• Journal of the Korea Society of Computer and Information
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• v.16 no.12
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• pp.93-102
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• 2011

This paper presents a walking guidance system for blind pedestrians in an outdoor environment using just one single camera. Unlike many existing travel-aid systems that rely on stereo-vision, the proposed system aims to get necessary information of the road environment by using just single camera fixed at the belly of the user. To achieve this goal, a top-view image of the road is used, on which obstacles are detected by first extracting local extreme points and then verified by the polar edge histogram. Meanwhile, user motion is estimated by using optical flow in an area close to the user. Based on these information extracted from image domain, an audio message generation scheme is proposed to deliver guidance instructions via synthetic voice to the blind user. Experiments with several sidewalk video-clips show that the proposed walking guidance system is able to provide useful guidance instructions under certain sidewalk environments.

• Journal of the Korea Society of Computer and Information
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• v.16 no.4
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• pp.225-233
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• 2011

In this paper, we propose a remote control station based on the awareness of various combat field situation in order for operating multiple unmanned ground vehicles. Our remote control station is capable of sending a variety of messages designed for carrying out the skillful movement for collaborate among unmanned ground vehicles, gathering the information related with combat field situation, and completing the assigned missions which are described by operator in advance. To verify the effectiveness of our proposal, we develop the sophisticated remote control station and conduct a great many remote operating tests for multiple unmanned ground vehicles.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.2
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• pp.195-201
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• 2010

Recently, the necessity of the autonomous mobile robot is emphasized in order to enlarge the scope of activity and actively cope with the change of work environment. This paper proposes the algorithm which enables the mobile robot to avoid obstacles and lead it to the destination by the shortest path. And we verify the usability by a simulation. We made the algorithm with micro-GA and $\lambda$-geometry MRA. The area of simulation is limited to 320(width)$\times$200(length) pixels and one pixel is one centimeter. When we planned the path with only $\lambda$-geometry MRA, we could find the direction for path planning but could not find the shortest path. But when we planned the path with $\lambda$-geometry MRA and micro-GA, we could find the shortest path. So the algorithm enables us to find the direction for path planning and the shortest path.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.8
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• pp.712-721
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• 2015

Pulse Detonation Engine (PDE) has been considered as a future propulsion system for broad range of operation and higher thermal efficiency. Various subsystem technologies have been studied for more than decade to improve the performance of the potential system. New valve systems has been developed for the stable operation at high frequency including inflow-driven valve, rotary valve and valveless system. To foster the detonation initiation with a little ignition energy, plasma ignition method and DDT (deflagration to detonation transition) acceleration method such as swept ramp mechanism have been studied. Fluidic nozzle system and other nozzle system are the ongoing research topics to maximize the propulsion performance of the PDE. Present paper introduces the state of the art of PDE subsystem technologies developed in recent years.

• Journal of KIISE:Software and Applications
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• v.34 no.3
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• pp.235-245
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• 2007

UUV(Unmanned Underwater Vehicle) should possess an intelligent control software performing intellectual faculties such as cognition, decision and action which are parts of domain expert's ability, because unmanned underwater robot navigates in the hazardous environment where human being can not access directly. In this paper, we suggest a RVC intelligent system architecture which is generally available for unmanned vehicle and develope an autonomous navigation system for UUV, which consists of collision avoidance system, path planning system, and collision-risk computation system. We present an obstacle avoidance algorithm using fuzzy relational products for the collision avoidance system, which guarantees the safety and optimality in view of traversing path. Also, we present a new path-planning algorithm using poly-line for the path planning system. In order to verify the performance of suggested autonomous navigation system, we develop a simulation system, which consists of environment manager, object, and 3-D viewer.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.1 no.1
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• pp.70-78
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• 2002

Advanced safety vehicle (ASV) equipped with intelligent drivers advisory functions for controlling vehicle to follow the lead vehicle and/or warning drivers on forward traffic impediments according to the roadway and traffic circumstances has been recently developed and on the market internationally. Standardization processes for ASV system functions have been issued in IS0/TC204 Working Group 14 (Vehicle/Roadway Warning and Control System) since 1995. Research projects developing test and evaluation technologies for ASV in establishing safety standards and/or conformity related to the national roadway and traffic circumstances are under study internationally. In Korea, an integrated test and evaluation Program was developed for the assessment of adaptive cruise control (ACC) system under the ITS research and development projects funded by the Ministry of Construction and Transportation (MOCT). This paper demonstrates the integrated test and evaluation Programs for ACC system based on the draft international standard with related to the domestic roadway and traffic conditions. Field tests fulfilled under the scenarios based on the integrated test & evaluation programs for ACC system are discussed along with a review of earlier research work regarding international standards and the safety regulations.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.9 no.1
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• pp.9-18
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• 2010

Our country has so large mountain area that the tunnel construction is inevitable and the need of incident detection that provides safe management of tunnels is increasing. In this paper, we suggest a tunnel incident detection system using computer vision techniques, which can detect the incidents in a tunnel and provides the information to the tunnel administrative office in order to help safe tunnel operation. The suggested system enhances the processing speed by using simple processing algorithm such as image subtraction, and ensures the accuracy of the system by focused on the incident detection itself rather than its classification. The system is also cost effective because the video data from 4 cameras can be simultaneously analyzed in a single PC-based system. Our system can be easily extended because the PC-based analyzer can be increased according to the number of cameras in a tunnel. Also our web-based structure is useful to connect the other remotely located tunnel incident systems to obtain interoperability between tunnels. Through the experiments the system has successfully detected the incidents in real time including dropped luggage, stoped car, traffic congestion, man walker or bicycle, smoke or fire, reverse driving, etc.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.13 no.5
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• pp.55-63
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• 2013

In cognitive radio networks, acquirement of position information of primary user is very important to secondary network since localization information of primary users can be utilized for improving the spectrum efficiency of secondary network and for avoiding harmful interference to primary users by using proper power control. Among various location methods, Received Signal Strength (RSS)-based localization has been widely used for distance measurements in the location detection process despite its inherent inaccuracy because it can be easily implemented without any additional hardware cost. In the RSS-based localization, the distance is measured by the received signal strength, and distance error can be caused by many factors such as fading, shadowing and obstacle between two nodes. In the paper, therefore we propose a localization scheme based on estimation of path-loss exponent to localize the location of primary users more accurately. Through simulations, it is shown that the proposed scheme can provide less localization error and interference rate to primary users than other schemes.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.6
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• pp.1481-1487
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• 2014

Recently, with the popularization of smartphones, augmented reality has become even more familiar to the public as an application that can provide realistic images as a tool for location-based services. Therefore, as a location-based application for smartphones that is appropriate for the application of augmented reality technology, the study develops a golf information system. Golf is the sport for which we should exactly know the accurate shape or distance to the destinations or obstacles, so the sport is suitable for applying the augmented reality technology. Even though the sport of golf has constantly increasing population to play it with the popularization of it, presently released golf-related smartphone apps are established as 2D images or in GPS basis; thus, they lack a sense of realism unfortunately. Thereupon, this study develops a golf information system by modifying and complementing usefully Mixare, the open source for augmented reality, for the sport of golf into an augmented reality-based system that can provide various information according to the actual environment of the golf course and describes how to apply it actually to the golf course.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.301-303
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• 2018

This paper describes a robot control system and control method of a human arm type redundant manipulator. The control of a redundant manipulator suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose a numerical control method and weighted pseudo inverse kinematics algorithm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning and using this algorithm provides correct results near the singular points and can utilize redundancy intuitively. We proved this system's validity through field test.