• 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.

• 로봇학회논문지
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• 제3권3호
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• pp.212-218
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• 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.

• 한국산업융합학회 논문집
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• 제18권1호
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• pp.30-36
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• 2015

This paper presents the theoretical development of a complete navigation problem of a nonholonomic mobile robot by using ultrasonic sensors. To solve this problem, a new method to computer a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constranits of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic system modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonci sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory antomation.

• 로봇학회논문지
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• 제4권2호
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• pp.121-129
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• 2009

This paper presents a goal-directed reactive obstacle avoidance method based on lane method. The reactive collision avoidance is necessarily required for a robot to navigate autonomously in dynamic environments. Many methods are suggested to implement this concept and one of them is the lane method. The lane method divides the environment into lanes and then chooses the best lane to follow. The proposed method does not use the discrete lane but chooses a line closest to the original target line without collision when an obstacle is detected, thus it has a merit in the aspect of running time and it is more proper for narrow corridor environment. If an obstacle disturbs the movement of a robot by blocking a target path, a robot generates a temporary target line, which is parallel to an original target line and tangential to an obstacle circle, to avoid a collision with an obstacle and changes to and follows that line until an obstacle is removed. After an obstacle is clear, a robot returns to an original target line and proceeds to the goal point. Obstacleis recognized by laser range finder sensor and represented by a circle. Our method has been implemented and tested in a corridor environment and experimental results show that our method can work reliably.

• 한국항행학회논문지
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• 제2권2호
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• pp.132-142
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• 1998

스케줄링 문제는 응용 영역에 따라 각기 다른 작업과 차원을 가지며, 이들간에 여러 가지 제약 조건이 존재한다. 이러한 문제에 인공지능 기법을 이용하여 문제를 효율적으로 해결할 수 있다. 그러나, 동적으로 변하는 상황에서 모든 제약조건을 만족하는 최적해를 구할 수 없는 경우, 부분적으로 만족하는 해를 구하기 위해 제약 조건들은 수정 또는 추가되어야 하며, 때로는 고려 대상에서 제외되어야 한다. 부분적으로 만족하는 해를 구하기 위해, 수정되어야 할 적절한 제약 조건을 스케줄링 시스템이 자동으로 선택하기에는 많은 문제가 있다. 이러한 문제를 해결하기 위해, 본 논문에서는 부분적으로 만족하는 해를 구해야 하는 경우, 제약 조건 완화를 위해 사용자와 상호 작용하며 사용자의 의견을 제약 조건에 반영하는 지능형 사용자 인터페이스(Intelligent User Interface)의 모델을 설계하고 구현하였다. 김포공항의 운항 스케줄 데이터를 사용한 실험에서 제약 조건을 모두 적용하여 이를 만족하는 해를 구하지 못한 경우, 사용자의 의견이 반영된 제약 조건완화를 통해 검색 도메인의 증가와 제약 조건을 부분적으로 만족하는 해를 구할 수 있었다.

• 한국항행학회논문지
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• 제27권1호
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• pp.63-70
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• 2023

본 연구는 선박 추진 축계의 무선 센서 시스템(WSS) 응용을 위한 용량성 무선 전력 전송(C-WPT) 시스템을 제시한다. 커플링 커패시터 양쪽의 단일 Q 팩터 및 회로에서 무효 전력제거를 위해 양면 LCLC 컨버터 및 변압기 토폴로지가샤프트에서 WSS용 회전식 C-WPT 시스템을 구동하도록 설계되었습니다. 170pF의 용량을 갖는 병렬 연결된 평행판 회전 커패시터가 설회전축의 C-WPT 시스템용으로 설계 및 구현된다. 실험 결과 C-WPT 시스템은 3mm 거리 및 1 MHz 작동 주파수에서 7.8 W 출력 전력으로 66.67 %의 전송 효율을 달성했다. 따라서 제작된 C-WPT 시스템은 회전축의 WSS에 전원을 공급할 수 있음을 증명하였다.

