• Journal of applied mathematics & informatics
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• 제8권1호
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• pp.129-136
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• 2001

We introduce and discuss a new numerical method for solving system of second order boundary value problems, where the solution is required to satisfy some extra continuity conditions on the subintervals in addition to the usual boundary conditions. We show that the present method gives approximations which are better than that produced by other collocation, finite difference and spline methods. Numerical example is presented to illustrate the applicability of the new method. AMS Mathematics Subject Classification : 65L12, 49J40.

• Journal of Information Processing Systems
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• 제16권6호
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• pp.1309-1323
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• 2020

Crowd evacuation simulation is an important research issue for designing reasonable building layouts and planning more effective evacuation routes. The social force model (SFM) is an important pedestrian movement model, and is widely used in crowd evacuation simulations. The model can effectively simulate crowd evacuation behaviors in a simple scene, but for a multi-obstacle scene, the model could result in some undesirable problems, such as pedestrian evacuation trajectory oscillation, pedestrian stagnation and poor evacuation routing. This paper analyzes the causes of these problems and proposes an improved SFM for complex multi-obstacle scenes. The new model adds navigation points and walking shortest route principles to the SFM. Based on the proposed model, a crowd evacuation simulation system is developed, and the crowd evacuation simulation was carried out in various scenes, including some with simple obstacles, as well as those with multi-obstacles. Experiments show that the pedestrians in the proposed model can effectively bypass obstacles and plan reasonable evacuation routes.

• 대한기계학회논문집
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• 제15권1호
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• pp.98-106
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• 1991

본 연구에서는 로봇이용의 자동화를 위하여 가장 필수적인 과정인 로봇의 운 동경로 계획에 관하여 연구하고 작업영역 내에 장애물이 있는 경우에 로봇과 장애물과 의 충돌 회피를 위한 정량적인 양으로 두물체간의 최소거리 및 충돌깊이를 효율적으로 계산할 수 있는 방법을 제안하며 이를 이용하여 로봇이 장애물과 충돌하지 않고 주어 진 작업을 수행할 수 있는 로봇의 경로를 자동으로 생성함으로써 로봇을 보다 상위레 벨에서 운용하기 위한 기초를 마련한다.

• 한국산학기술학회논문지
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• 제3권4호
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• pp.227-232
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• 2002

시각장애인의 보행을 유도하기 위한 전자보행기로, 소닉가이드, 모와트센서, 바이오닉 지팡이 등이 개발되었으나, 가격이 비싸거나, 훈련이 어렵다는 이유 등으로 국내에서는 거의 보급되어 있지 않고 있다. 따라서, 본 연구에서는 청각에 의한 장해물을 인식 개념을 고려하여 주변의 장해물의 파악에 특별한 훈련이 필요치 않으며, 저렴한 가격의 전자보행기의 개발 을 위한 기본 연구로 시각장애인의 장해물인지특성의 검토 및 장해물 인지특성을 고려한 초음파형 전자보행유도기의 프로토콜을 통한 보행시험을 실시하였다.

• International Journal of Naval Architecture and Ocean Engineering
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• 제9권5호
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• pp.492-498
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• 2017

Subsea pipeline route design is a crucial task for the offshore oil and gas industry, and the route selected can significantly affect the success or failure of an offshore project. Thus, it is essential to design pipeline routes to be eco-friendly, economical and safe. Obstacle avoidance is one of the main problems that affect pipeline route selection. In this study, we propose a technique for designing an automatic obstacle avoidance. The Laplacian smoothing algorithm was used to make automatically generated pipeline routes fairer. The algorithms were fast and the method was shown to be effective and easy to use in a simple set of case studies.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2013년도 추계 학술논문 발표대회
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• pp.204-205
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• 2013

