• 한국정밀공학회지
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• 제12권1호
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• pp.58-67
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• 1995

A path planning algorithm using a laser range finder are presented for real-tiem navigation of an autonomous guided vehicle. Considering that the laser range finder has the excellent resolution with respect to angular and distance measurements, a sophisticated local path planning algorithm is achieved by using the human's heuristic method. In the case of which the man knows not rhe path, but the goal direction, the man forwards to the goal direction, avoids obstacle if it appears, and selects the best pathway when there are multi-passable ways between objects. These heuristic principles are applied to the path decision of autonomous guided vehicle such as forward open, side open and no way. Also, the effectiveness of the established path planning algorithm is estimated by computer simulation in complex environment.

• 제어로봇시스템학회논문지
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• 제15권3호
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• pp.293-299
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• 2009

This paper discusses an autonomous navigation system for urban environments. For the localization of the robot, EKF (Extended Kalman Filter) algorithm is used with odometry, angle sensor, and DGPS (Differential Global Positioning System) measurement. Especially in an urban environment, DGPS is often blocked by buildings and trees and the resulting inaccurate positioning prevents the robot from safe and reliable navigation. In addition to the global information from DGPS, the local information of the curb on the roadway is used to track a route when the global DGPS information is inaccurate. For this purpose, curb detection algorithm is developed and implemented in the developed navigation algorithm. Four different types of navigation strategies are developed and they are switched to adapt to different localization conditions according to the availability of DGPS and the existence of the curbs on the roadway. The experimental results show that the designed switching strategy improves the navigation performance adapting to the environment conditions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.106.5-106
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• 2002

1. Introduction 2. Artificial Immune Networks and Navigation Algorithm 3. Obstacle Avoidance and Goal Approach Behavior 4. Weights Adjustment Using Neural Network 5. Velocity Control and Local Minimum Avoidance 6. Simulation 7. Conclusion

• 전자공학회논문지S
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• 제34S권2호
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• pp.21-32
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• 1997

This paper proposes an elliptical world-modeling mehtrod in order to secure the safety of the mobile robot from the unreliability of ultrasonic sensors and to estimate the lateral orientation of the detected objects. This method is advnatageous because the total amount of data that the robot utilizes is reduced when historical and new data are clusterd during each sensing period and also because the objects in the environment can be almost exactly recognized. This paper also proposes a new local path planning algorithm which is divided into four different situations and gudies the robot through the safe local path using dat acollected in elliptical form. This algorithm can help the AMR navigate by allowing it to sum up the virtual vector forces made form the ellipses in order to select a safe subgoal. This local path plannin gmehtod using the elliptical world model has been proved by several navigation experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.11-14
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• 2003

In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2012년도 춘계학술대회
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• pp.233-234
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• 2012

국내 국제물류주선업체(포오더)가 직면하고 있는 과당경쟁으로 인한 수익성 악화, 고용 불안 및 포화 상태에 있는 국내물류시장에 대하여 알아보고 글로벌 물류 시장 진출을 위한 블루오션 전력으로 UN조달 시장-물류서비스 부분의 입찰 시장 현황 및 참가방법과 성공적인 진출 방안, 중소 물류 기업들의 글로벌 진출을 활성화하는 지원책들을 연구한다.

• 한국항행학회논문지
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• 제4권1호
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• pp.1-10
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• 2000

레이다에서 마그네트론을 이용하여 송신펄스를 발생하는 경우에 레이다의 코히어런트 동작을 위해서는 수신기에서 송신펄스의 주파수 및 위상 변화를 감지하여 안정된 중간주파수를 발생할 수 있도록 국부발진주파수를 조정하고, 위상측정을 위하여 송신펄스의 위상에 동기된 신호를 발생하여야 한다. 본 논문에서는 레이다의 수신기 전단부에서 안정된 중간주파수를 발생하기 위한 AFC(Automatic Frequency Control) 회로와 STALO(Stable Local Oscillator)를 설계, 제작하고, 송수신 신호간의 위상측정을 위한 COHO(Coherent Oscillator)를 구현하였다.

• 한국항해학회지
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• 제22권3호
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• pp.65-72
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• 1998

최근에는 고장력강의 사용증대와 함께 구조부재가 경량화추세에 있으며 이상부식이 발생한 구조부재는 강도가 크게 저하되리라 예상되지만 지금까지 이에 관한 연구가 거의 없는 상태이다. 본 연구에서는 단소성대변형유한요소법을 적용하여 국부이상부식을 가진 판이 면내압축하중을 받을 경우에 압축최종강도에 미치는 부식부영역의 크기. 부식부의 판두께 감소량 및 세장비의 영향에 대하여 연구하였다.

• International Journal of Contents
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• 제7권2호
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• pp.11-16
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• 2011

In this paper, we develop a mobile MAP open API using HTML5 local storage and the W3C geolocation API. The mobile MAP open API consists of the basic JavaScript MAP API, offline navigation API, and multimedia POI (mPOI) API. The basic JavaScript MAP API creates a map and controls, rotates, and overlays data on the map. The offline navigation API is developed using HTML5 local storage and web storage. The mobile web application downloads and stores mPOIs of works of art to local storage or web storage from a web server. The mPOI API is developed using HTML5 video and audio APIs. We develop a mobile art park guidance application using the developed mobile MAP open API.

• 한국항해항만학회지
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• 제30권4호
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• pp.303-308
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• 2006

This study is designed to analyze the production, employment, value added and income impacts tha, in the event of designation and development of Haeundae as 'Convention, Movie, Marine Leisure Special Zone', its marine sector would have on the local economy. The realization of marine leisure special zone of Haeundae in Busan is expected to lead to a direct and indirect investment of approx. \13.6 billion, resulting in \68.0 billion in production impact, 850 jobs in employment impact, \28.0 billion in value added impact and \14.5 billion in income impact. This is expected to give a boost to a stagnant local economy, offering opportunities for the revival of Busan's tourist industry.