• Proceedings of the Korean Society of Computer Information Conference
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• 2022.01a
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• pp.369-372
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• 2022

본 논문에서는 장애물 객체의 회전 벡터를 이용하여 VR 환경에서의 효율적으로 음향 처리 및 합성하는 방법을 제안한다. 현실에서 소리와 장애물이 있을 때, 소리는 장애물의 형태에 따라 퍼지면서 전파되는 형태를 보여준다. 이 같은 특징을 가상현실 환경에 유사하게 음향 처리하고자 하며 이를 위해 장애물 객체의 위치와 소리의 근원지 위치를 입력으로 소리의 전파 형태를 근사한다. 이때 모서리 부근에서 표현되는 소리의 회전을 계산하기 위해 장애물의 회전벡터(Curl vector)를 기반으로 소리의 회전을 추출하였으며, 장애물 형태를 컨볼루션(Convolution)하여 소리가 바깥 방향으로 전파되는 형태를 모델링한다. 또한, 장애물과 소리 벡터 사이의 거리, 소리 근원지와 소리 벡터 사이의 거리를 계산하여 소리의 크기를 감쇠 시켜 주며, 최종적으로 장애물 주변으로 퍼지는 벡터 모양인 외부벡터를 합성하여 장애물로부터 외부로 퍼지는 벡터의 방향을 설정한다. 본 논문에서 제안하는 방법을 이용한 소리는 장애물과의 거리와 형태를 고려하여 퍼지는 사운드 벡터 형태를 보여주며, 소리 위치에 따라 소리 감소 패턴이 변경되고, 장애물 모양에 따라 흐름이 조절되는 결과를 보여준다. 이 같은 실험은 실제 현실에서 소리가 장애물의 모양에 따라 나타나는 소리의 변화 및 패턴을 거의 유사하게 표현할 수 있다.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.36-41
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• 2011

Configuration space(C-space) including configuration obstacle(C-obstacle) is one of the most important concepts in mobile robot path planning. Using C-space and C-obstacles, the robot with different shapes and moving mechanisms can be considered as a point in the C-space. And, as a result, the collision-free path for the robot can be easily achieved. To make C-space including C-obstacle, many researchers used circular approximation method for the efficient caluculation time. This method can help us to save our time by approximating the shape of a robot as the minimum sized circle which can cover all the area of robot. But, by using the circle larger than the robot, more space are considered as the part of robot and, as a result, some obstacles which are very near each other may be considered as a combined one obstacle. To solve this problem, multi-level configuration space is proposed by this paper. This multi-level method also use the circular approximation method as the initial step. But, after finding the initial path, it will check how many obstacles are combined. And then, for each combined obstacle, more accurate C-space generation will be continued. To check the efficiency of the proposed algorithm, time for c-space generation are compared with the well-known accurate C-space generation method using various types of robot shape.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.2
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• pp.169-176
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• 2013

To generate the walking path of a humanoid robot in an unknown environment, the shapes of obstacles around the robot should be detected accurately. However, doing so incurs a very large computational cost. Therefore this study proposes a method to classify the obstacle shape into three types: a shape small enough for the robot to go over, a shape planar enough for the robot foot to make contact with, and an uncertain shape that must be avoided by the robot. To classify the obstacle shape, first, the range and the number of the obstacles is detected. If an obstacle can make contact with the robot foot, the shape of an obstacle is accurately derived. If an obstacle has uncertain shape or small size, the shape of an obstacle is not detected to minimize the computational load. Experimental results show that the proposed algorithm efficiently classifies the shapes of obstacles around the robot in real time with low computational load.

• Journal of the Korean Institute of Gas
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• v.17 no.1
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• pp.13-18
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• 2013

Experimental studies were carried out to investigate the interactions between the propagating flame fronts and different multiple obstacles within an explosion chamber. The explosion chamber is 600 mm in height, $700{\times}700mm^2$ in cross-section and has a H/L value of 0.86. Three different multiple obstacles with the blockage ratio of 0.43 were replaced within the chamber. The results showed that relatively higher local flame displacement speed was observed with the triangular obstacle while the lower was observed with the circular one. It was found that the local flame displacement speeds behind the obstacle were largely dependent on the obstacle types. It was also found that as the flame interacted with the flow field generated behind the obstacle, the probability density functions(PDFs) of the local flame displacement speed were extensively distributed toward higher speeds.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.2
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• pp.35-42
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• 1998

이동로봇이 주위환경에 대해서 전혀 알지 못하고 목표점으로 주행할때, 로봇은 긴 장애물이나 오목한 장애물에 대해서 존재할 수 있는 국부최소점에 빠져 더 이상 진행을 못하는 발생할수 있다. 본 논문에서는, 이 문제를 해결하기 위하여 퍼지 이론을 사용하여 효율적인 장애물회피와 안정된 목표점 도달을 달성할수 있도록하는 알고리즘을 제시한다. 제시된 알고리즘은 상하 2층 구조로 되어 있으며, 하위층은 장애물 회피 알고리즘 및 목표점 접근 알고리즘으로, 그리고 상위층은 로봇이 이동하면서 변화하는 환경에 맞게 앞의 두 알고리즘에 적절한 가중치를 부여하는 가중치 부여 알고리즘으로 구성되어 있다. 본 논문에서 제시된 알고리즘의 타당성을 보이기 위하여 'ㄹ', 'ㅊ' 형태의 장애물 및 여러 가지 형태의 장애물이 복합적으로 존재하는 환경에서 모의실험을 행한결과, 만족할 만한 결과를 얻을 수 있었다.

