• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.370-371
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• 2015

자율 주행 로봇의 기본적인 기능에는 위치 추정 기능과 무선 통신 기능이 포함된다. 이미지 센서를 이용하여 로봇의 이동 위치를 추정하고, 무선통신은 ZigBee를 적용하였다. 본 논문에서는 자율 주행 로봇의 이동 위치 정보를 이미지센서를 이용하여 데이터를 취득 후 마우스 알고리즘을 통해 이동 데이터로 환산하였으며, 이동 데이터를 ZigBee통신을 통해 서버와 실시간 통신을 하였다. 이를 통해 로봇의 이동 정보를 실시간으로 취득할 수 있는 실내형 로봇 위치 추정 시스템을 구현하였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2021.01a
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• pp.153-154
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• 2021

본 논문에서는 ROS(Robot Operating System)를 기반으로 한 로봇(Robot)에 LiDAR 센서를 설치하여 SLAM(Simultaneous Localization and Mapping) 기술인 동시적 위치 추적 지도 작성 기법을 이용하여 실내 맵 정보를 습득하고, 이를 기반으로 장애물과 건물 실내를 안전하고 정확하게 이동할 수 있도록 하였다. 또한 로봇에 자바에서 제공하는 개발 툴킷 Swing 및 AWT 라이브러리를 이용하여 GUI(Graphical User Interface)를 구현하였고 터치스크린을 장착하여 사용자가 원하는 제품을 선택하고 선택한 제품의 목적지를 습득한 맵을 토대로 좌표 값을 설정하여 ROS에서 지원하는 이동 프로세스를 실행시켜 목적지까지 경로를 설정하고 자율 주행하게 된다.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2022.06a
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• pp.171-174
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• 2022

자동차의 전기차로의 전환과 더불어 IT 기술이 접목된 자율주행기술이 빠르게 발전하고 있으며, 현대기아자동차 그룹을 비롯한 글로벌 완성차 제조사 및 애플, LG 등과 같은 IT 제조사간에 완성도 높은 자율주행차 개발에 치열한 경쟁이 이루어지고 있다. 특히 사람의 개입이 거의 없는 4단계 이상의 자율주행 기술이 적용된 자율주행차는 운전석이 없는 등 기존과는 매우 다른 실내 구조를 가질 것으로 예상되며, 사람에게 움직이는 생활공간을 제공할 것으로 기대된다. 이와 같은 자율주행차 내의 미디어 소비는 고화질 미디어를 대형 화면으로 볼 것으로 예상되며, 지상파 TV 방송은 미디어를 단방향으로 대용량 전송하는데 유리하여 자율주행차를 대상으로 미디어 서비스에 적용성이 높을 것으로 기대된다. 본 논문은 이러한 미래 자율주행차가 제공하는 움직이는 생활공간에서 TV를 시청하는 '이동TV'를 염두에 두고, 현재의 4K-UHDTV 시대 및 미래의 8K/Post-8K 시대의 비용 효과적인 지상파 TV 방송망 기술을 소개한다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.4
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• pp.393-400
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• 2014

In this study, an automatic transmission was developed for a bicycle. This transmission uses the pedal rpm and riding speed information for efficient riding. This transmission was installed on a bicycle using an internally geared hub. The automatic transmission was developed for a beginner to ride with proper gear changes. Indoor ride tests were performed to assess the performance of this transmission. Here, a 'beginner' is defined as a bicycle rider who can maintain a riding power of ~150W with a maximum heart rate of ~80%. Furthermore, 'ride with proper gear change' means that the rider could ride the bicycle while maintaining an efficient pedal rpm by the automatic transmission. One expert and four beginners participated in the ride test. The expert was chosen for the comparison with the beginners. To minimize environmental disturbances, the ride test was performed indoors. In this test, two types of gear changes manual and automatic were tested on two types of roads a road with a gradual incline of 0-3% and a road that simulates the bicycle road along the Han river in Seoul. The results of the ride tests show that the algorithm applied for the automatic transmission helps beginners to ride the bicycle efficiently.

