• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.155-163
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• 2000

This paper presents a path planning method of the sensor based intelligent vehicle using fuzzy logic controller for avoidance of moving obstacles in unknown environments. Generally it is too difficult and complicated to control intelligent vehicle properly by recognizing unknown terrain with sensors because the great amount of imprecise and ambiguous information has to be considered. In this respect a fuzzy logic can manage such the enormous information in a quite efficient manner. Furthermore it is necessary to use the relative velocity to consider the mobility of obstacles, In order to avoid moving obstacles we must deliberate not only vehicle's relative speed toward obstacles but also self-determined acceleration and steering for the satisfaction of avoidance efficiency. In this study all the primary factors mentioned before are used as the input elements of fuzzy controllers and output signals to control velocity and steering angle of the vehicle. The main purpose of this study is to develop fuzzy controllers for avoiding collision with moving obstacles when they approach the vehicle travelling with straight line and for returning to original trajectory. The ability are and effectiveness of the proposed algorithm are demonstrated by simulations and experiments.

• Physical Therapy Rehabilitation Science
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• 제10권2호
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• pp.124-133
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• 2021

Objective: In order to secure the right to walk for the weak, such as the disabled, this study aims to suggest ways to improve the pedestrian environment by identifying factors that cause obstacles to walking. Design: Data Analysis and Perception Survey. Methods: The questionnaire was conducted separately between users of personal mobility vehicle and non-users. A total of 207 effective questionnaires were collected, and the analysis analyzed the perception of personal mobility vehicle by conducting frequency analysis using SAS 9.4. The survey focused on basic information on respondents, walking conditions, understanding of personal mobility vehicle, awareness of pedestrian space passage and parking, and awareness of the possibility of securing pedestrian rights due to new regulations. Results: First, when moving a pedestrian path by personal mobility vehicle, it shall be limited to less than the walking speed of pedestrians. Second, the parking location of the personal mobility vehicle is located at the boundary of the pedestrian road and the lane. Third, pay a fair price to park in a pedestrian space. Conclusions: It is necessary to improve the system to strengthen the contents of education to take into account the safety of pedestrians in education on how to use personal mobility vehicle.

• 한국정보전자통신기술학회논문지
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• 제3권3호
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• pp.62-72
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• 2010

As the applications for Mobile Ad-hoc NETworks (MANETs) have varied, performance analysis has become one of the main research areas. They commonly offer only simple radio propagation models that neglect obstacles of a propagation environment. The radio wave propagation model has a strong impact on the results of the simulation run. In this paper we present the new experimental results of the impacts of the various propagation models on MANETs' performance. Intensive simulations have been presented using the group mobility which models typical ad-hoc situations such as military movements or disaster recovery activities under the supervision of a group leader. Comparisons of conventional simple models with more complicated models, i.e., shadowing, Raleigh, and Ricean models, show that, in spite of the models' popularity, the free space and two-ray ground models are too optimistic in describing real ad-hoc group mobility situations.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2008년도 춘계종합학술대회 A
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• pp.329-336
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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 전등 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.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.193-200
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• 2012

Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede's legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot's height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot's height and 58 % of the robot's length.

• International Journal of Computer Science & Network Security
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• 제24권5호
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• pp.1-10
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• 2024

Individuals with visual impairments face numerous challenges in their daily lives, with navigating streets and public spaces being particularly daunting. The inability to identify safe crossing locations and assess the feasibility of crossing significantly restricts their mobility and independence. Globally, an estimated 285 million people suffer from visual impairment, with 39 million categorized as blind and 246 million as visually impaired, according to the World Health Organization. In Saudi Arabia alone, there are approximately 159 thousand blind individuals, as per unofficial statistics. The profound impact of visual impairments on daily activities underscores the urgent need for solutions to improve mobility and enhance safety. This study aims to address this pressing issue by leveraging computer vision and deep learning techniques to enhance object detection capabilities. Two models were trained to detect objects: one focused on street crossing obstacles, and the other aimed to search for objects. The first model was trained on a dataset comprising 5283 images of road obstacles and traffic signals, annotated to create a labeled dataset. Subsequently, it was trained using the YOLOv8 and YOLOv5 models, with YOLOv5 achieving a satisfactory accuracy of 84%. The second model was trained on the COCO dataset using YOLOv5, yielding an impressive accuracy of 94%. By improving object detection capabilities through advanced technology, this research seeks to empower individuals with visual impairments, enhancing their mobility, independence, and overall quality of life.

