• 한국기술혁신학회:학술대회논문집
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• 한국기술혁신학회 2017년도 추계학술대회 논문집
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• pp.413-421
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• 2017

4차 산업혁명과 관련하여 대두되는 핵심기술로 인공지능, 로봇, 빅데이터, 사물인터넷(IoT), 가상현실(VR)과 증강현실(AR), 자율주행자동차, 드론, 3D 프린팅, 블록체인 등을 들고 있다. 과거와 현재는 생산자가 최적의 비용으로 고성능 고품질 상품과 서비스를 제공했으나 4차 산업 혁명 시대는 소비자가 제품의 종류 및 특성, 생산 시점 등 전 과정에 관여하고 상품 자체보다 상품이 제공하는 가치를 중시하게 될 것으로 예상되고 있다. 이처럼 생산자 중심에서 소비자 중심으로 소비 트렌드가 변한 것은 AI, IoT, VR, 3D 프린팅 등 4차 산업혁명의 기술혁명이 지대한 기여를 했기 때문으로 볼 수 있다. 이처럼 다양한 제품과 서비스에서 새로운 유형의 소비자문제도 발생하고 기존의 소비자문제도 발생할 수 있으므로 이에 대한 체계적인 검토로 사전 예방적인 소비자정책과 사후구제의 소비자정책 모두 새롭게 정립해 두어야 한다. 사전예방적인 소비자정책으로는 (1) 위해방지, (2) 규격의 적정화, (3) 거래의 적정화, (4) 표시광고의 적정화, (5)소비자정보제공의 충실화 및 소비자능력의 향상을 위한 소비자교육의 강화, (6) 개인정보보호의 강화가 필요하다. 사후구제의 소비자정책으로는 (1) 소비자분쟁해결기준의 정비, (2) 피해구제 관련 법률의 제정이나 개정 등이 필요하다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.923-924
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• 2006

In this paper, we propose the sensor fusing method for the obstacle avoidance of guiding robot for the visually impaired In our system, we acquire obstacles distances information using ultrasonic sensors, and its width is acquired by image sensor. We also compute avoidance angle using are distance and width information gained by sensor. After the robot avoid the obstacle by computed angle, the robot returns to its original path using odometry. The robot consists of the SA1110-based controller, sensory part using sonar array and image sensor, and motion part using differential drive for climbing stairs. This system use the embedded linux for OS, and also is developed by the QT/Embedded for GUI.

• 자동차안전학회지
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• 제12권2호
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• pp.33-39
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• 2020

This paper presents an Around View Monitoring (AVM) stop-line detection based longitudinal position correction algorithm for automated driving on urban roads. Poor positioning accuracy of low-cost GPS has many problems for precise path tracking. Therefore, this study aims to improve the longitudinal positioning accuracy of low-cost GPS. The algorithm has three main processes. The first process is a stop-line detection. In this process, the stop-line is detected using Hough Transform from the AVM camera. The second process is a map matching. In the map matching process, to find the corrected vehicle position, the detected line is matched to the stop-line of the HD map using the Iterative Closest Point (ICP) method. Third, longitudinal position of low-cost GPS is updated using a corrected vehicle position with Kalman Filter. The proposed algorithm is implemented in the Robot Operating System (ROS) environment and verified on the actual urban road driving data. Compared to low-cost GPS only, Test results show the longitudinal localization performance was improved.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권1호
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• pp.33-40
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• 2000

In this paper, an integrated method for the path planning and motion control of wheeled mobile robots using a hybrid system model and control is presented. The hybrid model including the continuous dynamics and discrete dynamics with the continuous and discrete state vector is derived for a two wheel driven mobile robot. The architecture of the hybrid control system for real time path planning and following is designed which has the 3-layered hierarchical structure : the discrete event system using the digital automata as the higher process, the continuous state system for the wheel velocity controls as the lower process, and the interface system as the interaction process between the continuous system as the low level and the discrete event system as the high level. The reference motion commands for autonomous navigation are generated by the abstracted motion in the discrete event system. The motion control tasks including the feasible path planning and autonomous motion control with various initial conditions are investigated as the applications by the simulation studies.

