• Proceedings of the Korea Information Processing Society Conference
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• 2016.04a
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• pp.139-141
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• 2016

본 논문에서는 실시간 실내 다중 이동 로봇 충돌 회피에 관한 연구이다. 충돌 회피 기법에는 센서를 이용한 포텐셜 필드 기법 등 다양한 방법[1,2,3]이 있지만 좁은 실내 공간에서 사용하기에는 제한점이 많다. 본 논문에서 제안하는 시스템은 서버, 감시카메라, 로봇 세 가지로 구성되어 있으며 여러 모듈간 상호작용을 통한 충돌 회피 시스템을 제안한다. 감시카메라는 서버에게 실시간으로 영상을 제공해 실내 상황을 파악하게 한다. 서버는 실내 공간에 있는 모든 로봇을 관리하고 감시카메라로부터 받은 영상을 이용한 맵 매칭을 통해 로봇의 위치를 파악한다. 그다음 로봇의 위치를 토대로 경로를 생성하여 로봇에게 전송한다. 로봇 또한 서버에게 경로, 속도를 전송 받아 목적지로 이동하며 서버로부터 지속적인 관리를 받아 충돌을 방지해 목적지까지 신속하고 정확하게 이동하는 것이 본 논문의 목적이다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.10
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• pp.163-173
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• 2010

In multi-mobile robot environment, path planning and collision avoidance are important issue to perform a given task collaboratively and cooperatively. The proposed approach is based on a potential field method and fuzzy logic system. For a global path planner, potential field method is employed to select proper path of a corresponding robot and fuzzy logic system is utilized to avoid collisions with static or dynamic obstacles around the robot. This process is continued until the corresponding target of each robot is reached. To test this method, several simulation-based experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.11a
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• pp.587-590
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• 2011

고정형 센서노드들로 구성된 기존의 무선 센서 네트워크는 다양한 응용분야에서 사용되고 있다. 하지만, 센서노드에 이동기능이 추가되면 적절한 움직임을 통해 센싱 영역을 최대화 할 수 있다. 이러한 측면에서 최근 센서의 자율배치에 관련한 연구가 활발하게 진행 중이다. 기존 연구에서의 센서 이동은 대부분 2차원에서의 자율배치에 관하여 연구가 되어 왔다. 본 논문에서는 2차원에서의 자율배치가 아닌 3차원 공간에서의 센서노드의 자율배치에 대한 알고리즘과 이의 결과를 제시한다.

• Geophysics and Geophysical Exploration
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• v.13 no.1
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• pp.40-50
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• 2010

The building process of any geological map involves linking sparse lithological outcrop information with equally sparse geometrical measurements, all in a single entity which is the preferred interpretation of the field geologist. The actual veracity of this interpretative map is partially dependent upon the frequency and distribution of geological outcrops compounded by the complexity of the local geology. Geophysics is commonly used as a tool to augment the distribution of data points, however it normally does not have sufficient geometrical constraints due to: a) all geophysical inversion models being inherently non-unique; and b) the lack of knowledge of the physical property contrasts associated with specific lithologies. This contribution proposes the combined use of geophysical edge detection routines and 'three point' solutions from topographic data as a possible approach to obtaining geological contact geometry information (strike and dip), which can be used in the construction of a preliminary geological model. This derived geological information should first be assessed for its compatibility with the scale of the problem, and any directly observed geological data. Once verified it can be used to help constrain the preferred geological map interpretation being developed by the field geologist. The method models the contacts as planar surfaces. Therefore, it must be ensured that this assumption fits the scale and geometry of the problem. Two examples are shown from folded sequences at the Bathurst Mining Camp, New Brunswick, Canada.

• Journal of the Korea Society of Computer and Information
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• v.18 no.2
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• pp.117-126
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• 2013

Path planning is an essential problem to make virtual characters navigate in many applications including computer games. In many cases, multiple characters move in a group and qualitative aspects of planned paths are emphasized rather than optimality unlike Robotics. In this paper, we propose a two-level path planning algorithm in which the global path is planned for a single character specified as a leader and then the local path is planned to avoid dynamic obstacles while the group following this path. The space for group movement is achieved in the form of square grid array called a grid window. Member characters are located relatively to the leader within a space and moved. The static environment is reduced to the configuration space of this grid window to generate a roadmap on which a grid window can move. In local path planning, only the leader avoids dynamic obstacles by using an artificial potential field and the rest of members are located relatively to the leader in the grid window, which reduces computational load. Efficient algorithms to implement the proposed planning methods are introduced. The simulation results show that a group can handle with dynamic obstacles effectively while moving along the planned path for a static environment.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.362-367
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• 2011

