• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2004.04a
• /
• pp.139-143
• /
• 2004

Lee et al have proposed a framework for the linguistic map-based navigational planning of a mobile robot on dynamic environment and provided simulation results applied it to the static environment[1], In this paper, we extends the navigational planning of a mobile robot into dynamic environment. There are two kinds of dynamic obstacles： (1) Time-obstacles that change condition of obstacles with time. (2) Space-obstacles that move their position with time. We propose an algorithm which a mobile robot identifies and avoids the two kinds of dynamic obstacles. The proposed algorithm consists of two stages： (1) The fuzzy logic-based perception stage which identifies the dynamic obstacles around a mobile robot by using sensory data and fuzzy rules, (2) The planning stage which plans the path to goal by avoiding the dynamic obstacles[2-6]. We provide computer simulation results for a mobile robot in order to show the validity of the proposed algorithm.

• The Journal of Korea Robotics Society
• /
• v.3 no.3
• /
• pp.212-218
• /
• 2008

Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

• Journal of Korean Society for Quality Management
• /
• v.31 no.2
• /
• pp.82-97
• /
• 2003

The study attempts to review TQM models used in the health care sector and the obstacles to the application of TQM in the sector. Even though the TQM models in the manufacturing and service sectors were successfully applied, the applicability of TQM in the health care sector is still in question. The reason is the unique characteristics of the medical sector such as medical and management practices. The most of the TQM models in the health care sector come from manufacturing industries. The importance of the professional groups is, however, more emphasized in the sector than in manufacturing sector. The role of the groups are idiosyncratic to the sector. They generate some obstacles to the application of TQM in the sector. The barriers include cultural obstacles of health care organization. It naturally follows that the TQM in the health care sector requires the change of the organizational culture of the sector. The culture embraces the norms, rules, regulations, compensation system, morale, practices, and common experiences. To change the culture needs long term effort and modification of the rules, regulations, compensation system, and practices. It also requires staffs' training in the problem solving methods. The TQM in the health care sector needs that the interested parties should change. Since doctors group and nurses group are controlled in the bureaucratic and authoritative manner, they should learn the problem solving techniques which require the interaction with other groups. The management also needs to learn management skills and get thorough training on them.

• Journal of the Society of Naval Architects of Korea
• /
• v.61 no.3
• /
• pp.170-184
• /
• 2024

With the advancement of autonomous navigation technology in maritime domain, there is an active research on swarming Unmanned Surface Vehicles (USVs) that can fulfill missions with low cost and high efficiency. In this study, we propose a formation control algorithm that maintains a certain shape when multiple unmanned surface vehicles operate in a swarm. In the case of swarming, individual USVs need to be able to accurately follow the target state and avoid collisions with obstacles or other vessels in the swarm. In order to generate guidance commands for swarm formation control, the potential field method has been a major focus of swarm control research, but the method using the potential field only uses the position information of obstacles or other ships, so it cannot effectively respond to moving targets and obstacles. In situations such as the formation change of a swarm of ships, the formation control is performed in a dense environment, so the position and velocity information of the target and nearby obstacles must be considered to effectively change the formation. In order to overcome these limitations, this paper applies a method that considers relative velocity to the potential field-based guidance law to improve target following and collision avoidance performance. Considering the relative velocity of the moving target, the potential field for nearby obstacles is newly defined by utilizing the concept of Velocity Obstacle (VO), and the effectiveness and efficiency of the proposed method is verified through swarm control simulation, and swarm control experiments using a small scaled unmanned surface vehicle platform.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.21 no.10
• /
• pp.1551-1560
• /
• 1997

This study is devoted to the detection of the 3-dimensional point obstacles on the plane by using accumulated scan line images. The proposed accumulating only one scan line allow to process image at real time. And the change of motion of the feature in image is small because of the short time between image frames, so it does not take much time to track features. To obtain recursive optimal obstacles position and robot motion along to the motion of camera, Kalman filter algorithm is used. After using Kalman filter in case of the fixed environment, 3-dimensional obstacles point map is obtained. The position and motion of moving obstacles can also be obtained by pre-segmentation. Finally, to solve the stereo ambiguity problem from multiple matches, the camera motion is actively used to discard mis-matched features. To get relative distance of obstacles from camera, parallel stereo camera setup is used. In order to evaluate the proposed algorithm, experiments are carried out by a small test vehicle.