• 센서학회지
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• 제29권5호
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• pp.348-353
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• 2020

This paper presents an adaptive method to avoid obstacles in various environmental settings, using a two-dimensional (2D) LiDAR sensor for mobile robots. While the conventional reaction based smooth nearness diagram (SND) algorithms use a fixed safety distance criterion, the proposed algorithm autonomously changes the safety criterion considering the obstacle density around a robot. The fixed safety criterion for the whole SND obstacle avoidance process can induce inefficient motion controls in terms of the travel distance and action smoothness. We applied a multinomial logistic regression algorithm, softmax regression, to classify 2D LiDAR point clouds into seven obstacle structure classes. The trained model was used to recognize a current obstacle density situation using newly obtained 2D LiDAR data. Through the classification, the robot adaptively modifies the safety distance criterion according to the change in its environment. We experimentally verified that the motion controls generated by the proposed adaptive algorithm were smoother and more efficient compared to those of the conventional SND algorithms.

• Brain Tumor Research and Treatment
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• 제6권2호
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• pp.78-81
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• 2018

Gliosarcoma (GS), known as variant of glioblastoma multiforme, is aggressive and very rare primary central nervous system malignant neoplasm. They are usually located in the supratentorial area with possible direct dural invasion or only reactive dural thickening. However, in this case, GS was located in lateral side of left posterior cranial fossa. A 78-year-old man was admitted to our hospital with 3 month history of continuous dizziness and gait disturbance without past medical history. A gadolinium-enhanced MRI demonstrated $5.6{\times}4.8{\times}3.2cm$ sized mass lesion in left posterior cranial fossa, heterogeneously enhanced. The patient underwent left retrosigmoid craniotomy with navigation system. The tumor was combined with 2 components, whitish firm mass and gray colored soft & suckable mass. On pathologic report, the final diagnosis was GS of WHO grade IV. In spite of successful gross total resection of tumor, we were no longer able to treat because of the patient's rejection of adjuvant treatment. The patient survived for nine months without receiving any special treatment from the hospital.

• 한국항만학회지
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• 제11권2호
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• pp.273-280
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• 1997

Recently the importance of the cargo handling equipments in a port has been increasing to get strong competition from other ports. Many ports are making efforts to modernize their cargo handling equipments. The kernel technology of such equipments is the speed control of DC motor which is used as an essential part of them. In this paper, we discuss the speed control of a DC motor as a basic work for building cargo handling equipments in a port. DC Motors are still widely used in industrial fields, as driving power motor for electrical fields. DC drives, being easy to control, are widely used in many variable-speed and position control drive system. Traditional analog control circuits used in such applications have many disadvantages. Complex control schemes are difficult to implement with analog components. All these factor and invention of the microprocessor has made it possible to use digital control circuits, using microprocessing system. These digital circuits have been found to be reliable, flexible, and also immune to noise. In this paper it presents the speed control of a SCR DC motor driver which using dual converter by 80c196kc microprocessor. We developed a thyristor power amplifier which does not cause damage thyristor because it is designed to prevent triggering the two SCRs in the same arm simultaneously. And it was analyzed voltage and currents wave at reactive load.

• 한국항해항만학회지
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• 제39권4호
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• pp.335-344
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• 2015

본 연구에서는 반응성 피복소재인 제올라이트, 몬모릴로나이트, 제강슬래그의 피복두께에 따른 오염된 해양퇴적물 내 중금속 용출 차단 효율을 평가하였다. 실험결과, As의 용출차단에는 제올라이트, 몬모릴로나이트, 제강슬래그 모두 효과적이지 못하였다. 제올라이트는 Cr 용출 차단에 부정적인 영향을 미치는 것으로 나타났지만, 몬모릴로나이트 5 cm 피복은 Cr 용출 차단에 매우 효과적이었다. As 및 Cr과는 대조적으로 Cd, Ni, 그리고 Pb은 미피복 퇴적물에서 조차 용출되지 않았다. Cu와 Zn은 피복 조건에 따른 영향이 가장 뚜렷한 중금속이었다. Cu의 용출은 몬모릴로나이트 피복 두께 1 cm 이상 그리고 제올라이트 피복 두께 3 cm 이상에서 효과적으로 차단되었다. 해양퇴적물에서 Zn의 용출은 모든 피복 물질에서 효과적이었다. 본 연구를 통해서 제올라이트, 몬모릴로나이트, 제강슬래그를 오염된 해양퇴적물에서 Cr, Cu, Zn의 용출 차단을 위한 효과적인 피복소재로 활용할 수 있을 것으로 판단된다.