• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.658-662
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• 1991

In this paper, a real-time obstacle avoidance for mobile robot based on the readings of the ultrasonic sensors is presented. The twenty eight ultrasonic sensors are arranged in ring and controlled by microprocessor. The readings of the ultrasonic sensor is converted into the virtual forces called repulsive forces, which are the elastic and damping forces. Then, the direction and speed of mobile robot in the cluttered environment are determined by the virtual forces. The effectiveness of the proposed method is verified from a series of simulation studies.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.87-90
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• 1987

This paper gives the Sonic Range Finder(SRF) Array which detects the unknown obstacles on the mobile robot's path. This SRF Array gives mobile robot's circumstance information wider, processes and transfers them to the locomotion module to construct the modify path. In this system, 8 pairs of the 40 KHz ultrasonic sensors constitute the SRF Array, including a pair of reference sensors to correct the errors, 4051 analog multiplexer and demultiplexer swtch the sensor with time and 8031-on chip micro computer controls processes the data and communication the others.

• Journal of the Korea Society of Computer and Information
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• v.26 no.7
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• pp.45-55
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• 2021

Information obtained through various sensors embedded in a smartphone can be used to identify and analyze user's movements and situations. In this paper, we propose two rule-based motion detection systems that can detect three alphabet motions, 'I', 'S', and 'Z' by analyzing data obtained by the acceleration and gyroscope sensors in a smartphone. First of all, the characteristics of acceleration and angular velocity for each motion are analyzed. Based on the analysis, two rule-based systems are proposed and implemented as an android application and it is used to verify the detection performance for each motion. Two rule-based systems show high recognition rate over 90% for each motion and the rule-based system using ensemble shows better performance than another one.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.10
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• pp.703-713
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• 2004

This paper presents the new obstacle avoidance method that is composed of vision and sonar sensors, also a navigation algorithm is proposed. Sonar sensors provide poor information because the angular resolution of each sonar sensor is not exact. So they are not suitable to detect relative direction of obstacles. In addition, it is not easy to detect the obstacle by vision sensors because of an image disturbance. In This paper, the new obstacle direction measurement method that is composed of sonar sensors for exact distance information and vision sensors for abundance information. The modified splitting/merging algorithm is proposed, and it is robuster for an image disturbance than the edge detecting algorithm, and it is efficient for grouping of the obstacle. In order to verify our proposed algorithm, we compare the proposed algorithm with the edge detecting algorithm via experiments. The direction of obstacle and the relative distance are used for the inputs of the fuzzy controller. We design the angular velocity controllers for obstacle avoidance and for navigation to center in corridor, respectively. In order to verify stability and effectiveness of our proposed method, it is apply to a vision and sonar based mobile robot navigation system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.4B
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• pp.338-348
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• 2009

The Wireless Sensor Network (WSN) has recently attracted considerable attention due to the low price and ease to deploy it. In particular, in a hostile or harsh regions where sensors cannot be deployed manually, WSNs can be established just by dropping sensors from the air. In this case, however, most likely sensors are not placed at optimal positions, although the location of sensors does have a drastic impact on the WSN performance. Moreover, randomized deployment algorithm can leave holes in terms of coverage in the sensing area. This paper proposes a sensor relocation scheme where mobile sensors move to patch up the holes by appropriate coverage. Simulation results show that the proposed algorithm outperforms prior existing schemes in terms of coverage and lifespan of WSNs.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1468-1471
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• 2005

This Paper is to find out a solution for the full-coverage algorithm requiring the real-time processing such as mobile home service robots and vacuum cleaner robots. Previous methods are used by adopting based grid approach method. They used lots of sensors, a high speed CPU, expensive ranger sensors and huge memory. Besides, most full-coverage algorithms should have a map before obstacle avoidance. However, if a robot able to recognize the tangent vector of obstacles, it is able to bring the same result with less sensors and simplified hardware. Therefore, this study suggests a topological based approach and a local obstacle voidance method using a few of PSD sensors and ultra sonic sensors. The simulation results are presented to prove its applicability.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.44.5-44
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• 2001

This paper proposes the algorithm which a mobile robot tracks the object captured by ultrasonic sensors of the robot and automatically generates a path according to the object In the proposed algorithm, a robot detects movements of the object as using ultrasonic sensors and then the robot follows the moving object. This algorithm simplifies robot path planning. The eight ultrasonic sensors on the robot capture distances between the robot and objects. The robot detects the movements of the object by using the changes of the distances captured by ultrasonic sensors. The target position of the robot is determined as the position of the detected moving object. The robot follows the object according to this movement strategy. The effectiveness of the proposed algorithm is verified through experiments.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2451-2453
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• 2002

In this paper, we present an infrared sensors aided map building method for mobile robot using genetic algorithm and fuzzy logic. Existing Bayesian update model using ultrasonic sensors only has a problem of the quality of map being degraded in the wall with irregularity which is caused by the wide beam width of sonar waves and Gaussian probability distribution. In order to solve this problem we propose an improved method of map building using supplementary infrared sensors. In the method, wide beam width of sonar waves is divided by infrared sensors and probability is distributed according to infrared sensors' information using fuzzy logic and genetic algorithm.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.205-211
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• 2020

In this paper, we propose a modified ORB-SLAM (Oriented FAST and Rotated BRIEF Simultaneous Localization And Mapping) for precise indoor navigation of a mobile robot. The exact posture and position estimation by the ORB-SLAM is not possible all the times for the indoor navigation of a mobile robot when there are not enough features in the environment. To overcome this shortcoming, additional IMU (Inertial Measurement Unit) and encoder sensors were installed and utilized to calibrate the ORB-SLAM. By fusing the global information acquired by the SLAM and the dynamic local location information of the IMU and the encoder sensors, the mobile robot can be obtained the precise navigation information in the indoor environment with few feature points. The superiority of the modified ORB-SLAM was verified to compared with the conventional algorithm by the real experiments of a mobile robot navigation in a corridor environment.

• The KIPS Transactions:PartA
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• v.17A no.2
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• pp.53-62
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• 2010

Mobile Sensor Vehicles, nodes of Mobile Sensor Network, are navigating for a specific, maybe unknown, region. For the precise usage of MSN, MSV has to be able to do localization by integrating information through communication by each other. In addition, MSV should be localized with various sensors equipped. In this research, we propose a set of techniques that improve accuracy using human mimic by combining and exploiting the existing techniques such as Dead-Reckoning, Computer Vision and Received Signal Strength Identification.