• Journal of Institute of Control, Robotics and Systems
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• v.21 no.7
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• pp.654-661
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• 2015

Stairs are the most popular obstacles in buildings and factories. To enlarge the application areas of a field robotic platform, stair-climbing is very important mission. One important reason why a stair-climbing is difficult is that stairs are various in sizes. To achieve autonomous climbing of various-sized stairs, dynamic modeling is essential. In this research, an inverse dynamic modeling is performed to enable an autonomous stair climbing. Stair-climbing robotic platform with flip locomotion, named FilpBot, is analyzed. The FlipBot platform has advantages of robust stair-climbing of various sizes with constant speed, but the autonomous operation is not yet capable. Based on external constraints and the postures of the robot, inverse dynamic models are derived. The models are switched by the constraints and postures to analyze the continuous motion during stair-climbing. The constraints are changed according to the stair size, therefore the analysis results are different each other. The results of the inverse dynamic modeling are going to be used in motor design and autonomous control of the robotic platform.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.155-162
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• 2009

In walking guide robot, a guide vehicle detects an obstacle distribution in the walking space using range sensors, and generates a 3D grid map to map the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans a walking route and controls the guide vehicle. The algorithm for 3D detection of an obstacle distribution and the method of mapping the generated obstacle map and the tactile display device are proposed in this paper. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of fixed obstacles on the ground, the moving obstacle, and the detection of down-step are performed. The performance for the 3D detection of an obstacle distribution and space mapping is verified through the experiment.

• Journal of the Institute of Convergence Signal Processing
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• v.1 no.2
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• pp.160-168
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• 2000

In this paper, we study how the remote controllable mobile robot which could come to many via points with FLC(Fuzzy Logic Control) efficiently. The fabricated robot stop after the movement of single path method by four kinds of commands (forward, backward, turn left, turn right). To reduce disadvantages of this driving type, this paper reduce via points to goal position base on map which get from senor, let robot drive via point to via point on optimized path. An algorithm for the avoidance of unexpected obstacles by FLC is developed. And these algorithms are confirmed by computer simulations

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.254-255
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• 2016

The Human have sought convenience through advancing Science skill, The Generation that unman control all machine have came. the unman - vehicle have used and applied flight, ship, car, manufacturing all over the world. plus which, that is researching. but pros and cons of unman - vehicle is that unman control machine, It mean that unman - vehicle have high possibility which have collision with obstacle on driving. I will show you that this evading collision will be made from fuzzy control and video recognition and sensor recognition.I look for good effect for this system.

• Journal of Auto-vehicle Safety Association
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• v.11 no.3
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• pp.30-36
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• 2019

This paper suggests a car-following algorithm for urban environment, with multiple target candidates. Until now, advanced driver assistant systems (ADASs) and self-driving technologies have been researched to cope with diverse possible scenarios. Among them, car-following driving has been formed the groundwork of autonomous vehicle for its integrity and flexibility to other modes such as smart cruise system (SCC) and platooning. Although the field has a rich history, most researches has been focused on the shape of target trajectory, such as the order of interpolated polynomial, in simple single-lane situation. However, to introduce the car-following mode in urban environment, realistic situation should be reflected: multi-lane road, target's unstable driving tendency, obstacles. Therefore, the suggested car-following system includes both in-lane preceding vehicle and other factors such as side-lane targets. The algorithm is comprised of three parts: path candidate generation and optimal trajectory selection. In the first part, initial guesses of desired paths are calculated as polynomial function connecting host vehicle's state and vicinal vehicle's predicted future states. In the second part, final target trajectory is selected using quadratic cost function reflecting safeness, control input efficiency, and initial objective such as velocity. Finally, adjusted path and control input are calculated using model predictive control (MPC). The suggested algorithm's performance is verified using off-line simulation using Matlab; the results shows reasonable car-following motion planning.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.5
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• pp.160-166
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• 2018

This paper proposes an advanced suspension system and reports its performance in the framework of the preview control algorithm based on the RPS (road profile sensing) system and MSD system with the multi-stage damping characteristics. Typical disturbance inputs that cause excessive vibration and steering instability of an automobile are irregular obstacles that protrude or sink into the road surface to be driven. The control performance can be improved if information on the existence and shape function of its obstacle is known. Based on the results of the previous study, advanced research that uses the actuating system has been processed to be commercialized practically. For this purpose, a switching algorithm between the control logic and the multi-stage damping system was developed and its connectivity is presented. To verify the applicability of an actual vehicle, the proposed control system was implemented in full vehicle models and simulations were performed. The proposed system using the 3-DS actuator system, which is applied for structural simplicity, can improve the ride comfort and steering stability. In addition, the results indicate the feasibility of the intelligently controlled suspension system.

