• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.5
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• pp.3610-3618
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• 2015

The congestion of railway vehicle and station shows up to 220%. Especially, transfer resistance of passenger increase rapidly by the collision of circulation. So increment of travel time, occurrence of safety accidents act as a factor that inhibits the utilization of urban railway station. In this paper, to improve traveling speed and comfort of urban rail passengers, urban transit passenger guidance system using congestion management model is proposed. The congestion management model that can mitigate a recurring/non-recurring congestion is constructed and the preliminary design of the system (middleware system, control system, guidance drive system) is carried out. Passenger Guidance System is configured by step for changing the external data into a form usable by the algorithm, step to perform the congestion management algorithm using the real-time data and historical data, step to control device based on the value that is calculated by congestion management algorithm, step to drive the device based on the information in the control system and circulation guidance devices. In the future, detail design will be performed based on the preliminary design. A prototype of the various devices according to the station structures and locations will be made. The control module of guidance device will be developed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.8
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• pp.1732-1739
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• 2004

In this paper, we proposed a visualization system with ANN algorithm that traits the motion of particles that move colliding in the water, where we got a great deal of variable information and predicts the distribution of particles according to the flowing of water and the pattern of their precipitation. We adopted ART2 to detect sensitively the collision between particles in this visualzation. Various particles and their mutual collision influencing the force such as buoyancy force, gravitational force, and the pattern of precipitation are considered in this system. Flowing particles whose motion is changed with the environment can be visualized in the system presented here as they are in real water.

• Journal of Internet of Things and Convergence
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• v.9 no.6
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• pp.37-44
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• 2023

As a primary technology of Industry 4.0, human-robot collaboration (HRC) requires additional measures to ensure worker safety. Previous studies on avoiding collisions between collaborative robots and workers mainly detect collisions based on sensors and cameras attached to the robot. This method requires complex algorithms to continuously track robots, people, and objects and has the disadvantage of not being able to respond quickly to changes in the work environment. The present study was conducted to implement a web-based platform that manages collaborative robots by recognizing the emotions of workers - specifically their perception of danger - in the collaborative process. To this end, we developed a web-based application that collects and stores emotion-related brain waves via a wearable device; a deep-learning model that extracts and classifies the characteristics of neutral, positive, and negative emotions; and an Internet-of-things (IoT) interface program that controls motor operation according to classified emotions. We conducted a comparative analysis of our system's performance using a public open dataset and a dataset collected through actual measurement, achieving validation accuracies of 96.8% and 70.7%, respectively.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.8
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• pp.1483-1490
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• 2009

This parer is presented multiple path-planning of unmanned autonomous forklift using modified genetic algorithm and fuzzy inference system. There are a task-level feedback method and a method that path is dynamically replaned in realtime while the autonomous vehicles are moving by means of an optimal algorithm for existing multiple path-planning. However, such methods cause malfunctions and inefficiency in the sense of time and energy, and path-planning should be dynamically replanned in realtime. To solve these problems, we propose multiple path-planning using modified genetic algorithm and fuzzy inference system and show the performance with autonomous vehicles. For experiment, we designed and built two autonomous mobile vehicles that equipped with the same driving control part used in actual autonomous forklift, and test the proposed multiple path-planning algorithm. Experimental result that actual autonomous mobile vehicle, we verified that fast optimized path-planning and efficient collision avoidance are possible.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.157-163
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• 2018

This paper deals with the development and application of control algorithms for series elastic relief robots for rescue operations in harsh environment like disasters or battlefield. The joint controller applied in this paper has a cascade structure combining inner loop for torque control and outer loop for position control. The torque loop contains feedforward and feedback controller and disturbance observer for independent, decentralized joint control. The effect of the elastic component and motor dynamics are treated as the nonlinear disturbance and compensated with the disturbance observer of torque controller. For the collision detection, Band Designed Disturbance Observer is configured to recognize/respond to external disturbance robustly in the continuously changing environment. The controller is applied to a 7-dof series elastic manipulator to evaluate the torque tracking and collision detection/response performance.

