• Journal of Advanced Navigation Technology
• /
• v.24 no.6
• /
• pp.521-526
• /
• 2020

In this paper, we propose a design method and process for hybrid V2X communication platform that combines WAVE communication and LTE-V2X communication which are C-ITS communication protocols for vehicle environments and Legacy LTE communication which is a commercial mobile communication for evaluating the autonomous platooning platform of commercial vehicles. For a safe and efficient autonomous platooning platform, an low-latency communication function based on C-ITS communication is required, and to control it, commercial communication functions such as Legacy LTE, which can be connected at all times, are required. In order to evaluate such a system, the evaluation equipment must have the same level of communication performance or higher. The main design contents presented in this paper will be applied to the implementation of hybrid V2X terminals for functional evaluation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2033-2038
• /
• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.

• Journal of the Korean Institute of Navigation
• /
• v.23 no.2
• /
• pp.11-22
• /
• 1999

This paper is concerned with the development of a tractable model to assist liner shipping companies in the decision-making of empty container repositioning and leasing. A hybrid methodology is presented which properly accounts for the specific characteristics of empty container management. For this mathematical models are developed based on dynamic network models, covering both land and marine segment. Then a stochastic method is presented to deal with the uncertainty of the future demand and supply. Especially, the concept of opportunity cost has been introduced in order to explain interactions between the variation of the future demand and supply and the stock level at each depot.

• Journal of the Korean Institute of Navigation
• /
• v.20 no.4
• /
• pp.99-109
• /
• 1996

Though median filter is used for removing noise and smoothing image. But, the result of it has distortion around edge. And then, this paper proposes new noise removing algorithm by recursive morphological processing. Basic operation is same each other, but there is some different processing method between recursive morphology and general morphology theory. This recursive morphological filter can be viewed as the weighted order static filter, and then it has a weighted SE(structuring element). Especially using this algorithm to remove the 10% gaussian noise, this paper confirmed that PSNR is improved about 0.642~1.5757 db reserving edge well better than the results of the traditional median filter.

• Journal of Advanced Marine Engineering and Technology
• /
• v.31 no.5
• /
• pp.583-591
• /
• 2007

This paper reports the performance of a 150W PV-wave hybrid system with battery storage in buoy. This system was originally designed to meet a new hybrid ower system for buoy in Korea. In the case or lighted buoys and lighthouses, a light failure alarm system of wireless radio is attached so that light failures are immediately notified to the office. At lighthouse offshore fixed lights and light buoys where commercial electricity is not available, the power source depends on solar system and batteries. This power system has a various problems. Therefore energy derived from the sunshine, wind and waves has been used as the energy source lot aids to navigation. Recently a hybrid system of combining the solar, wind and the wave generator is a favorable system lot the ocean facilities like lighthouse and buoy. The hybrid system in this paper is intended for variable DC load like light, communication system in the buoy and includes a PV-wane generation system and battery. This is composed a high efficiency charging algorithm, switching converter and controller. This paper includes discussion on system reliability, power quality, and effects of hybrid system in the buoy. Simulation and experimental results show excellent performance.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.30 no.11 s.254
• /
• pp.1348-1357
• /
• 2006

In a hybrid three-layer control architecture(deliberative, sequencing, and reflexive), the lowest reflexive layer consists of resources, actions, an action coordinator, and motion controllers. Because the execution of individual components in the reflexive layer should be done in real-time, each component has to be simple and, due to this reason, the Linux-RTAI(Real-Time Application Interface for Linux) has been used as an operating system. In this paper, a navigation control architecture, which combines the components in the reflexive layer and the navigation-related modules in the sequencing layer, is proposed. And then, as basic components, four actions(Goto, Avoid, Move, and EmergencyStop) are designed. Experimental results confirm the effectiveness of the proposed architecture and the performance of individual associated actions.

• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.33B no.7
• /
• pp.1-10
• /
• 1996

There are many challenging problems in mobile robot navigation. As an example, a mobile robot may wander around in local minimum and may wiggle when it moves through a narrow corridor. In addition, the real time obstacle avoidance and the posture control of mobile robot are also very improtant problems. To address these problems, a navigation algorithm which is composed o freal time obstacle avoidance algorithm and a global path planner (GPP) that genrates the shortest path is presented. In this paper, the global path planner reduce the calculation time by reducing the dta to be handled. Also it can make a real time obstacle avoidance by using the fuzzy logic inference. So the presented algorithm provide a stable navigastion for the mobile robot when it fall into the unstable navigation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1781-1785
• /
• 2004

In existing factory, robot has less necessity that consider person. However, person should be considered at design and use of service robot. To service robot can be used in everyday life along with this, more functions are required. Specially, medical service robot needs function that is intelligence function. Especially, to help patient brain disease patient (cerebral hemorrhage, cerebral infarction, imbecility), gait assistance Mobile robot consider ergonomic element necessarily. In order to develop the medical support service robot, the ergonomic design should be considered. This robot ergonomic design parameters are treated in ("evelopment of Medical Support Service Robot Using Ergonomic Design" 2003, ICASS) Fig2 show this Robot. In this study, navigation algorithm of walk assistance robot is analyzed in ergonomic view. Navigation algorithm of Mobile robot can divide by two patterns. Traditional derivative method has shortcoming in dynamic environment. Reactive method is result that react excellently in dynamic environment. However, number of behavior function is limited. So hybrid navigation algorithm was proposed by the alternative way. We consider enough user specificity at navigation algorithm application of gait assistance robot.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.40 no.11
• /
• pp.2252-2260
• /
• 2015

In this paper, we propose a vehicular cooperative navigation system using GNSS, vision sensor and radar sensor that are frequently used in mass-produced cars. The proposed cooperative vehicular navigation system is a variant of the Hybrid-Sum Product Algorithm over Wireless Network (H-SPAWN), where we use vision and radar sensors instead of radio ranging(i.e.,UWB). The performance is compared and analyzed with respect to the sensors, especially the position estimation error decreased about fifty percent when using radar compared to vision and radio ranging. In conclusion, the proposed system with these popular sensors can improve position accuracy compared to conventional cooperative navigation system(i.e.,H-SPAWN) and decrease implementation costs.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1178-1183
• /
• 2003

As personal robots coexist with a person with a role to help a person, while adapting various human life and environment, the personal robots have to accommodate frequently-changing or different-from-home-to-home environment. In addition, personal robots may have many kinds of different Kinematic configurations depending on the capabilities. Some may have a mobile base and others may have arms and a head. The motivation of this study arises from this not-well-defined home environment and varying Kinematic configuration. So the goal of this study is to develop a general control architecture for personal robots. There exist three major architectures; deliberative, reactive and hybrid. We found that these are applicable only for the defined environment with a fixed Kinematic configuration. Neither could accommodate the above two requirements. For the general solution, we propose a Supervised Hybrid Architecture (SHA), in which we use double layers of deliberative and reactive controls, distributed control with a modular design of Kinematic configurations, and real-time Linux OS. Deliberative and reactive actions interact through a corresponding arbitrator. These arbitrators help a robot to choose an appropriate architecture depending on the current situation to successfully perform a given task. The distributed control modules communicate through IEEE 1394 for the easy expandability. With a personal robot platform with a mobile base, two arms, a head and a pan-tilt stereo eye system, we tested the developed SHA for static as well as dynamic environments. For this application, we developed decision-making rules for selecting appropriate control methods for several situations of navigation task. Examples are shown to show the effectiveness.