• The Journal of the Convergence on Culture Technology
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• v.9 no.4
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• pp.569-576
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• 2023

An agricultural drones are gradually increasing in utilization due to economic efficiency, and consist of a main frame in charge of flying spray system in charge of moving pesticide to control targets. Therefore, the environment and characteristics of crops should be considered when controlling pesticides using drones and conditions such as systematic flying altitude of flight, speed, and spray time should be changed accordingly. However, pest control work using agricultural drones has different spray effects depending on level the operation proficiency and spray impact. In addition, there are variations in operating standards and control efficiency for agricultural drones, which hinder the distribution of agricultural control drones in the field of pest control work. Therefore, this study attempts to identify the spraying characteristics of agricultural drones, apply the effective spraying time, interval and experimentally verify the system that can calculation of spray area compared to previous studies. Through this experimental verification, it is intended to apply the optimal control process by minimizing the obstacles to pest control work by applying the operation method and systematic figures to agricultural drones.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.3D
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• pp.367-374
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• 2006

This research revealed the operation problems of the current crossing control systems through inspecting and testing the obstacle detection systems and gate control systems for the crossings. To resolve the problems of the crossing control systems, this research developed new algorithms of four-quadrant gate system and obstacle detection systems combing the functions of rasar sensors and magnetic sensors and tested the reliability of the systems. Currently, the obstacle detection systems and gate control systems controls approaching and departing traffic by simply detecting vehicles and obstacles but do not consider traffic movements at the crossings. In addition, they do not make signal cooperation for gate controls. As a result, such inefficient crossing controls result in unsafe gate controls for drivers. Therefore, the newly developed crossing control systems through this study will provide more effective crossing control services with more strengthen information cooperation within control systems. Besides they will help to reduce train crashes at the crossings by gate control systems considering various driving behaviors.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.329-336
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• 2008

Nowadays with advancement in technology and aging society, the number of disabled citizens is increasing. The disabled citizens always need a caretaker for daily life routines especially for mobility. In future, the need is considered to increase more. To reduce the burden from the disabled, various devices for healthcare are introduced using computer technology. 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. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.

• Journal of the Korean Society of Safety
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• v.30 no.1
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• pp.137-143
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• 2015

Fire fighter are exposed to the situations which are hard to predict due to continuous and accidental changes which hinder their fire fighting activity. As these threats of safety accident act as fear factors, they are doing insecure fire fighting activities. Therefore, as unclear and abnormal risks of working environment such as the riskiness of expansion of disaster, instability, obstacles of activities, abnormality, urgency, etc. increase, safety accidents are caused. This study analyzes the actual condition of safety and health and awareness of fire fighter who are exposed safety accidents during their fire fighting activities and utilize such result as the basis data to secure safety of fire fighter, keep efficient safety control and prevent accidents. The results of analysis are as follows. As rescue works among all fire-fighting works shows the highest emotional stabilization and the highest post-traumatic stress disorder is shown in fire sergeant level positions, and fire fighters whose working period is 10-15 years, reinforcing safety training to long-term workers is necessary. As the result of survey regarding safety awareness, the highest awareness level was shown in fire sergeant level positions, and fire fighters whose working period is over 20 years, and when it comes to operation of fire fighting equipments, fire-fighting workers and workers having 1-4 years of working period showed high safety awareness. The more serious injury in a fire fighter experienced as the first injury after working as a fire-fighter, the more cause-and-effect relationship was shown between personal physical condition and work, and it is shown as obstacles of fire fighting activities and affects to post-traumatic stress disorder. Moreover, as after-work off duty activities also affect to official disaster, systematic improvement of working environment is required. Occupational medical work compatibility evaluation considering the distinct characteristics of works to secure fire-fighter' health care together with fire-fighting capability is shown to be necessary.