The rational Management of the school facilities will be able to minimize the waste of budgets, enhance total values of facilities. The purpose of this study is to propose promotion plans of the private infrastructure investment in the school facilities not only for contemplating obstacle reasons of BTL projects, but also for gripping contents about process of BTL projects. To achieve these objectives, this study 1)analyzes the major trend about private infrastructure investment, and 2)suggest extended suggestions for minimizing problems in the process of BTL projects in school facilities.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2021년도 봄 학술논문 발표대회
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• pp.155-156
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• 2021

Most of the construction works in domestic are not direct undertaking work, but by a contract method including subcontracting. Therefore, a general contractor for each project jointly carry out construction work with a specialty contractor for each engineering type. However, in terms of contract, this method is not a joint venture contract, but a subcontract. Accordingly, this system can cause various problems between the prime contractor and the subcontractor. Therefore, this study aims to extract and present the actual obstacle factors in terms of specialty contract company performing specialty construction work for construction project. The presented contents are expected to present the standard for the cooperation system that the prime contractor and the subcontractor can win-win.

• 대한임베디드공학회논문지
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• 제9권5호
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• pp.269-276
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• 2014

In recent, autonomous navigation techniques to avoid obstacles have been studied by using unmanned aircraft vehicles(UAVs) since the increment of UAV's interest and utilization. Particularly, autonomous navigation based UAVs are utilized in several areas such as military, police, media, and so on. However, there are still some problems to avoid obstacle when UVAs perform autonomous navigation. For instance, the UAV can not forward in the corner of corridors even though it utilizes the improved vanish point algorithm that makes an autonomous navigation system. Therefore, in this paper, we propose an obstacle avoidance technique based on immune algorithm for autonomous navigation of Quadrotor. The proposed algorithm is consisted of two steps such as 1) single color discrimination and 2) multiple color discrimination. According to the result of experiments, we can solve the previous problem of the improved vanish point algorithm and improve the performance of autonomous navigation of Quadrotor.

• International Journal of Automotive Technology
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• 제8권4호
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• pp.493-504
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• 2007

This paper proposes a stereo vision-based forward obstacle detection and distance measurement method. In general, stereo vision-based obstacle detection methods in automotive applications can be classified into two categories: IPM (Inverse Perspective Mapping)-based and disparity histogram-based. The existing disparity histogram-based method was developed for stop-and-go applications. The proposed method extends the scope of the disparity histogram-based method to highway applications by 1) replacing the fixed rectangular ROI (Region Of Interest) with the traveling lane-based ROI, and 2) replacing the peak detection with a constant threshold with peak detection using the threshold-line and peakness evaluation. In order to increase the true positive rate while decreasing the false positive rate, multiple candidate peaks were generated and then verified by the edge feature correlation method. By testing the proposed method with images captured on the highway, it was shown that the proposed method was able to overcome problems in previous implementations while being applied successfully to highway collision warning/avoidance conditions, In addition, comparisons with laser radar showed that vision sensors with a wider FOV (Field Of View) provided faster responses to cutting-in vehicles. Finally, we integrated the proposed method into a longitudinal collision avoidance system. Experimental results showed that activated braking by risk assessment using the state of the ego-vehicle and measuring the distance to upcoming obstacles could successfully prevent collisions.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.249-254
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• 2001

Abstract In this paper, we propose a method of cooperative control based on artifical intelligent system in distributed autonomous robotic system. In general, multi-agent behavior algorithm is simple and effective for small number of robots. And multi-robot behavior control is a simple reactive navigation strategy by combining repulsion from obstacles with attraction to a goal. However when the number of robot goes on increasing, this becomes difficult to be realized because multi-robot behavior algorithm provide on multiple constraints and goals in mobile robot navigation problems. As the solution of above problem, we propose an architecture of fuzzy system for each multi-robot speed control and fuzzy-neural network for obstacle avoidance. Here, we propose an architecture of fuzzy system for each multi-robot speed control and fuzzy-neural network for their direction to avoid obstacle. Our focus is on system of cooperative autonomous robots in environment with obstacle. For simulation, we divide experiment into two method. One method is motor schema-based formation control in previous and the other method is proposed by this paper. Simulation results are given in an obstacle environment and in an dynamic environment.