• Journal of Korea Society of Industrial Information Systems
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• v.22 no.5
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• pp.25-30
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• 2017

In this Paper, we Propose the Low-cost Obstacle Recognition System Utilizing the Ultrasonic Sensor. Developed Obstacle Recognition System can be used to Aid the Visually Impaired Person. The Existence of the Obstacle is Notified to the Person through the Embodied Electronic Vibration Motor. The Timing Difference from the Recognition to the Notification Indicates the Distance to the Obstacle. Pulsed Ultrasonic Signal Controlled by MCU is Utilized and the Reflected Pulse through the Obstacle gives the Developed System the Existence of the Obstacle and the Distance to the Object. Pulse is sent Repetitively to Improve the Detection Accuracy. Developed Apparatus gives 30 Degree of Detection Angle and 2cm-30cm of the Detection Range when the Apparatus is Tested under Normal Walking Environment.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.25 no.1
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• pp.99-107
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• 2014

Abruptly occurred obstacles on highway threaten driving safety. Radar draws the attention to the collision avoidance system because it can be fully operational in all weather, and day and night condition. This paper presents the design, implementation and performance test results of pulsed Doppler radar system for detection and warning of road obstacles. The system is designed to consider highway environment and detection capability about various fixed and moving obstacles. The system consists of 4 subsystems, which include antenna unit, transmitter and receiver unit, radar signal & data processing unit, and controller & display unit. The core technologies include clutter map based change detection for fixed obstacles detection, Doppler estimation for velocity detection of moving targets, and azimuth angle estimation method using monopulse for lane estimation and tracking. The design performance of the developed radar system is verified through experiments using a fixed reference target and moving vehicles in test highway.

• Proceedings of the Korean Society of Computer Information Conference
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• 2023.07a
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• pp.287-289
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• 2023

본 논문에서는 무인주행로봇에 적용할 수 있는 장애물 탐지 및 주행지역 이탈을 관리하는 시스템을 제안한다. 제안 시스템은 웹캠과 같은 일반적인 카메라를 활용하여 촬영되는 공간에서 무인주행로봇을 운용할 영역을 선정하고 운용영역내의 장애물 발생 여부를 판단한다. 제안 시스템은 카메라 위치 기준으로 촬영되는 버드뷰에서 무인주행로봇의 운용영역을 설정하고 탐지된 장애물의 정보를 제공하여 무인주행로봇의 주행에 있어 안전하고 효율적인 주행 기능을 제공할 수 있을 것으로 기대한다.

• Journal of Advanced Navigation Technology
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• v.26 no.6
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• pp.427-433
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• 2022

Obstacle detection, collision recognition, and avoidance technologies are required the collision avoidance technology for UAVs. In this paper, considering collinear multiple static obstacle, we propose an obstacle detection algorithm using LiDAR and a collision recognition and avoidance algorithm based on CPA. Preprocessing is performed to remove the ground from the LiDAR measurement data before obstacle detection. And we detect and classify obstacles in the preprocessed data using the K-means clustering algorithm. Also, we estimate the absolute positions of detected obstacles using relative navigation and correct the estimated positions using a low-pass filter. For collision avoidance with the detected multiple static obstacle, we use a collision recognition and avoidance algorithm based on CPA. Information of obstacles to be avoided is updated using distance between each obstacle, and collision recognition and avoidance are performed through the updated obstacles information. Finally, through obstacle location estimation, collision recognition, and collision avoidance result analysis in the Gazebo simulation environment, we verified that collision avoidance is performed successfully.

• Journal of the Institute of Convergence Signal Processing
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• v.10 no.3
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• pp.198-206
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• 2009

This paper presents the reduction of the positional uncertainty of an ultrasonic sensor ring with overlapped beam pattern for the efficient obstacle detection of a mobile robot. Basically, it is assumed that a relatively small number of inexpensive low directivity ultrasonic sensors are installed at regular spacings along the side of a circular mobile robot with their beams overlapped. First, for both single and double obstacles, we show that the positional uncertainty inherent to an ultrasonic sensor can be reduced using the overlapped beam pattern, and also quantify the relative improvement in positional uncertainty. Second, given measured distance data from one or two ultrasonic sensors, we devise the geometric method to determine the position of an obstacle with respect to the center of a mobile robot. Third, we examine and compare existing ultrasonic sensor models, including Gaussian distribution, parabolic distribution, uniform distribution, and impulse, and then build the sensor model of overlapped ultrasonic sensors, adequate for obstacle detection in terms of positional uncertainty and computational requirement. Finally, through experiments using our prototype ultrasonic sensor ring, the validity of overlapped beam pattern for reduced positional uncertainty and efficient obstacle detection is demonstrated.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.186-186
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• 2022