• 디지털콘텐츠학회 논문지
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• 제18권5호
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• pp.943-948
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• 2017

현재, 특정한 응용분야에 적합하도록 설계된 임베디드 시스템이 가전제품, 스마트폰, 자율주행 자동차, 로봇, 공장제어 등의 분야에 광범위하게 쓰이고 있다. 아울러, 임베디드 시스템을 구성하는 임베디드 프로세서의 성능에 지대한 영향을 미치는 DRAM의 중요성이 날로 증가되어, DRAM에 대한 연구가 산업계와 학계에서 활발하게 진행되고 있다. 모의실험을 통하여 임베디드 프로세서의 성능을 평가할 때 신뢰할만한 결과를 얻기 위하여, 보다 정확한 DRAM 모델을 갖추는 것이 중요하다. 본 논문에서는 이것을 위하여, DRAM 시뮬레이터와 연동할 수 있는 임베디드 프로세서 모의실험기를 개발하였다. 그리고, MiBench 임베디드 벤치마크를 입력으로, 싸이클 단위로 정확하게 동작하는 DRAM 모델이 임베디드 프로세서의 성능에 끼치는 영향을 분석하였다.

• 한국생산제조학회지
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• 제25권2호
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• pp.132-137
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• 2016

Biomimetics involves the design of robotic platforms inspired from living creatures to achieve efficient operation under environmental conditions. A development within biomimetics involves investigating the function of a tail and applying it to robot design. This study aims to define the function of a static tail for water-running robots, and optimize its geometric and compliance parameters. The rolling angle of the tail is determined by the objective function, while the area and fillet ratio are used for geometric design and compliance parameters in the rolling and yawing directions. Repeated motion of the water-running robot's footpads at frequencies of 9 and 10 Hz is used as the operating condition. Robust design based on the Taguchi methodology is performed via orthogonal arrays. The optimized tail design derived in this study will be implemented in a robotic platform to improve steering and balancing functions in the pitching direction.

• 대한임베디드공학회논문지
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• 제9권4호
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• pp.237-243
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• 2014

In this paper we present an real-time obstacle avoidance technique of autonomous mobile robot with steering system and implementation of user interface for mobile devices with Android platform. The direction of autonomous robot is determined by virtual force field concept, which is based on the distance information acquired from 5 ultrasonic sensors. It is converted to virtual repulsive force around the autonomous robot which is inversely proportional to the distance. The steering system with PD(proportional and derivative) controller moves the mobile robot to the determined target direction. We also use PSD(position sensitive detector) sensors to supplement ultrasonic sensors around dead angle area. The mobile robot communicates with Android mobile device and PC via Ethernet. The video information from CMOS camera mounted on the mobile robot is transmitted to Android mobile device and PC. And the user can control the mobile robot manually by transmitting commands on the user interface to it via Ethernet.

• 센서학회지
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• 제19권3호
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• pp.246-257
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• 2010

Autonomous guided robot navigation which consists of following unknown paths and avoiding unknown obstacles has been a fundamental technique for unmanned robots in outdoor environments. The unknown path following requires techniques such as path recognition, path planning, and robot pose estimation. In this paper, we propose a novel sensor fusion system for autonomous guided robot navigation in outdoor environments. The proposed system consists of three monocular cameras and an array of nine infrared range sensors. The two cameras equipped on the robot's right and left sides are used to recognize unknown paths and estimate relative robot pose on these paths through bayesian sensor fusion method, and the other camera equipped at the front of the robot is used to recognize abrupt curves and unknown obstacles. The infrared range sensor array is used to improve the robustness of obstacle avoidance. The forward camera and the infrared range sensor array are fused through rule-based method for obstacle avoidance. Experiments in outdoor environments show the mobile robot with the proposed sensor fusion system performed successfully real-time autonomous guided navigation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.302-304
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• 1994

In this paper, we introduce the current implementation status of the absolute position recognition technique using sonars for the navigation of a mobile robot. Using this technique, we have developed the supervisory controller of the autonomous vacuum cleaning robot which can recognize the user-specified origin, moves its body to the origin, and follow the specified trajectory starting from the origin. With the satisfactory results, we expect the autonomous cleaning robot to be commercialized in a very near future.

• 한국지능시스템학회논문지
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• 제17권5호
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• pp.701-706
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• 2007

최근 고층건물의 방진시스템 및 자동차의 현가장치 분야에 MR 유체를 이용한 반능동 진동제어에 관한 연구가 활발히 진행되면서 MR 유체의 밸브모드 특성을 이용한 선형 MR 댐퍼가 널리 사용되고 있다. 그러나 전단모드를 이용한 회전형 MR 댐퍼에 관한 연구는 초기단계에 머물고 있다. 본 연구에서는, 주행로봇의 무한회전형 액츄에이터용 회전형 댐퍼의 진동제어에 관한 연구를 수행하였으며, 퍼지 로직을 기반으로 한 회전형 MR 댐퍼용 진동제어 알고리즘을 제안하였다. 퍼지제어기의 입출력 이득과 멤버쉽 함수의 모양은 유전자 알고리즘을 이용하여 조정하였다. 시뮬레이션 결과는 MR 댐퍼에 충격력이 가해질 때 퍼지 스카이-훅 제어의 제어성능을 보여준다.