• Journal of the Korean Chemical Society
• /
• v.65 no.4
• /
• pp.268-278
• /
• 2021

The purpose of this study is to subdivide responsive teaching types proposed in the previous study in order to observe the change in the responsive teaching types in teacher educational programs, and to identify factors that impede changes in responsive teaching types. To this end, an educational program including introduction of responsive teaching, case analysis of responsive teaching, individual assignments and group discussions on facilitator type educational scenarios is provided for chemistry teachers who participated in a chemistry education course established in a graduate school of education. Based on previous research, when the teacher's teaching method was analyzed as evaluator, transfer, guide and facilitatore, a type that could not be classified was observed. In this study, responsive teaching types were added by adding two types: explorer and interpreter. In addition, through individual assignments and group discussion data, we could observe the factors that hinder teachers' responsive teaching changes. The obstacles that impede the change to responsive teaching were classified into teacher factors, student factors, and environmental factors. Among the obstacles, teacher factors include a belief in teacher-led instruction, a belief in the role of a teacher as a transfer of knowledge, a belief that the curriculum should be followed, a lack of understanding of the teacher about students, and a lack of the teacher's ability to lead student-led expansion. The student factor was distrust of the student's competence. Also, as an environmental factor, there was an educational environment such as multi-students class. Effective teacher education on responsive teaching can be achieved only when the perception related to these obstacles can be removed.

• Journal of Environmental Science International
• /
• v.19 no.7
• /
• pp.917-929
• /
• 2010

This paper aims to find out the statistical characteristics of the weather related railroad accidents and incidents. Data from Korea Railroad Operation Information System(KROIS) and Korea Railroad Accidents reports during 1996-2008 were used to investigate the occurrence frequency of railroad accidents and operation obstacles and their association with weather phenomena. The results are as follows; The occurrence frequency of railroad accidents and operation obstacles decrease gradually, and most of railroad accidents is a railroad traffic accidents. The amount of damages by a railroad weather-related accidents is higher than those of the railroad accidents and operation obstacles. It was also found that weather events influencing the railroad weather-related accidents and incidents are rainfall, snowfall, lightning, winds. And they caused a railroad weather-related accidents and incidents, such as railway obstruction, signal failure, and power supply failure. Therefore we need research about threshold review and a quantitative and qualitative analysis of a railroad weather-related accidents and incidents according to climate change.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
• /
• v.25 no.1
• /
• pp.99-107
• /
• 2014

Abruptly occurred obstacles on highway threaten driving safety. Radar draws the attention to the collision avoidance system because it can be fully operational in all weather, and day and night condition. This paper presents the design, implementation and performance test results of pulsed Doppler radar system for detection and warning of road obstacles. The system is designed to consider highway environment and detection capability about various fixed and moving obstacles. The system consists of 4 subsystems, which include antenna unit, transmitter and receiver unit, radar signal & data processing unit, and controller & display unit. The core technologies include clutter map based change detection for fixed obstacles detection, Doppler estimation for velocity detection of moving targets, and azimuth angle estimation method using monopulse for lane estimation and tracking. The design performance of the developed radar system is verified through experiments using a fixed reference target and moving vehicles in test highway.

• The Journal of Korea Robotics Society
• /
• v.3 no.4
• /
• pp.338-344
• /
• 2008

Most omni-directional mobile robots have to change their trajectory for avoiding obstacles regardless of the size of the obstacles. However, an omni-directional mobile robot having kinematic redundancy can maintain the trajectory while the robot avoids small obstacles. This works deals with the kinematic modeling and motion planning of an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms. Each wheel mechanism is modeled as having four joints, while only three joints are necessary for creating the omni-directional motion. Thus, each chain has one kinematic redundancy. Two types of wheel mechanisms are compared and its kinematic modeling is introduced. Finally, several motion planning algorithms using the kinematic redundancy are investigated. The usefulness of this robot is shown through experiment.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.103-108
• /
• 1988

A walking robot must have the ability to change the body direction in order to avoid the obstacles. In this paper, we develop a gait control algorithm that can maintain the stable movement of the robot for three different modes of changing directions. The algorithm makes it possible for the robot to have the larger gait stability margin than the threshold value by the method of changing the body speed.