• 한국정밀공학회지
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• 제21권1호
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• pp.26-31
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• 2004

• International Journal of Advanced Culture Technology
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• 제10권3호
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• pp.371-376
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• 2022

The purpose of this study is to develop a walking assistance system with mobility support and life support functions so that the elderly with reduced physical ability and patients who are uncomfortable when moving can move comfortably indoors and outdoors, and help social life. An obstacle recognition sensor module that can be applied indoors and outdoors is installed on a lightweight walking aid. The purpose of this study is to develop a walking assistance system with mobility support and life support functions so that the elderly with reduced physical ability and patients who are uncomfortable when moving can move comfortably indoors and outdoors, and help social life. An obstacle recognition sensor module that can be applied indoors and outdoors is installed on a lightweight walking aid. It is a system structure of an integrated actuator and brake system that can avoid obstacles in consideration of the safety of the elderly and is easy to install on the device. In this paper, the design of a lightweight walking aid was designed to increase the convenience of the socially disadvantaged and the elderly with reduced exercise ability. In addition, in order to overcome the disadvantage of being inconvenient to use indoors due to the noise and vibration of the motor during operation, an In-Wheel type motor is applied to develop and apply a low noise, low vibration and high efficiency drive system.

• 한국전자통신학회논문지
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• 제4권1호
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• pp.37-45
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• 2009

The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely with panning scan from sensors of distance measurement and fuzzy control. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.

• 한국정보전자통신기술학회논문지
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• 제6권3호
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• pp.174-182
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• 2013

The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely with panning scan from sensors of distance measurement and fuzzy control. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제9권3호
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• pp.206-212
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• 2009

This paper presents an optimized integrated task planning and control approach for manipulating a nonholonomic robot by mobile manipulators. Then, we derive a kinematics model and a mobility of the mobile manipulator(M2) platform considering it as the combined system of the manipulator and the mobile robot. to improve task execution efficiency utilizing the redundancy, optimal trajectory of the mobile manipulator(M2) platform are maintained while it is moving to a new task point. A cost function for optimality can be defined as a combination of the square errors of the desired and actual configurations of the mobile robot and of the task robot. In the combination of the two square errors, a newly defined mobility of a mobile robot is utilized as a weighting index. With the aid of the gradient method, the cost function is minimized, so the path trajectory that the M2 platform generates is optimized. The simulation results of the 2 ink planar nonholonomic M2 platform are given to show the effectiveness of the proposed algorithm.

• Journal of Positioning, Navigation, and Timing
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• 제12권4호
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• pp.379-389
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• 2023

According to the Korea Urban Air Mobility (K-UAM) Concept of Operation (ConOps), the Global Navigation Satellite System (GNSS) is recommended as the primary navigation system and the performance specification will be implemented considering the standard of Performance Based Navigation (PBN). However, by taking into account the characteristics of an urban environment and the concurrent operations of multiple UAM aircraft, the current PBN standards for civil aviation seem difficult to be directly applied to an UAM aircraft. Therefore, by referring to technical documents published in the literature, this paper examines the feasibility of applying the proposed performance requirements to K-UAM, which follows the recommendation of navigation performance requirements for K-UAM. In accordance with the UAM ConOps, the UAM aircraft is anticipated to maintain low altitude during approach and landing phases. Subsequently, the navigation performance degradation could occur in the urban environment, and the primary degradation factor is identified as multipath error. For this reason, to ensure the safety and reliability of the K-UAM aircraft, it is necessary to analyze the degree of performance degradation related to the urban environment and then propose an alternative aid to enhance the navigation performance. To this end, the aim of this paper is to model the multipath effects of the GNSS in an urban environment and to carry out the simulation studies using the real GNSS datasets. Finally, the initial navigation performance requirement is proposed based on the results of the numerical simulation for the K-UAM.

