• International Journal of Naval Architecture and Ocean Engineering
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• 제10권4호
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• pp.499-507
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• 2018

Autonomous Underwater Vehicle (AUV), which are becoming more and more important in ocean exploitation tasks, needs energy conservation urgently when sailing the complex mission path in long time cruise. As hull lines optimization design becomes the key factor, which closely related with resistance, in AUV preliminary design stage, uncertainty parameters need to be considered seriously. In this research, Myring axial symmetry revolution body with parameterized expression is assumed as AUV hull lines, and its travelling resistance is obtained via modified DATCOM formula. The problems of AUV hull lines design for the minimum travelling resistance with uncertain parameters are studied. Based on reliability-based optimization design technology, Design For Six Sigma (DFSS) for high quality level is conducted, and is proved more reliability for the actual environment disturbance.

• 한국산업융합학회 논문집
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• 제22권3호
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• pp.281-292
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• 2019

This paper proposed a new technology to control a path forging parts in limited narrow space of manufacturing process automation for smart factory. In the motion control, we adapted the obstacle avoidance technology based on ultrasonic sensors. The new motion control performance test for a mobile robot is experimented in narrow space environments. The travelling path control is performed by a fuzzy control logic. which plays a role for selecting an appropriate behavior in accordance with the situation in the vicinity of the mobile robot. Ultrasonic sensors installed at the front face of the mobile robot are used. In order to update the current position and heading angle of the mobile robot, a new approch is adapted. The reliability is illustrated by simulation and experiments.

• 한국산업융합학회 논문집
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• 제18권1호
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• pp.10-17
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• 2015

We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

• 한국산업융합학회 논문집
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• 제17권2호
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• pp.42-53
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• 2014

Robust voice recognition (RVR) is essential for a robot to communicate with people. One of the main problems with RVR for robots is that robots inevitably real environment noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we propose an RVR system which can robustly recognize voice by adults and children in noisy environments. We evaluate the RVR system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. Navigation Strategy is shown Obstacle detection and local map, Design of Goal-seeking Behavior and Avoidance Behavior, Fuzzy Decision Maker and Lower level controller. The final hypothesis is selected based on posterior probability. We then select the task in the motion task library. In the motion control, we also integrate the obstacle avoidance control using ultrasonic sensors. Those are powerful for detecting obstacle with simple algorithm.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.909-915
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• 2008

Recently, the interests in the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration, and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with an autonomous travelling function to cope with unexpected terrains and obstacles. This means that they should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents a method for extracting terrain information, that is, slope and roughness from elevation maps as a prior step of traversability analysis. Slope is extracted using the curve fitting based on the least squares method and roughness using three metrics and their weighted average. The effectiveness of the proposed method is verified on both a fractal map and the world model map of a real terrain.

• 한국지능시스템학회:학술대회논문집
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• 한국지능시스템학회 2008년도 춘계학술대회 학술발표회 논문집
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• pp.233-236
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• 2008

Recently, the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with autonomous travelling function to cope with unexpected terrains and obstacles. This means that unmanned robots should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents an algorithm for extracting terrain information from elevation maps as an early step of traversability analysis. Slope and roughness information are extracted from a world terrain map based on least squares method and fractal theory, respectively. The effectiveness of the proposed algorithm is verified on both fractal and real terrain maps.

• 한국정보전자통신기술학회논문지
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• 제13권5호
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• pp.323-330
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• 2020

본 논문은 자율차량 안정성을 위한 도로 거칠기 기반 제동압력 계산 시스템을 제안한다. 제동압력 계산 시스템는 차량의 전방 이미지를 랜덤 포레스트의 입력에 맞게 가공하는 이미지 정규화 모듈, 기상정보와 이미지 정규화 모듈에서 정규화된 차량 전방 이미지를 입력으로 사용하여 차량이 주행 중인 도로의 거칠기를 구별하는 랜덤 포레스트 기반 도로 거칠기 분류 모듈과 도로 거칠기에 따라 차량에 적용되는 마찰 계수를 수정하고, 전방 차량에 따라 최적 주행을 유지하는 브레이킹 강도를 결정하는 차량 브레이크 압력 제어 모듈로 구성된다. 본 논문은 제동압력 계산 시스템의 효율성을 검증하기 위해 제동압력 계산 시스템에 사용되는 랜덤 포레스트 모델을 중심으로 실험이 진행되었다. 실험 결과, 랜덤 포레스트 모델의 정확도는 SVM보다 약 2% 높았고, 정확한 랜덤 포레스트 모델 구성을 위해 7개의 특징이 중복 허용 임의 추출되어야 한다는 결론이 도출되었다. 따라서 제동압력 계산 시스템은 차량이 제동해야 하는 상황에서 정확성 모두를 만족할 수 있다.