• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.121-128
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• 2018

Obstacle avoidance is one of the most important parts of autonomous mobile robot. In this study, we proposed safe and efficient local path planning of robot for obstacle avoidance. The proposed method detects and tracks obstacles using the 3D depth information of an RGB-D sensor for path prediction. Based on the tracked information of obstacles, the paths of the obstacles are predicted with probability circle-based spatial search (PCSS) method and Gaussian modeling is performed to reduce uncertainty and to create the cost function of caution. The possibility of collision with the robot is considered through the predicted path of the obstacles, and a local path is generated. This enables safe and efficient navigation of the robot. The results in various experiments show that the proposed method enables robots to navigate safely and effectively.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.23-30
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• 2024

This paper studies a GPS error filtering method that takes into account the continuity of the ongoing path to enhance the safety of autonomous agricultural mobile robots. Real-Time Kinematic Global Positioning System (RTK-GPS) is increasingly utilized for robot position evaluation in outdoor environments due to its significantly higher reliability compared to conventional GPS systems. However, in orchard environments, the robot's current position obtained from RTK-GPS information can become unstable due to unknown disturbances like orchard canopies. This problem can potentially lead to navigation errors and path deviations during the robot's movement. These issues can be resolved by filtering out GPS information that deviates from the continuity of the waypoints traversed, based on the robot's assessment of its current path. The contributions of this paper is as follows. 1) The method based on the previous waypoints of the traveled path to determine the current position and trajectory. 2) GPS filtering method based on deviations from the determined path. 3) Finally, verification of the navigation errors between the method applying the error filter and the method not applying the error filter.

• The Journal of Korean Institute of Information Technology
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• v.17 no.12
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• pp.29-38
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• 2019

A path prediction method using lifelog requires a large amount of training data for accurate path prediction, and the path prediction performance is degraded when the training data is insufficient. The lack of training data can be solved using data of other users having similar user movement patterns. Therefore, this paper proposes a path prediction algorithm based on user similarity. The proposed algorithm learns the path in a triple grid pattern and measures the similarity between users using the cosine similarity technique. Then, it predicts the path with applying measured similarity to the learned model. For the evaluation, we measure and compare the path prediction accuracy of proposed method with the existing algorithms. As a result, the proposed method has 66.6% accuracy, and it is evaluated that its accuracy is 1.8% higher than other methods.

• The Korean Journal of Cytopathology
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• v.15 no.2
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• pp.86-91
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• 2004

Liquid-Based Uterine Cervicovaginal Cytology is known to be a sensitive and effective screening method for cervical neoplasm $MonoPrep^{TM},\;ThinPrep^{TM},\;and\;SurePath^{TM}$ methods have been recently used as Liquid-Based Uterine Cervicovaginal Cytology techniques, and the $SurePath^{TM}$ method has been used in Sung-Yoon Reference Laboratory since 2003. The goal of Liquid-Based Uterine Cervicovaginal Cytology is to separate cervical epithelial cells from non-target cells, red blood cells and neutrophils. This report describes a study which evaluated cellularity, stainablilty, and cellular changes of epithelial cels in samples processed using a manual technique as compared to samples processed using $SurePath^{TM}$ automated method. The samples processed by means of a manual technique contained a cellularity of epithelial cells similar to that of the samples processed using the $SurePath^{TM}$ automated method. In addition, we compared variable density gradient reagents, including dextran, dextrose, and sucrose, to $SurePath^{TM}$ gradient media in order to evaluate cell fractionation and cellularity of epithelial cells. 10% dextran of gradient media shows good fractionation. The samples processed with 10% dextran demonstrated sufficient cellularity of epithelial cells and shows the fewest cellular changes. In conclusion, using a manual technique on these samples is easier to read than those results obtained using the $SurePath^{TM}$ automated method.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.8
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• pp.147-154
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• 2002