• 한국지능시스템학회논문지
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• 제26권2호
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• pp.153-159
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• 2016

본 논문는 대각선 주행이 가능한 전방향 퍼스널 모빌리티의 메커니즘을 제안한다. 현대 사회에서 이동성은 인간의 기본적인 활동을 영위하는데 수반되는 전제조건이다. 퍼스널 모빌리티는 새로운 이동수단으로 자동차와 동일한 바퀴구조를 가지고 있으며 이동성 역시 자동차와 유사하다. 최근 노약자와 교통약자를 위한 퍼스널 모빌리티도 4륜 전동카트가 널리 보급되었다. 일반적으로 전동카트는 주행경로를 변경할 때 차체는 조향하는 방향으로 회전하며 이 때 곡률반경에 따른 충분한 공간을 확보해야 한다. 제안하는 퍼스널 모빌리티는 대각선 주행이 가능해지면서 이동성의 한계를 극복할 수 있다. 또한 주행경로에 장애물이 존재하거나 건물내부와 같은 좁은 공간에서도 주행이 가능해지면서 교통약자도 다양한 주행환경을 극복할 수 있다. 이 논문에서는 제안하는 퍼스널 모빌리티의 메커니즘과 개발한 퍼스널 모빌리티의 조향성능을 실험하고 대각선 주행이 가능함을 입증한다.

• 한국응용곤충학회지
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• 제22권2호
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• pp.147-159
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• 1983

In general, herbicides have been classified according to selectivity, mobility. time of application, methods of application, mode of action and chemical property and structure. However, there was no generally accepted classification system for practical use in the field. The primary processes affected by the majority of herbicides are the growth process through cell elongation and/or cell division, the photosynthetic process specifically the light reaction, the oxidative phosphorylation and the integrity of the membrane systems. The usual approach in the study of the mechanism by which herbicides kill or inhibit the growth of plants is to initially determine the morphological phototoxicity systems, The mechanism by which a herbicide kills a plant or suppresses its development is actually the resultant effect of primary and secondary(or side) effects. In most instances, the death of the plant is due to the secondary effects. To induce the desired response, a herbicide must be able to gain entry into the plants and once inside, to be transported within the plant to its site(s) of activity in concentrations great enough. Obstacles to the entry and movement of herbicides in plants are generally classified by leaf and soil obstacles, translocation obstacles and biochemical obstacles, and these obstacles are also strongly influenced by plant species and by environmental factors such as light, temperature, rainfall and relative humidity. And hence, in most instances, results obtained from laboratory or greenhous vary from those of field experiment. Author attempted to classify herbicides from the field experiment using the two-dimensional ordination analysis to obtain practical information for selecting effective herbicides or to choose effective herbicide combinations for increasing herbicidal efficacy or reducing the chemical cost. Based on this two-dimensional diagram, desired herbicides or combinations were selected and further investigated for the interaction effects whether these combinations are synergistic, additive or antagonistic. From the results, it was concluded that these new approach could possibly be give more comprehensive informations about effective use of herbicide than any other systems.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.552-557
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• 2009

본 논문은 지능형 휠체어의 장애물 감지 및 회피를 위한 하이브리드 내비게이션 시스템을 제안한다. 하이브리드 내비게이션 시스템은 센서정보와 비전 정보를 통합하여, 다양한 종류의 장애물을 강건하게 검출하고 휠체어가 안전한 길로 이동할 수 있도록 경로를 선정하는 시스템이다. 이를 위해 지능형 휠체어에 2개의 초음파센서와 8개의 적외선 센서, CCD 카메라를 부착하였다. 이로부터 들어온 센서정보와 실시간 영상을 이용하여 제안된 시스템은 다양한 장애물들을 감지할 수 있었고 최적의 경로를 선정할 수 있었다. 제안된 하이브리드 내비게이션 시스템의 효율성을 증명하기 위하여 다양한 환경에서 장애물들이 설치된 장소에서 실험한 결과 제안된 시스템은 사용자의 안전한 이동성을 제공할 수 있음을 보여주었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.639-644
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• 2003

An unstructured environment requires a robot to possess outstanding mobility and advanced control algorithms since there exist complicated configurations such as obstacle, uneven surface, etc. Especially, when a quadruped robot walks in these environments, obstacles in the walking route will obstruct the walking or may give rise to a serious trouble. In this paper, we introduce a strategy for the stable walking in unstructured environment. The proposed strategy consists of two control algorithms. One is a collision{free algorithm to avoid obstacles and the other is an algorithm to overcome any obstacle. These are based on the obstacle detection method and a shape reconstruction algorithm, Which algorithms are described in detail. In addition, the validity of these algorithms have been demonstrated through experiments using a quadruped walking robot called "MRWALLSPECT III(Multifunctional Robot for Wall inSPECTion version 3 )".