• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.487-490
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• 2003

In this research, we will devise an obstacle avoidance algorithm for a previously unmanned vehicle. Whole systems consist mainly of the vehicle system and the control system. The two systems are separated; this system can communicate with the vehicle system and the control system through wireless RF (Radio Frequency) modules. These modules use wireless communication. And the vehicle system is operated on PIC Micro Controller. Obstacle avoidance method for unmanned vehicle is based on the Virtual Force Field (VFF) method. An obstacle exerts repulsive forces and the lane center point applies an attractive force to the unmanned vehicle. A resultant force vector, comprising of the sum of a target directed attractive force and repulsive forces from an obstacle, is calculated for a given unmanned vehicle position. With resultant force acting on the unmanned vehicle, the vehicle's new driving direction is calculated, the vehicle makes steering adjustments, and this algorithm is repeated.

• International Journal of Aeronautical and Space Sciences
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• 제6권2호
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• pp.97-109
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• 2005

In this paper, the critical requirement for obstacle awareness and avoidance is assessed with the compliance of the equivalent level of safety regulation, and then the collision avoidance sensor system is presented with the key design parameters for the requirement of the smart unmanned aerial vehicle in low-altitude flight. Based on the assessment of various sensors, small-sized radar sensor is selected for the suitable candidate due to the real-time range and range-rate acquisition capability of the stationary and moving aircraft even under all-weather environments. Through the performance analysis for the system requirement, the conceptual design result of radar sensor model is proposed with the range detection probability and collision avoidance mode is established based on the time-to-collision, which is analyzed by collision scenario.

• 한국항행학회논문지
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• 제22권6호
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• pp.623-629
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• 2018

본 논문에서는 무인항공기용 실시간 장애물 탐지 및 회피 경로 생성 알고리즘을 제안한다. 2-D Lidar를 이용하여 장애물을 검출하고, 검출 정보는 지역 회피 경로 생성을 위한 실시간 히스토그램 생성과 목표 지점까지 전역 회피 경로 생성을 위해 사용되는 2-D SLAM 지도를 생성하는데 사용된다. 지역 회피 경로 생성을 위한 VFH 알고리즘은 장애물들이 벡터 방향과 거리에 따라 얼마큼 분포되어 있는지에 대한 실시간 히스토그램을 생성하고, 이 히스토그램은 근접 장애물 검출 시 지역 회피 경로를 생성하는데 사용된다. 기존의 $RRT^*-Smart$ 알고리즘의 한계로 인해 Modified $RRT^*-Smart$ 알고리즘을 제안한다. 이 알고리즘은 새로운 노드가 생길 때 목표 지점과의 직선 경로 여부를 판단하고, 목표 지점 방향으로 생성되도록 방향성을 부여하며, 노드의 길이를 확률적으로 나누어 일정한 단위의 길이가 아닌 랜덤 단위의 길이로 퍼뜨림으로써 보다 적은 비용으로 목표 지점까지의 효율적인 전역 회피경로를 생성한다. 본 논문에서는 효율적인 회피경로를 생성하여 회피 기동함을 다양한 시뮬레이션 실험환경을 통해 검증하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제4권5호
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• pp.736-752
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• 2010

We propose a novel collision-avoidance algorithm for the active type RFID regarding an indoor tracking system. Several well-known collision avoidance algorithms are analyzed considering the adequacy for the indoor tracking system. We prove the superiority of the slotted ALOHA in comparison with CSMA for short and fixed length packets like an ID message in RFID. Observed results show that they are not applicable for active type RFID in terms of energy efficiency. Putting these all together, we propose a dedicated collision avoidance algorithm considering the unique features of the indoor tracking system. The proposed method includes a scheduled tag access period (STAP) as well as a random tag access period (RTAP) to address both of the static and dynamic characteristics of the system. The system parameters are determined through a quantitative analysis of the throughput and energy efficiency. Especially, some mathematical techniques have been deployed to obtain the optimal slot count for RTAP. Finally, simulation results are provided to illustrate the performance of the proposed method with variations of the parameters.

• 한국지역사회생활과학회지
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• 제28권2호
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• pp.273-287
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• 2017

This study was conducted to explore the effects of novelty seeking temperament and harm avoidance temperament on school adjustment in middle school students and to investigate the mediating effects of emotional regulation on the relationship between temperament and school adjustment. A survey was conducted on a random sample of 672 middle school students. Data were analyzed using PASW ver. 18.0 and AMOS ver. 18.0 to carry out descriptive statistics, correlation analysis, and the structural equation model. The main results of analysis could be summarized as follows. First, novelty seeking temperament and harm avoidance temperament had a negative influence upon school adjustment in middle school students. Second, emotional regulation had a positive influence upon school adjustment in middle school students. Third, temperament acted as a partial mediator for emotional regulation affecting school adjustment in middle school students. The study contributes to the literature by providing fundamental insights into school adjustment in middle school students.

