altitude. However, Starlink has over 4,000 satellites around this altitude for its commercial activities. Hence, it is necessary for us to constantly monitor the collision risks of these satellites against resident space objects including Starlink. Here we report a quantitative research output regarding the conjunctions, particularly between the Nuri satellites and Starlink. Our calculation shows that, on average, three times everyday, the Nuri satellites encounter Starlink within 1 km distance with the probability of collision higher than 1.0E-5. A comparative study with KOMPSAT-5, also called Arirang-5, shows that its distance of closest approach distribution significantly differs from those of Nuri satellites. We also report a quantitative analysis of collision-avoiding maneuver cost of Starlink satellites and a strategy for Korea, being a delayed starter, to speed up to position itself in the space leading countries. We used the AstroOne program for analyses and compared its output with that of Socrates Plus of Celestrak. The two line element data was used for computation.

• Korean Institute of Interior Design Journal
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• v.20 no.1
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• pp.182-189
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• 2011

This study is purposed on applying to certifying environmental-friendly buildings about remodeling schools as an issue recently, keeping up a worldwide resource conservation movement. Application standard is directed, comparing with systems certifying green-schools in domestic and foreign policies. The following is the primary result of this study. First, on developing systems for certifying environmental-friendly buildings about remodeling schools, characteristics like ‘the phase of certifying essential lists and the diversity of certifying lists’, ‘developing departmentally into new-building, reconstruction, remodeling, existing-building in basic data’, ‘development of certifying existing-buildings as well as new-building’ in foreign systems should be developed appropriately for Korea. Next, not only reuse of the existing facilities but better assessment through diversification of classified contents in domestic system are carried out in comparing remodeling lists. Especially the primary list that is found out commonly limited lists certifying remodeling should be developed appropriately. Impossible lists getting certification should be applied to map out a concrete standard. Lastly, the range of certification should be diversified and developed sustainable like other systems for better assessment. Adding various lists suiting for Korea and departmentalizing score of phases and items in particular, for avoiding a needless collision between certification lists, absence of them. Above of all, basic direction about certifying environmental-friendly buildings about remodeling schools should be developed the only individual instrument, not for gaining it simply as a part of the environmental policy in Korea. This study has significance on vitalization of certifying environmental-friendly buildings, which performing primary environmental-friendly education facilities, based on its advance.