• The Journal of the Korea Contents Association
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• v.19 no.12
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• pp.164-172
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• 2019

In this paper, we implement a wheeled mobile robot that accurately and autonomously finds the optimal route from the starting point to the destination point based on computer vision in a complex indoor environment. We get a number of waypoints from the starting point to get the best route to the target through deep reinforcement learning. However, in the case of autonomous driving, the majority of cases do not reach their destination accurately due to external factors such as surface curvature and foreign objects. Therefore, we propose an algorithm to deepen the waypoints and destinations included in the planned route and then correct the route through the waypoint recognition while driving to reach the planned destination. We built an autonomous wheeled mobile robot controlled by Arduino and equipped with Raspberry Pi and Pycamera and tested the planned route in the indoor environment using the proposed algorithm through real-time linkage with the server in the OSX environment.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.7
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• pp.153-161
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• 2015

In the present study, as part of the technology development (Quality of Life Technology, QoLT) to improve the socio-economic status of people with disabilities as an extension of these studies, we propose the development of the smart wheelchair system and navigation technology for stable and safe driving in various environments. For the disabled and the elderly make driving easy and convenient with manual/autonomous driving condition, we firstly develop the user-oriented smart wheelchair system with optimized sensors for environment recognition, and then we propose a navigation framework of a hierarchical structure to ensure real-time response, as well as driving stability when traveling to various environmental changes, and to enable a more efficient operation. From the result of several independent experiments, we ensure efficiency and safety of smart wheelchair and its navigation system.

• Journal of Korea Society of Industrial Information Systems
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• v.26 no.4
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• pp.11-18
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• 2021

We propose a method that combines learning in a virtual environment and a real environment for indoor autonomous driving through reinforcement learning. In case of learning only in the real environment, it takes about 80 hours, but in case of learning in both the real and virtual environments, it takes 40 hours. There is an advantage in that it is possible to obtain optimized parameters through various experiments through fast learning while learning in a virtual environment and a real environment in parallel. After configuring a virtual environment using indoor hallway images, prior learning was carried out on the desktop, and learning in the real environment was conducted by connecting various sensors based on Jetson Xavier. In addition, in order to solve the accuracy problem according to the repeated texture of the indoor corridor environment, it was possible to determine the corridor wall object and increase the accuracy by learning the feature point detection that emphasizes the lower line of the corridor wall. As the learning progresses, the experimental vehicle drives based on the center of the corridor in an indoor corridor environment and moves through an average of 70 steering commands.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.6
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• pp.1370-1374
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• 2013

The suitcase can follow its owner all on its own via the Bluetooth connectivity in your phone. A robotic vacuum cleaner than can understand voice commands and even follow homeowner. Robots are used in a variety of applications such as a robot wheelchair. In this paper, I focus the problem of automatic return to the base in the process of developing the moving robot for loading things. In this paper, I propose the indoor localization method which is able to determine the position of the robot in the building by using image processing techniques.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.75-76
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• 2015

본 논문은 실내 이동로봇의 자율주행 방법을 적용한 결과를 기술한다. 구체적으로는 경로 계획, 장애물 회피, 위치 추정에 대해서 설명한다. 위의 기능들은 작성된 지도 정보와 Encoder, IMU, 초음파센서, 비콘 등 여러 센서 데이터를 토대로 구현되었다. 경로계획에는 A* 알고리즘을 활용하여 최단거리 경로를 구했으며, 장애물 회피에는 초음파센서를 활용한 자체 알고리즘을 적용하였다. 또한 비콘을 활용한 삼변 측량법을 활용하여 위치 추정을 하였다. 이러한 방법들을 통합하여 실내 네비게이션 방법을 실제로 구현하여 실험하였으며, 실험을 통하여, 제안한 방법이 로봇을 안전하게 자율주행하게 함을 확인하였다.

• The Journal of the Acoustical Society of Korea
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• v.18 no.8
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• pp.108-115
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• 1999

In this study we suggested a digital filter method to enhance car audio sound quality against the sound distortion due to cabin's acoustic characteristics and car driving noises. The digital filters designed were based on the characteristics on car driving noises and cabin acoustic characteristics. Car driving noises were analyzed by two ways; one is an objective method, octave band frequency analysis method. The other is a subjective method; sensory evaluation method, NCB method. On these results, seven sets of modified coefficients of eleven band digital filters were obtained. To find optimum audio sound quality among nine sound samples filtered by designing seven types of digital filters, which were mixed car driving noises at 100km/h, subjective evaluation method was used, paired comparison method; Scheffe' seven point method.