과거에는 선박을 운용하기 위해서 많은 인원이 필요하였으나 최근 들어 선박 운용에 필요한 인원이 줄어들고 있으며, 더 나아가 자율적으로 운항하는 선박을 만들기 위한 연구가 활발히 수행되고 있다. 자율 운항 선박을 구성하는 여러 요소 중 인간의 시각을 대체하기 위한 자율 인지 시스템은 가장 선행되어야 하는 연구 분야 중 하나이다. RADAR (RAdio Detection And Ranging) 및 AIS (Automatic Identification System) 등의 전통적인 인지 센서를 활용한 연구가 진행 중이지만 사각지대나 탐지 주기 등의 한계가 있다. 따라서 본 연구에서는 다중 카메라 (광학, 열상, 파노라마)를 이용하여 전통적인 인지 센서의 한계를 보완하는 새로운 인지 시스템을 고안하였으며, 이를 기반으로 해상 장애물을 추적하여 동적 운동 정보를 얻었다. 먼저 실해역에서 수집한 이미지를 바탕으로 해상 장애물 탐지를 위한 데이터를 구성하고, 딥 러닝 기반의 탐지 모델을 학습시켰다. 탐지 모델을 이용하여 탐지한 결과는 직접 설계한 칼만 필터 기반의 적응형 추적 필터를 통과시켜 해상 장애물의운동 정보 (궤적, 속력, 방향)를 계산하는데 활용되었다. 또한 본 연구는 카메라를 센서로 활용했을 때의 한계를 보완하기 위하여 동 시간대에 다중 카메라에서 추적한 각각의 정보를 융합하였다. 그 결과 단일 카메라를 활용하는 경우, RADAR의 오차 범위 이내에 추적 결과가 수렴하는 양상을 보였으며, 다중 카메라를 활용하는 경우에는 단일 카메라보다 정확한 추적이 가능함을 확인하였다.

• Journal of the Institute of Convergence Signal Processing
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• v.12 no.4
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• pp.341-347
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• 2011

This paper presents the performance evaluation. optimal design. and complex obstacle detection of an overlapped ultrasonic sensor ring by introducing a new concept of effective beam width. It is assumed that a set of ultrasonic sensors of the same type are arranged along a circle of nonzero radius at regular spacings with their beams overlapped. First, the global positional uncertainty of an overlapped ultrasonic sensor ring is expressed by the average value of local positional uncertainty over the entire obstacle detection range. The effective beam width of an overlapped ultrasonic sensor ring is assessed as the beam width of a single ultrasonic sensor having the same amount of global positional uncertainty, from which a normalized obstacle detection performance index is defined. Second. using the defined index, the design parameters of an overlapped ultrasonic sensor ring are optimized for minimal positional uncertainty in obstacle detection. For a given number of ultrasonic sensors, the optimal radius of an overlapped ultrasonic sensor ring is determined, and for a given radius of an overlapped ultrasonic sensor ring, the optimal number of ultrasonic sensors is determined. Third, the decision rules of positional uncertainty zone for multiple obstacle detection are provided based on the inequality relationships among obstacle distances by three adjacent ultrasonic sensors. Using the provided rules, the obstacle outline detection is performed in a rather complex environment consisting of several obstacles of different shapes.

• The Journal of the Korea Contents Association
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• v.7 no.2
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• pp.30-39
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• 2007

This paper is concerned with development of system to detect an obstructive vehicle which is an essential prerequisite for autonomous driving system of ASV(Advanced Safety Vehicle). First, the boundary of driving lanes is detected by a Kalman filter through the front image obtained by a CCD camera. Then, lanes are recognized by regression analysis of the detected boundary. Second, parameters of road curvature within the detected lane are used as input in error-BP algorithm to recognize the driving direction. Finally, an obstructive vehicle that enters into the detection region can be detected through setting detection fields of the front and lateral side. The experimental results showed that the proposed system has high accuracy more than 90% in the recognition rate of driving direction and the detection rate of an obstructive vehicle.

• Journal of the Korea Institute of Building Construction
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• v.11 no.3
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• pp.276-282
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• 2011

The construction industry has achieved many benefits through the mechanization of the construction. However, due to accidents for construction machinery, the mortality rate has increased rapidly. Thus, the objective of this study is to develop of tilt modules for object detection system of excavator. The modified laser sensor that increase the efficiency of object detection system was tested. Based on these results, tilt modules were developed through the conceptual design and detailed design. Then, this tilt modules can be applied to the safety management system of excavator and using this tilt modules will be able to improve the efficiency of the system.

• The Journal of the Acoustical Society of Korea
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• v.28 no.8
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• pp.755-760
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• 2009

In this paper, we apply a reverberation suppression method using difference of singular values to improve the short-distance underwater obstacle detection probability in reverberation environment induced by a linear frequency modulation signal. The reverberation suppression method using difference of singular values suppresses LFM reverberation based on subtracting the singular values for a reference beam, assumed to contain only the reverberation, from those for the current beam of interest, assumed to contain the reverberation and target echo. For the validation, the reverberation suppression method using difference of singular values is applied to real oceanic data, which are acquired using the cross type array.