• Journal of the Korean Institute of Gas
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• v.12 no.3
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• pp.68-74
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• 2008

Measurements were performed to investigate the effects on flame and pressure development by varying locations of multiple obstacles in a top-venting explosion chamber. The chamber dimension was 1000 mm in height with a $700\;{\times}\;700\;mm^2$ cross-section and a rectangular vent area of $700\;{\times}\;700\;mm^2$. Three different multiple obstacles with blockage ratio of 30% were used by changing from 200 mm, 500 mm to 800 mm in heights within the chamber. Temporally resolved flame front images were recorded by a high speed camera to investigate the interaction between the propagating flame and the obstacles. The results showed that the triangular bar caused the fastest flame developments at given times whereas the lowest was obtained with the cylindrical bar. It was also found that local flame displacement speeds of different obstacles were sensitive to the locations of obstacles. The local speed becomes larger in going from 200 mm, to 500 mm and to 800 mm in heights. The obstacles in height of 800 mm yielded the highest overpressure whereas the lowest was in height of 200 mm.

• Proceedings of the Korea Water Resources Association Conference
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• 1993.07a
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• pp.107-113
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• 1993

도시가 발달함에 따라 늘어나는 교통량과 주차공간 등의 부족을 해소하기 위해 하천에 교량을 증설하건 복개를 하는 경우가 많아지고 있다. 이와 같은 현상은 수리학적으로 바람직한 현상이 아니므로 과연 하천에 장애물을 설치할 경우 이들 장애물에 의하여 하천 흐름이 어떻게 영향을 받는지를 실험적으로 분석해 보았다. 모형은 중랑천과 한천로상의 교량 형태를 점검하고 이들을 7개의 형태로 분류 1/50의 축척을 사용하여 제작하였다. 실험장치는 국립 건설시험소에 있는 직선 개수로를 이용하였으며 실험을 위하여 하천의 경사는 1/500, 1/750과 1/1000을 그리고, 하천 유량은 200, 350, 500 CMS를 각각 선택하였다. 하천에 교량의 장애물 설치시 구조물 형태에 따라 6~30%의 수위 상승효과가 있었으며 표면 유속은 7~23%의 감속 효과가 있었다.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.19-24
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• 2011

This paper presents a method about amorphous obstacles avoidance for local path planning in the two-dimensional sensor environment. In particular, the proposed method is extended from some of the recent studies about a point obstacle avoidance. In the paper, repulsive forces of two types are proposed in order that the robot avoids from the amorphous obstacle with various size and form. A judgment of curvatures in the proposed method simplifies the recognition of obstacles to make the path-planning efficient. In addition, the line of sight(LOS) and the range of recognition are considered in the environment. By simulation results, the proposed method for amorphous obstacle avoidance shows better performance than the related existing method and we confirmed advantages of proposed method.

• Journal of the Korea Society for Simulation
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• v.19 no.4
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• pp.129-137
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• 2010

Currently used shortest path search algorithms involve graphs with vertices and weighted edges between each vertex. However, when finding the shortest path with a randomly shaped obstacle(an island, for instance) positioned in between the starting point and the destination, using such algorithms involves high memory inefficiency and is significantly time consuming - all positions in the map should be considered as vertices and every line connecting any of the two adjacent vertices should be considered an edge. Therefore, we propose a new method for finding the shortest path in such conditions without using weighted graphs. This algorithm will allow finding the shortest obstacle bypass given only the positions of the obstacle boundary, the starting point and the destination. When the row and column size of the minimum boundary rectangle to include an obstacle is m and n, respectively, the proposed algorithm has the maximum time complexity, O(mn). This performance shows the proposed algorithm is very efficient comparing with the currently used algorithms.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.686-691
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• 2003

In the paper, an intelligent biped walking robot that can overcome the obstacle is developed. Walking algorithms are designed based on the analysis of the human's manner of walking. Infrared sensors are used to detect the obstacles in the working environment and the remote controller of the biped robot use a RF module. The experiment results show that the developed biped walking robot can perform the stable static walking, attention walking, rotation and side stepping to avoid the obstacle, and hurdling the obstacle using the distance correction algorithm that is designed based on the distance information between the biped robot and the obstacle.