• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.38.3-38
• /
• 2001

In the planetary surface exploration , micro-rovers or nano-rovers are very attractive choices for a surface exploration system providing mobility functions and other features required in the surface probe missions at small mass and relatively small cost. This paper surveys and summarizes the requirements for Mars exploration rovers in micro or nano scale and outlines the control concepts for navigation including the obstacle/hazard avoidance and the path planning. In this context, autonomous reaction capabilities are the key elements to control design in conjunction with the remote control schemes to deal with the significant signal propagation delays. Other navigation and control aspects such as the instrument fine positioning and the flip-over of the rovers are also briefly introduced. The current technical limitations of the micro- and nano-rovers are summarized.

• The Journal of Korea Robotics Society
• /
• v.18 no.4
• /
• pp.487-495
• /
• 2023

This paper presents a method for autonomous exploration of indoor environments using a 2-dimensional Light Detection And Ranging (LiDAR) scanner. The proposed frontier-based exploration method considers navigability from the current robot position to extracted frontier targets. An approach to constructing the point cloud grid map that accurately reflects the occupancy probability of glass obstacles is proposed, enabling identification of safe frontier grids on the safety grid map calculated from the point cloud grid map. Navigability, indicating whether the robot can successfully navigate to each frontier target, is calculated by applying the skeletonization-informed rapidly exploring random tree algorithm to the safety grid map. While conventional exploration approaches have focused on frontier detection and target position/direction decision, the proposed method discusses a safe navigation approach for the overall exploration process until the completion of mapping. Real-world experiments have been conducted to verify that the proposed method leads the robot to avoid glass obstacles and safely navigate the entire environment, constructing the point cloud map and calculating the navigability with low computing time deviation.

• Journal of the Korea Society of Computer and Information
• /
• v.22 no.6
• /
• pp.49-55
• /
• 2017

Robots, games and life applications have been developed while computer areas are developed. Moreover, various applications have been utilized for various users including the early childhood. Recently, smart phones have been dramatically used by various users including early childhood. Many applications need to find a path from a starting point to destinations. For example, without using real maps, users can find the direct paths for the destinations in realtime. Specifically, path exploration in game programs is so important to have accurate results. Nowadays, with these techniques, diverse applications for educations of early childhood have been developed. To deal with the functions, necessity of efficient path search programs with high accuracy becomes much higher. In this paper, we design and develop a friendly maze program for early childhood based on a path searching algorithm. Basically, the path of lineal distance from a starting location to destination is considered. Moreover, weight values are calculated by considering heuristic weighted h(x). In our approach, A* algorithm searches the path considering weight values. Moreover, we utilize depth first search approach instead of breadth first search in order to reduce the search space. so it is proper to use A* algorithm in finding efficient paths although it is not optimized paths.

• The Journal of Korea Robotics Society
• /
• v.5 no.3
• /
• pp.251-261
• /
• 2010

In this paper, we introduce an internal pipeline exploration of an in-pipe robot, based on the landmark recognition system. The fittings of pipelines such as elbows and branches are used as the landmarks. The robot recognizes the landmarks with a vision system by using the shadows of the elements, which are generated by the specially designed illuminator on the robot. By using a simple image-processing, the robot can easily detect and distinguish these landmarks while recognizing the direction of the pipeline path. Simultaneously, all information for exploration is continuously recorded and used to reconstruct the map of the pipelines. The effectiveness of the proposed method is verified by real experiments using the in-pipe robot MRINSPECT V for moving inside of the miniature urban 8-inch gas pipeline structure.

• Research in Mathematical Education
• /
• v.6 no.1
• /
• pp.97-106
• /
• 2002

Educators have found that the concept of randomness is often misunderstood by students. Chance recently pointed out that students should be introduced to the concept of randomness through the use of simulations. In this article, we studied various aspects of the probability distribution off linear random path in a circle and introduce some related simulations to guide student exploration and discovery. Consider a random line segment that crosses a circle with a certain radius. Perhaps it can be considered to be a path that an airplane shows up and flies into a random direction in a monitor. What is the expected amount of flying distance through the monitor, and the expected variation\ulcorner Are we monitoring what we see scientifically\ulcorner This article studies the probability distribution and some related aspects of a linear random path within a circular monitor. Some simulative activity is also introduced which can be used in a statistics or probability classes.