• 제어로봇시스템학회논문지
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• 제18권12호
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• pp.1122-1131
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• 2012

This paper presents obstacle avoidance method for scout robot or industrial robot in unknown environment by using IR sensor and vision system. In the proposed method, robots share the information where the obstacles are located in real-time, thus the robots can choose the best path for obstacle avoidance. Using IR sensor and vision system, multiple robots efficiently evade the obstacles by the proposed cooperation method. No landmark is used at wall or floor in experiment environment. The obstacles don't have specific color or shape. To get the information of the obstacle, vision system extracts the obstacle coordinate by using an image labeling method. The information obtained by IR sensor is about the obstacle range and the locomotion direction to decide the optimal path for avoiding obstacle. The experiment was conducted in $7m{\times}7m$ indoor environment with two-wheeled mobile robots. It is shown that multiple robots efficiently move along the optimal path in cooperation with each other in the space where obstacles are located.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.340-350
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• 2021

This paper proposes a decision support model for USVs to improve the accuracy of collision avoidance decision-making. It is formed by Navigation Safety Domain (NSD) and domain-based Collision Risk Index (CRI), capable of determining the collision stage and risk between multiple ships. The NSD is composed of a warning domain and a forbidden domain, which is constructed under the constraints of COLREGs (International Regulations for Preventing Collisions at Sea). The proposed domain based CRI takes the radius of NSD in various encounter situations as threshold parameters. It is found that the value of collision risk in any directions can be calculated, including actual value and risk threshold. A catamaran USV and 6 given vessels are taken as study objects to validate the proposed model. It is found that the judgment of collision stage is accurate and the azimuth range of risk exists can be detected, hence the ships can take direct and effective collision avoidance measures. According to the relation between the actual value of CRI and risk threshold, the decision support rules are summarized, and the specific terms of COLREGs to be followed in each encounter situation are given.

• 대한가정학회지
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• 제47권9호
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• pp.83-90
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• 2009

The purpose of this study was to investigate advertising avoidance of the Internet fashion advertising. Three hundred and thirty college students living in Seoul and its suburb participated in this study. For data analysis, descriptive statistics, reliability, and Structure Equation Modeling were used. The results were as follows. First, an ‘informativeness’ and ‘entertainment’ of advertisement affected negatively on fashion advertising avoidance. Second, ‘the perceived intrusiveness’ of advertisement did not affect significantly on fashion advertising avoidance. Third, ‘the clutter’ of advertisement did affect positively on advertising avoidance. Based on these results, this study would provide Internet fashion marketers more efficient Internet fashion advertising strategies.

• International Journal of Advanced Culture Technology
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• 제12권2호
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• pp.180-189
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• 2024

We aimed to see if approach-avoidance visual experience would have different effects in the valence rating of emojis. Previous literature has shown that approach-avoidance tendencies have influences people's emotional perceptions. Up until now, research on emojis have been heavily focused on static emojis, which gives room for exploration whether if movement added on to emoji would elicit different emotional responses. In the study, we examined the impact of approach-avoidance visual experience of emojis via mobile interface, categorized into 4 experimental conditions (positive approach, negative approach, positive avoid, and negative avoid), and conducted semi-structured interviews to identify users' reasonings towards their valence ratings on specific emojis with approach or avoid movements. We found that positive approach emojis were the highest valence rating and preferred by the participants, while there were no differences between negative emoji approach or avoidance. Based on these findings, we conclude that positive emojis could be intensified to be more positive with approach motion, yet for negative emojis, individual differences or contextual differences may arise in its emotional ratings.

• ETRI Journal
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• 제35권3호
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• pp.550-553
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• 2013

Due to limited spectrum resources and differences in link loads, network congestion is one of the key issues in cognitive radio wireless mesh networks. In this letter, a congestion avoidance model with power control, channel allocation, and routing under the signal-to-interference-and-noise ratio is presented. As a contribution, a nested optimization scheme combined with a genetic algorithm and linear programming solver is proposed. Extensive simulation results are presented to demonstrate the effectiveness of our algorithm.