The collision-free path of a manipulator should be regenerated in the real time to achieve collision safety when obstacles or humans come into the workspace of the manipulator. A probabilistic roadmap (PRM) method, one of the popular path planning schemes for a manipulator, can find a collision-free path by connecting the start and goal poses through the roadmap constructed by drawing random nodes in the free configuration space. The path planning method based on the configuration space shows robust performance for static environments which can be converted into the off-line processing. However, since this method spends considerable time on converting dynamic obstacles into the configuration space, it is not appropriate for real-time generation of a collision-free path. On the other hand, the method based on the workspace can provide fast response even for dynamic environments because it does not need the conversion into the configuration space. In this paper, we propose an efficient real-time path planning by combining the PRM and the potential field methods to cope with static and dynamic environments. The PRM can generate a collision-free path and the potential field method can determine the configuration of the manipulator. A series of experiments show that the proposed path planning method can provide robust performance for various obstacles.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.10
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• pp.1479-1485
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• 2015

Robot's technology was very simple and repetitive in the past. Nowadays, robots are required to perform intelligent operation. So, path planning has been studied extensively to create a path from start position to the goal position. In this paper, potential field algorithm was used for path planning in dynamic environments. It is used for a path plan of mobile robot because it is elegant mathematical analysis and simplicity. However, there are some problems. The problems are collision risk, avoidance path, time attrition. In order to resolve path problems, we amalgamated potential field algorithm with the artificial neural network system. The input of the neural network system is set using relative velocity and location between the robot and the obstacle. The output of the neural network system is used for the weighting factor of the repulsive potential function. The potential field algorithm problem of mobile robot's path planning can be improved by using artificial neural network system. The suggested algorithm was verified by simulations in various dynamic environments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.3
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• pp.2123-2130
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• 2015

For such automatic monitoring robot or a robot cleaner that is utilized indoors, if it deviates from someone by replacement or, or of a mobile robot such as collisions with unexpected object direction or planned path, based on the planned path There is a need to come back to, it is necessary to tough self-position estimation ability of mobile robot in this, which is also associated with resolution of the kidnap problem of conventional mobile robot. In this study, the case of a mobile robot, operates indoors, you want to take advantage of the low cost of the robot. Therefore, in this paper, by using the acquisition device to an external image information such as the CCTV which is installed in a room, it acquires the environment image and take advantage of marker recognition of the mobile robot at the same time and converted it absolutely spatial coordinates it is, we are trying to solve the self-position estimation of the mobile robot in the room and kidnap problem and actual implementation methods potential field to try utilizing robotic systems. Thus, by implementing the method proposed in this study to the actual robot system, and is promoting the relevant experiment was to verify the results.

• Korean Journal of Remote Sensing
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• v.33 no.3
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• pp.267-274
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• 2017

The purpose of this research was to develop and present methods to detect sinkholes which can exist underneath the surface of the ground. First, we buried a water tank with dimensions $1.8{\times}0.8{\times}0.8m$ at a distance of 1.8 m from the surface. This played the role of the sinkhole. Secondly, we created a square zone with sides 12 meters away from the buried water tank. Within this zone, we measured the gravity at 1-meter intervals using a Scintrex CG5 relative gravimeter with a resolution of 0.001 mGal. Additionally, we performed three-dimensional (3-D) gravity modeling to calculate the theoretical values of the relative gravity around our model sinkhole. The resulting values for the relative gravity around the sinkhole depended on the method used. The measured effect of gravity was 0.036 mGal and the effect calculated using 3-D modeling was 0.024 mGal. Our results suggest that sinkholes that are similar in size to the water tank used in this study can be detected using relative gravity surveys. Smaller sinkholes can be detected by reducing the intervals between the relative gravity measurements.

• Economic and Environmental Geology
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• v.44 no.6
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• pp.493-502
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• 2011

We study the deep structure of Korean Peninsula by estimating Moho depth and crustal thickness from using land and oceanic topography and free-air gravity anomaly data. Based on Airy-Heiskanen isostatic hypothesis, the correlated components between the terrain gravity effects and free-air gravity anomalies by wavenumber correlation analysis(WCA) are extracted to estimate the gravity effects that will be resulted from isostatic compensation for the area. With the resulting compensated gravity estimates, Moho depth that is a subsurface between the crust and mantle is estimated by the inversion in an iterative method with the constraints of 20 seismic depth estimates by the receiver function analysis, to minimize the uncertainty of non-uniqueness. Consequently, the average of the resulting crustal thickness estimate of Korean Peninsula is 32.15 km and the standard deviation is 3.12 km. Moho depth of South Korea estimated from this study is compared with the ones from the previous studies, showing they are approximately consistent. And the aspects of Moho undulation from the respective study are in common deep along Taebaek Mountains and Sobaek Mountains and low depth in Gyeongsang Basin relatively. Also, it is discussed that the terrain decorrelated free-air gravity anomalies inferring from the intracrustal characteristics of the crust are compared to the heat flow distributions of South Korea. The low-frequency components of terrain decorrelated Free-air gravity anomalies are highly correlated with the heat flow data, especially in the area of Gyeongsang basin where high heat flow causes to decrease the density of the rocks in the lower crust resulting in lowering the Moho depth by compensation. This result confirms that the high heat sources in this area coming from the upper mantle by Kim et al. (2008).