• The Transactions of the Korea Information Processing Society
• /
• v.2 no.3
• /
• pp.343-353
• /
• 1995

The path navigation of autonomous guided vehicle(AGV) or autonomous mobile robot(AMR) assumed that the environment was completely known and the obstacles were fixed. So that, in an environment only partly known or not known at all, the previous works were not successful since the path exploration techniques involved in the work were neither directly applicable nor extensible. In order to improve such problems, this paper was adopted the quadtree technique and proposed the algorithm for an optimal path planning autonomously in an environment and proved a validity through a simulation.

• Geophysics and Geophysical Exploration
• /
• v.19 no.4
• /
• pp.200-211
• /
• 2016

To support cross potential array and direct potential array, the array for leakage detection of all kinds of water facilities is proposed and it is named as the D-Lux array. The D-Lux array data are arranged to a coloured matrix and it is called the D-Lux view. Low potential difference of anomalous zone shown in D-Lux view implies the indication of leakage zone. Furthermore, for an intuitive interpretation of D-Lux array, equipotential distribution map is made by using D-Lux and direct potential array data. Equipotential distribution map makes us possible to predict import point, export point and the path of water leakage that we could have not anticipated in D-Lux view and the graphs. The water tank experiment and numerical analysis were carried out as preparatory experiment and the field explorations were conducted at a concrete weir and a fill dam. As a result, effective and specific detection of leakage path was possible for the concrete weir and the fill dam.

• Asia pacific journal of information systems
• /
• v.27 no.3
• /
• pp.176-190
• /
• 2017

This study aimed to investigate the roles of three health-oriented personal factors-health technology innovativeness (HTI), health consciousness (HC), and health information orientation (HIO)-in determining Koreans' perceptions about telemedicine. Based on an extended version of the technology acceptance model (TAM), two perceptual components-perceived usefulness (PU) and perceived ease of use (PEOU)-of telemedicine were considered for this investigation. Data from 699 usable surveys were analyzed using path analysis. The results from the path analysis indicated that while HTI and HC had no or limited effects on the PU and PEOU of telemedicine, the effects of HIO on those two perceptual components of telemedicine were statistically significant. Moreover, the results from the path analysis showed that there were significant regional differences in the effects of HTI and HC on the PU and PEOU of telemedicine. In general, these effects were greater among the metropolitan residents than they were among the rural residents.

• Journal of Satellite, Information and Communications
• /
• v.8 no.3
• /
• pp.41-46
• /
• 2013

In this paper, we present the compatibility study results including the frequency sharing criteria between new allocation to maritime mobile satellite service and Earth exploration satellite service in the 7/8 GHz. The transmitting Earths station of MMSS in the 8025 - 8400 MHz band would make harmful interference to the receiving Earth station of EESS operating in the same frequency band. In order to ensure the compatibility with EESS, the separation distance is provided as a frequency sharing criteria. The republic of Korea has a plan to launch the geostationary satellite around 2017 and EESS Earth station will be operated in 8025 - 8400 MHz band. Therefore, we calculate the interference levels and separation distance using the system parameters of two Earth station systems. As results of the study, the separation distances for LOS path and Non-LOS path due to the geographical characteristics are shown around 471 km and 200 km, respectively.

• Journal of Digital Convergence
• /
• v.10 no.11
• /
• pp.613-618
• /
• 2012

ICT education guidelines revised in 2005 reinforce computer science elements such as algorithm, data structure, and programming covering all schools. And Ministry of Education emphasizes STEAM education. Most important is that "How instruct them". This means necessity of contents. So this paper suggests learning method of Stack and Queue using LEGO MINDSTORMS NXT. The main purpose is that how stack and queue are used, when robot explore realistic maze. Teaching and learning strategies are algorithm, flowchart, and NXT-G programming. Simple maze has path in left or right, but complex maze has three-way intersection. These are developed by authors. Master robot explores maze and push stack, and then return to entrance using stack. Master robot explores maze and transmits path to slave's queue. And then slave robot drives without exploration. Students can naturally learn principles and applications of them. Through these studies, it can improves ability of logical and creative thinking. Furthermore it can apply to ICT and STEAM education.