• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.692-697
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• 2011

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid mobile robot that can dock with the other robot and transforms between wheeled robot and legged robot is proposed. The hybrid mobile robot platform has docking device with a peg and a cup module. In addition, the robot is possible to walk and drive according to condition of the road. A navigation algorithm of the hybrid mobile robot is proposed to improve the mobility of robots using docking algorithm based on image processing on the broken road and uneven terrain. The proposed method recognizes road condition through PSD sensor attached in front and bottom of the robot and selects an appropriate navigation method according to terrain surface. The proposed docking and navigation methods are verified through experiments using hybrid mobile robots.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.7 no.5
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• pp.26-32
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• 2008

A pedestrian navigation system, an information delivery server, and a program for naturally guiding (such as speech-guiding) the user of a portable terminal at an intersection. An information delivery server comprises a map database containing data such as nodes including paths constituting intersections, links, and costs of the links. The node-link structure is the most important part in pedestrian navigation system. Functional requirements for the road map database vary in different navigation phases. though there are various road network models, their traditional node-link structures, unfortunately, do not solve the problem well. This paper proposes a node-link structure for pedestrian navigation system. The network topological structure in pedestrianl network is presented, which accords with the practical walking habit better than traditional way treating the entire road network.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.6
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• pp.26-36
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• 2020

The use of existing macroscopic research of pedestrian behavior on the walking link as data is limited in determining an individual pedestrian's moving route and the level of service. In macroscopic studies, it is difficult to make quantitative indices, such as pedestrian flow rate, occupied space, density, and speed for determining the level of service on pedestrian roads. Therefore, the microscopic pedestrian route is required to establish appropriate pedestrian policies. In this study, the Yeok-Sam subway station network was examined using a micro-simulation VISSIM, which was then calibrated and validated statistically. The Pedestrian Road's Level of Service of Yeok-Sam subway station area was evaluated using the pedestrian speed as the evaluating index on the Korean highway capacity handbook.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.2
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• pp.54-63
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• 2023

Pedestrian traffic needs to be accurately quantified to predict effectively pedestrian traffic accidents, however, pedestrian traffic is more difficult to measure than vehicle traffic. In this study, we suggest the time-and cost-effective application of mobile closed-circuit television (CCTV) using a smartphone as an alternative that can collect and analyze real-time data with little. In the present investigation, the pedestrian-vehicle conflict that can develop into an accident was defined as the pedestrian accident exposure. After installing mobile CCTV in 40 sections of Dongseong-ro, Daegu, the pedestrian accident exposure was estimated through negative binomial regression analysis using the collected data. The results of the analysis showed statistically significant changes in the pedestrian accident exposure variables. Based on the present results, a pedestrian accident exposure estimation model was developed which can be used in sections where pedestrian accidents may occur.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.22 no.4
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• pp.167-178
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• 2023

Our society is rapidly changing, and there is a growing demand for various convenience services in our daily lives. Among these services, railway and subway stations require tailored wayfinding services to accommodate individuals with disabilities. Currently, signage and information desks are the primary means of navigation. However, individuals with disabilities often rely on assistance from others due to physical discomfort or cognitive impairments. In this paper, we propose a customized wayfinding system within railway stations to assist individuals with disabilities. This system aims to ensure safe and convenient mobility in complex indoor environments, including transfer facilities.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.1
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• pp.1-16
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• 2022

Recently, e-scooters have been attracting attention as eco-friendly modes of transportation in cities due to an increasing interest in the environment. Accordingly, various studies on usage behavior are being conducted, but studies that reflect individual travel attitudes are insufficient. Therefore, this study surveyed commuters in Seoul and analyzed respondents' traveling attitudes through factor analysis. It also built a binary logistic regression model for the intention to use shared e-scooters to determine how individual travel behaviors are affected. In particular, the model results showed that age, the main mode of transportation (car), walking time to the bus stop, and four travel attitude variables (disutility of travel, preference to self-drive, internet/smartphone friendliness, and willingness to pay extra money for services) significantly affected the intention to use shared e-scooters. This study is expected to be used as basic data, with aspect to travel behavior, for the efficient operation and use of shared e-scooters in the future.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.23 no.1
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• pp.1-12
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• 2024

Pedestrian facilities encompass pedestrian roads, stairs, and queuing areas exclusively designed for pedestrian use. The Korean Highway Capacity Manual provides guidelines for analyzing the capacity and level of service of pedestrian facilities. However, there is a lack of analysis methods tailored specifically for pedestrian facilities. Therefore, in this study, we introduced a new standard of pedestrian space to account for changes in the Korean body ellipse. Furthermore, based on this newly defined pedestrian space, we proposed a new standard value for the level of service of queuing areas. The results of on-site surveys confirmed that the proposed level of service can effectively reflect the actual walking situation.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.1
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• pp.17-27
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• 2018

We propose a new approach to control a biped robot motion based on iterative learning of voice command for the implementation of smart factory. The real-time processing of speech signal is very important for high-speed and precise automatic voice recognition technology. Recently, voice recognition is being used for intelligent robot control, artificial life, wireless communication and IoT application. In order to extract valuable information from the speech signal, make decisions on the process, and obtain results, the data needs to be manipulated and analyzed. Basic method used for extracting the features of the voice signal is to find the Mel frequency cepstral coefficients. Mel-frequency cepstral coefficients are the coefficients that collectively represent the short-term power spectrum of a sound, based on a linear cosine transform of a log power spectrum on a nonlinear mel scale of frequency. The reliability of voice command to control of the biped robot's motion is illustrated by computer simulation and experiment for biped walking robot with 24 joint.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.6
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• pp.667-674
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• 2015

This paper describes the development of a prototype hexapod robot with six circular legs to overcome a variety of challenging terrains. The legs of the robot are very important for stability during walking, which are analyzed for determining the optimal design parameters through CAE tools. Its control system consists of three types of sensors, microprocessors, and communication modules for PC interface. The entire operation of the robot can be controlled and monitored using a PC. The experimental operations for three different roads verified the feasibility of the prototype robot for carrying out reconnaissance on multi terrain. In the near future, the prototype robot can be used for a military purpose of detecting and informing a potential risk in advance.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.4
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• pp.259-266
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• 2015

This study presents new scheme for various walking pattern of biped robot under the limitted enviroments. We show that the neural network is significantly more attractive intelligent controller design than previous traditional forms of control systems. A multilayer backpropagation neural network identification is simulated to obtain a learning control solution of biped robot. Once the neural network has learned, the other neural network control is designed for various trajectory tracking control with same learning-base. The main advantage of our scheme is that we do not require any knowledge about the system dynamic and nonlinear characteristic, and can therefore treat the robot as a black box. It is also shown that the neural network is a powerful control theory for various trajectory tracking control of biped robot with same learning-vase. That is, we do net change the control parameter for various trajectory tracking control. Simulation and experimental result show that the neural network is practically feasible and realizable for iterative learning control of biped robot.