• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.1
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• pp.69-74
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• 2009

In this paper, we propose a method of ontology-based control of autonomous robots. Advancing one step further from using ontology as a hierarchical storage of information, the proposed method shows how to control robots through ontology inference. That is, the information on obstacles detected by robots is represented as an ontology, and robots' action planning and control are performed according to robots' surroundings through ontology inference. We make a differentially driven robot and illustrate the effectiveness of the proposed method via the experiment of the robot's navigation in real environment.

• Information and Communications Magazine
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• v.30 no.10
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• pp.18-24
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• 2013

협력 지능형 교통 시스템 (C-ITS: Cooperative Intelligent Transportation System)은 차량이 도로 인프라 또는 다른 차량과 서로 통신하면서 전방의 교통사고 및 장애물과 주변 차량 정보를 공유하여 위험상황을 피할 수 있도록 사전에 경고하는 미래형 교통체계이다. C-ITS는 보행자 및 차량의 안전을 향상시키고 배출탄소량 감소 및 교통물류의 효율성을 증가시킬 수 있는 미래사회의 핵심 인프라가 될 전망이다. C-ITS의 성공적인 실현을 위해서는 다중 센서 융 복합 기반 교통정보 수집, 교통정보를 쌍방향으로 유통하기 위한 통합 무선 통신망, 스마트 기기와 이동통신망을 활용한 실시간 교통정보 수집 및 빅 데이터 처리와 주문형 서비스 제공 등의 핵심 기술 개발이 필요하다. 본 고에서는 협력형 교통 환경에서의 C-ITS 구조 및 관련 핵심 요소 기술을 소개하고, 앞으로 해결할 과제를 소개 한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2011.04a
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• pp.771-774
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• 2011

센서 네트워크 환경에서 센서 노드 간의 데이터 전송 중에 트래픽이 발생하거나 토폴로지가 수시로 변하게 됨에 따라 패킷의 손실이 자주 발생하게 된다. 본 논문에서 설계한 VSDR(Visualization Sensing Data Routing)은 GML 문서를 통해 실제 지형을 가시화 하고, Map Object의 장애물 여부를 설정하여 타겟 지역을 구성한다. 또한, AODV와 DSR을 사용하여 센서 노드간의 패킷의 이동경로와 트래픽의 양을 가시화하며, 과다 트래픽이 발생하는 구간은 경로를 변경하여 효율적으로 데이터 전송을 할 수 있다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2020.01a
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• pp.289-290
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• 2020

본 논문에서는 Turtlebot burger3와 라즈베리파이의 OpenCV, OpenCR보드를 이용하여 ROS상에서 SLAM알고리즘을 구현하여 자율 주행 순찰이 가능한 로봇을 개발한다. 특히, 라즈베리파이 카메라에 OpenCV를 이용하여 사람 얼굴 인식이 가능하게 하여 순찰 시 카메라로 순찰 정보를 제공 할 수 있게 한다. 또한, 로봇에 탑재된 LiDAR는 SLAM 알고리즘을 이용하여 주변의 환경을 매핑하여 장애물을 회피할 수 있는 경로를 탐색할 수 있도록 한다. 개발 기술들을 통하여 사람 대신에 로봇이 경비 구역의 침입자 촬영을 하고, 원격제어가 가능한 시스템으로 다양한 분야에 로봇 제어 기술에 활용하고자 한다.

• Proceedings of the Korea Information Processing Society Conference
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• 2021.11a
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• pp.1372-1375
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• 2021

최근 산업 현장에서 많은 안전사고가 일어나고 있고, 현장 노동력의 부족으로 무인 로봇 시스템들을 도입하는 등 다양한 변화를 맞이하고 있다. 이에 차세대 자동화 시스템은 보다 유연하고 지능적이어야 한다. AGV(Automatic Guided Vehicle)의 경우 실시간으로 변하는 현장에 대응하기 어렵고, 새로운 어플리케이션에 대한 제품개발의 어려움이 따른다. 이에 대한 대안으로 AGV 인식 스택을 재구축하여 인간과 동일한 공간인식 능력을 갖춘 AMR(Autonomous Mobile Robot)이 대두되고 있다. 본 연구에서는 SLAM과 ROS를 이용하여 AMR의 기능을 구축하였다. YD Lidar 센서와 SLAM을 이용하여 주변 환경을 지도화 하여 로봇의 현재 위치를 파악할 수 있도록 제작하였고, 직접 지도상의 최적 경로를 파악하여 주변 장애물을 회피하며 주행할 수 있음을 확인하였다. DC 모터의 응답 특성에 따라 주행 속도, 조향각 등을 제어할 수 있도록 구현하였다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.4
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• pp.2450-2459
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• 2014