• Proceedings of the Korea Information Processing Society Conference
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• 2016.04a
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• pp.520-521
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• 2016

본 논문은 기존의 벽돌 깨기 게임을 OpenGL 라이브러리를 이용하여 PC 기반의 게임으로 설계 및 구현하였다. 최근 들어 스마트폰 시장이 확대되면서 빠르고 간편하게 즐길수 있는 고전게임이 스마트폰 게임 시장에서 다시 주목받고 있다. 따라서 본 논문에서는 대표적인 그래픽 라이브러리인 OpenGL 1.0을 사용하여 벽돌 깨기 시뮬레이션 게임을 구현하였다. 구현된 벽돌 깨기 게임은 간단한 물리 연산을 이용해 공의 속도 및 각도를 제어할 수 있고, 충돌 검사 및 처리 알고리즘을 적용하여 기본적인 게임 기능들을 구현하였다.

• Proceedings of the KSR Conference
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• 2002.10a
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• pp.459-464
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• 2002

Communication based train control system is applied regularly worldwide. And this system may be used in domestic soon. Communication based train control system does not depend on conventional track circuit. Therefore, position and distance control of train to prevent collision with leading train may become important safety factor. This paper developed collision avoidance algorithm to control trains of several units efficiently for this. In developing a collision avoidance algorithm, it is desirable to avoid the need for additional system. Additional system restricts the development of the algorithm by limiting the effectiveness of the algorithm to only those areas where the additional system can be afforded and has been installed.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.10
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• pp.936-940
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• 2013

As the ageing population grows around the world, the demand for electric wheelchairs, an important mobility assistance device for the disabled and elderly, is gradually increasing. Therefore, a number of studies related to intelligent wheelchairs are actively underway to improve safety and comfort for wheelchair users. However, previous collision avoidance studies for intelligent wheelchairs have concentrated on collision avoidance methods with the shortest distance and by only changing either velocity or heading angle, rather than considering the forces exerted on the user. If a collision avoidance algorithm that does not consider these forces is applied to an intelligent wheelchair, there is a possibility of an accident due to falling as wheelchair users are generally disabled and elderly people. In this paper, we propose a collision avoidance algorithm which minimizes the forces exerted on a wheelchair user by minimizing the variation of the wheelchair's velocity and heading angle when the sizes, positions, velocities, and heading angles of a wheelchair and a moving obstacle are known.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.22 no.3
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• pp.15-24
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• 2022

At present, there are few studies on signal control of pedestrian traffic flow and non-motor traffic flow at intersections. Research on the optimization scheme of mixed traffic flow signal control can coordinate and control the overall traffic flow of pedestrians, non-motor vehicles and motor vehicles, which is of great significance to improve the congestion at intersections. For the traffic optimization of intersections, this paper starts from two aspects: channelization optimization and phase design, and reduces the number of conflict points at intersections from spatial and temporal right-of-way allocation respectively. Taking the classical signal timing method as the theoretical basis, and aiming at ensuring the safety and time benefit of traffic travelers, a channelization optimization and signal control scheme of the intersection is proposed. The channelization and phase design methods of intersections with motor vehicles, non-motor vehicles and pedestrians as objects are discussed, and measures to improve the channelization optimization of intersections are proposed. A multi-objective optimization model of intersection signal control was established, and the model was solved based on NSGA-II algorithm.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.9 s.351
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• pp.165-174
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• 2006

In this paper, we propose a new contention window control algorithm to increase TCP performance in wireless multi-hop networks. The new contention window control algorithm is suggested to reduce the hidden and exposed terminal problems of wireless multi-hop networks. Most of packet drops in wireless multi-hop networks results from hidden and exposed terminal problems, not from collisions. However, in normal DCF algorithm a failed user increases its contention window exponentially, thus it reduces the success probability of fined nodes. This phenomenon causes burst data transmissions in a particular node that already was successful in packet transmission, because the success probability increases due to short contention window. However, other nodes that fail to transmit packet data until maximum retransmission attempts try to set up new routing path configuration in network layer, which cause TCP performance degradation and restrain seamless data transmission. To solve these problems, the proposed algorithm increases the number of back-of retransmissions to increase the success probability of MAC transmission, and fixes the contention window at a predetermined value. By using ns-2 simulation for the chain and grid topology, we show that the proposed algorithm enhances the TCP performance.