In this paper, a path navigation algorithm through use of a sensor platform is proposed. The sensor platform is composed of two electric motors which make panning and tilting motions. An algorithm for computing a real path and an obstacle length is developed by using a scanning method that controls rotation of the sensors on the platform. An Autonomous Robot Vehicle(ARV) can perceive the given path by adapting this algorithm. A sensor scanning method is applied to the sensor platform for using small numbers of sensor. The path navigation algorithm is composed of two parts. One is to perceive a path pattern, the other is used to avoid an obstacle. An optimal controller is designed for tracking the reference path which is generated by perceiving the path pattern. The ARV is operated using the optimal controller and the path navigation algorithm. Based on the results of actual experiments, this algorithm for an ARV proved sufficient for path navigation by small number of sensors and for a low cost controller by using the sensor platform with a scanning method.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.6
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• pp.711-717
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• 2014

Global path planning for autonomous driving of unmanned ground vehicle is essential. When setting global path planning, its accuracy and effectiveness is increased if useful information such as terrain type of driving route has been reflected on global path planning. As a method to reflect the terrain type, there is a method to perform global path planning by applying the weight to each terrain type. At this time, how to assign appropriate weights corresponding to the terrain type is more important than anything. In this paper, we proposed a method to determine the weight for terrain type that may affect the results of global path planning. Moreover, we presented effective operation method and design results(GUI) to check the possibility of the use of the proposed method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.699-702
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• 2006

Noise Path Analysis is commonly used method to analysis noise transmission characteristics of a system. To analysis transfer paths of a system, it is necessary to know operating forces at each transfer path. The method to find out operating forces is divided into two methods. The one is a direct method which measures operating forces directly and the other is an indirect method which estimates operating forces mathematically. However, the indirect method is more commonly used because of the difficulty of measurement. This paper is focused on the indirect method and air-borne noise of a vehicle. Noise Path Analysis for Air-Borne Noise is applied to a real vehicle.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.154-157
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• 2003

This paper presents an efficient real-time tool-path planning method for interpolation of NURBS surfaces in CNC machining. The proposed tool-path planning method is based on an improved iso-scallop strategy and can provide better precision than the existing methods. The proposed method is designed such that tool-path planning is easily managed in realtime. It proposed a new algorithm, for regulation of a scallop height, which can efficiently generate tool-paths and can save machining time compared with the existing method. Through computer simulations, the performance of the proposed method is analyzed and compared with the existing method in terms of feedrate. total machining time and a degree of constraint on the scallop height.

• Korean Journal of Environmental Biology
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• v.36 no.4
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• pp.507-516
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• 2018

The closed chamber method, which is one of the most commonly used method for measuring greenhouse gases produced in rice paddy fields, has limitations in measuring dynamic $CH_4$ flux with spatio-temporal constrains. In order to deal with the limitation of the closed chamber method, some studies based on open-path of eddy covariance method have been actively conducted recently. The aim of this study was to compare the $CH_4$ fluxes measured by open-path and closed chamber method in the paddy rice fields. The open-path, one of the gas ($CO_2$, $CH_4$ etc.) analysis methods, is technology where a laser beam is emitted from the source passes through the open cell, reflecting multiple times from the two mirrors, and then detecting. The $CH_4$ emission patterns by these two methods during rice cultivation season were similar, but the total $CH_4$ emission measured by open-path method were 31% less than of the amount measured by closed chamber. The reason for the difference in $CH_4$ emission was due to overestimation by closed chamber and underestimation by open-path. The closed chamber method can overestimate $CH_4$ emissions due to environmental changes caused by high temperature and light interruption by acrylic partition in chamber. On the other hand, the open-path method for eddy covariance can underestimate its emission because it assumes density fluctuations and horizontal homogeneous terrain negligible However, comparing $CH_4$ fluxes at the same sampling time (AM 10:30-11:00, 30-min fluxes) showed good agreements ($r^2=0.9064$). The open-path measurement technique is expected to be a good way to compensate for the disadvantage of the closed chamber method because it can monitor dynamic $CH_4$ fluctuation even if data loss is taken into account.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.722-725
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• 1990

This paper proposes a new path planning method for obstacle avoidance of mobile robot. In order to achieve easy planning of the path, a simple representation of the empty space is achieved based on thinning algorithm. The proposed Planning technique facilitates the direct use of information obtained by camera. Comparing to the V-graph method, the task of determining the shortest path from the resulting skeleton of empty space is optimized in terms of number of computation steps. The usefulness of the proposed method is ascertained by simulation.