The purpose of this research is to suggest the direction of basic plan for vitalizing community center street which is stagnant by analyzing current state and results of urban design road in 'Gwangcheonro', a center of Gwangcheon community, and street environment improvement and seeking the measures of improvement. Through the on-the-site inspection and user interview of objective street, the problems were grasped to be narrowly walking road by obstacles, appearance damage by illegal advertisement facility, etc. To vitalize there as a main street for the improvement of walking environment, first is to establish street environment focusing on pedestrians, second is to improve street landscape, third is to design walking-friendly commercial complex and the final is to design street with factors through the relation with regional development factors.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.12A
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• pp.982-990
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• 2009

The IEEE 802.15.4 wireless sensor network is composed of the unique sensor devices to monitor and collect physical or environmental conditions. The interests in a positioning technology, which is one of the environment monitoring technologies, are gradually increased according to the development of the sensor technology and IT infrastructure. Generally, it is difficult for the positioning system using RSSI (Received Signal Strength Indication) based implementation to get accurate position because of obstacles, RF wave's delay and multipath. Therefore, in this paper, we investigate the improved positioning technologies for RSSI-based positioning system. This paper also proposes the enhanced scheme to improve the accuracy of positioning system by applying the Gaussian Filter algorithm, which is widely used for enhancing the performance of image processing system. For the implementation of proposed scheme, we firstly make a look-up tables, which represent the distance between target node and master node and corresponding RSSI value of each target node which are recorded as an average value after investigating the characteristics of attenuation of transmitted signal By applying the pre-determined look-up tables and Gaussian Filtering in the proposed scheme, we analyzed the positioning performance and compared with other conventional RSSI-based positioning algorithms.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.5
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• pp.367-372
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• 2001

This paper proposes a hierachically structured navigation algorithm for multiple mobile robots under unknown dynamic environment. The proposed algorithm consists of three basic parts as follows. The first part based on the fuzzy rule generates the turning angle and moving distance of the robot for goal approach without obstacles. In the second part, using both fuzzy and neural network, the angle and distance of the robot to avoid collision with dynamic and static obstacles are obtained. The final adjustment of the weighting factor based on fuzzy rule for moving and avoiding distance of the robots is provided in the third stage. Some simulation results show the effectiveness of the proposed algorithm.

• Development and Reproduction
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• v.2 no.2
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• pp.115-133
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• 1998

Recently public concerns about the endocrine disrupting chemicals (EDC) have resulted in the increased legistrative and regulatory attentions in many countries. Endocrine disrupter is an exogeneous chemical interfering the synthesis, transport binding, action or elimination of natural hormones in the body, which are responsible for the maintenance of homeostasis, reproduction, development and/or behavior. Reported possible harmful effects on human and animal lives, possible developmental anomalities, reproductive malfunctions and behaviors, and the ways of EDC accumulation in animal kingdom are reviewed. The current scientific papers and knowledges on the global contamination of EDCs demonstrates the conclusive data that EDCs have the potentials to cause the calamitous extermination of human and animal species by the global contamination.

• Journal of the Korean Institute of Telematics and Electronics T
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• v.35T no.1
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• pp.111-119
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• 1998

To predict propagation environments of antenna radiation pattern, it is very important for deceision of service area, selection of the best station location and design of cell etc. By analyzing the propagation prediction model that is varied acceding to the kind of antenna, beam angle, terrain and obstacles, we expect that the economic operating of communication networks, calling quality and service of subscriber will be enhanced. It was measured the fields strength to propose the optimal propargation predicted model of the zone of Seji base station in Naju-city. The simulations of field test are 4 types Hata model, the Egri model, the Carey model and the proposed model. Finally the proposed model are more close agreement with experimental test than other models.