• 전력전자학회논문지
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• 제19권3호
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• pp.283-289
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• 2014

This paper carries out a series of analysis of power system using Gallium Nitride (GaN) FET which has wide band gap (WBG) characteristics comparing to conventional Si MOSFET-used power system. At first, for comparison of each semiconductor device, the switching-transient parameter is quantitatively extracted from released information of GaN FET. And GaN FET model which reflect this dynamic property is configured. By using this model, the performance of GaN FET is analyzed comparing to Si MOSFET. Also, in order to enable a representative assessment on the power system level, Si MOSFET and GaN FET are applied to the most common structure of power system, full-bridge, and each power systems are compared based on various criteria, such as performance, efficiency and power density. The entire process is verified with the aid of mathematical analysis and simulation.

• 한국정보통신학회논문지
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• 제11권1호
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• pp.40-45
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• 2007

본 논문에서는 무선공중망을 이용하여 재택 혹은 원거리에서도 환자의 상태를 확인하고 감시함으로써 의료서비스의 이동성을 제공하기 위한 의료정보 무선전송 시스템을 제안하고, 시뮬레이션 하였다. 제안한 방법은 응급상황 발생시 의료정보를 디지털 데이터로 변환하여 PDA와 같은 이동형 단말에 전송함으로써 신속한 응급처치 등이 가능토록 한다. 시뮬레이션은 이동 무선채널환경에서 신뢰성 있는 의료정보의 전송을 위하여 IEEE 802.11a에 근거한 OFDM 전송방식을 사용하였고, AWGN과 3-ray 이동 다중경로 페이딩 환경에서 신뢰성 있는 정보전송을 위하여 콘볼루션 코딩을 적용하여 시스템 성능을 분석하였다.

• 한국인터넷방송통신학회논문지
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• 제22권1호
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• pp.51-58
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• 2022

본 논문은 시각장애인의 대중교통, 특히 버스 이용을 보조하기 위한 새로운 방법을 제안한다. 시각장애인의 대다수는 버스 이용에 어려움을 겪는데, 기존의 안내시스템과 점자 블록은 큰 도움을 주지 못하는 것으로 드러났다(2017, 장애인실태조사). 본 논문에서는 시각장애인의 버스 접근성과 이동성 향상을 위해, 다음과 같은 세 가지 기능을 갖춘 시스템을 개발한다: (1)스마트 폰 애플리케이션을 이용한 승차 예약 기능, (2)버스 도착 알림 기능, (3)Beacon을 이용한 무선 하차 벨 기능. 데모환경을 구축한 후 진행한 다양한 실험을 통하여 버스 예약, 탑승, 하차가 원활히 이루어질 수 있음을 확인하였다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2008년도 추계종합학술대회 B
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• pp.331-339
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• 2008

본 논문은 전동 휠체어 시스템에서 반 자율주행 및 안전 주행, 장애물 회피를 위한 퍼지 신경망 제어 주행 시스템을 제안, 디자인 및 임베디드 리눅스 시스템을 통해 구현하고 검증한다. 자율주행 장애물 검출 알고리즘을 위해 거리측정 센서를 통해 장애물의 크기를 파악하고 회피할 수 있는 폭과 각도, 거리 및 속도를 계산하여 계획된 경로대로 이동할 수 있는 알고리즘을 구현한다. 또한 거리측정 센서를 최소화하기 위해 휠체어 앞쪽에 2개의 스텝모터를 통해 거리측정 센서를 좌우로 움직이면서 패닝 스캔을 한다. 퍼지 신경망 제어 주행 시스템은 센서 스캐닝을 통한 맵 데이터를 분석하고 주행 알고리즘에 따른 자율 주행 경로를 설정한다. 정해진 자율 주행 경로는 퍼지 신경망 제어 주행시스템을 통해 전동 휠체어 컨트롤 주행을 제어 운용한다. 그리고 보호자를 위한 전동 휠체어 보호자 트래킹 알고리즘을 구현한다. 본 시스템은 장애인 및 움직임이 불편한 노인을 위한 반 자동 전동휠체어 시스템을 구축하여 안전하게 사용자가 운용할 수 있게 한다. 그리고 휴대용 생체 신호 측정센서를 부착하여 실시간 몸이 불편한 장애인의 생체신호를 모니터링 하여 이상 시 알람 경보를 보호자 및 관계자에게 전달한다.