• Honam Mathematical Journal
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• v.36 no.4
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• pp.831-852
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• 2014

The obstacle shape reconstruction problem has been known to be difficult to solve since it is highly nonlinear and severely ill-posed. The use of local or locally supported basis functions for the problem has been addressed for many years. However, to the authors' knowledge, any research report on the proper usage of local or locally supported basis functions for the shape reconstruction has not been appeared in the literature due to many difficulties. The aim of this paper is to introduce the general concepts and methodologies for the proper choice and their implementation of locally supported basis functions through the two-dimensional Helmholtz equation. The implementations are based on the complex nonlinear parameter estimation (CNPE) formula and its robust algorithm developed recently by the authors. The basic concepts and ideas are simple. The derivation of the necessary properties needed for the shape reconstructions are elementary. However, the capturing abilities for the local geometry of the obstacle are superior to those by conventional methods, the trial and errors, due to the proper implementation and the CNPE algorithm. Several numerical experiments are performed to show the power of the proposed method. The fundamental ideas and methodologies described in this paper can be applied to many other shape reconstruction problems.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.5
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• pp.471-478
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• 2013

In this paper, we have designed and implemented an obstacle detecting device based laser radar. It is an alternative to solve through problem analysis of that are currently operated safety equipment and status research of domestic railway crossing. It is target to improve the safety and reliability of the rail traffic through effective obstacle detection at crossing account for a large proportion of train accidents. suggest a system to overcome the problems caused by aging and limitation of existing safety equipment. Design a crossing obstacle detection device that utilizes laser radar scanner, proved this through performance evaluation and testing of the prototype.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.10
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• pp.10-18
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• 2006

In this thesis paper the effect that the change in the brightness of headlights has on a driver's perception had been researched. For this research, an indoor laboratory was constructed and designed. Then, a system to measure the reaction braking time of finding obstacle and the subject's brain waves after a moment of change in the headlamp's brightness was constructed. And before the real experiment was began, the trial experiment to decide test time, subject's rest time, detailed experimental steps, the headlamp's patterns of voltage change and an obstacle course was executed.

• International Journal of CAD/CAM
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• v.9 no.1
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• pp.111-120
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• 2010

In this paper, we propose a volume rendering method using grid computing for large-scale volume data. Grid computing is attractive because medical institutions and research facilities often have a large number of idle computers. A large-scale volume data is divided into sub-volumes and the sub-volumes are rendered using grid computing. When using grid computing, different computers rarely have the same processor speeds. Thus the return order of results rarely matches the sending order. However order is vital when combining results to create a final image. Job-Scheduling is important in grid computing for volume rendering, so we use an obstacle-flag which changes priorities dynamically to manage sub-volume results. Obstacle-Flags manage visibility of each sub-volume when line of sight from the view point is obscured by other subvolumes. The proposed Dynamic Job-Scheduling based on visibility substantially increases efficiency. Our Dynamic Job-Scheduling method was implemented on our university's campus grid and we conducted comparative experiments, which showed that the proposed method provides significant improvements in efficiency for large-scale volume rendering.

• Journal of the Korea Society of Computer and Information
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• v.12 no.5
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• pp.155-162
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• 2007

For providing smart home service, middleware technologies for electronic appliance control by network and user location information for location based service are important. Recently research using ultrasonic and radio signal are affected by the obstacle. In this paper, we suggest inertial sensor that is not affected by the obstacle. Also, we use RFID for initializing position. It solve error accumulation and position initialize problem. In this paper, we suggest following system for smarthome service and localization. This system are composed smarthome middleware, user localization system on middleware, inertial sensor and RFID Reader. This system shows operation without affect of obstacle in smarthome environment.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.193-200
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• 2012

Mobility is one of the most important issues for search and rescue robots. To increase mobility for small size robot we have focused on the mechanism and algorithm inspired from centipede. In spite of small size, using many legs and flexible long body, centipede can overcome high obstacles and move in rough terrains stably. This research focused on those points and imitated their legs and body that are good for obstacle negotiation. Based on similarity of a centipede's legs and tracks, serially connected tracks are used for climbing obstacles higher than the robot's height. And a centipede perceives environments using antennae on its head instead of eyes. Inspired from that, 3 IR sensors are attached on the front, top and bottom of the first module to imitate the antenna. Using the information gotten from the sensors, the robot decides next behavior automatically. In experiments, the robot can climb up to 45 cm height vertical wall and it is 600 % of the robot's height and 58 % of the robot's length.

• The Journal of Korean Society for School & Community Health Education
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• v.15 no.1
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• pp.121-140
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• 2014

Objectives: Recently, the rate of death by chronic disease, is increasing steadily. To prevent this, the public health center will have taken a leading role in the local community medical business through an establish to the national health promotion act and an amendment to the law of public health center in Korea. Results: Accordingly this research, using the Pender's health promotion model which is related with subject health behavior who government employees serve at the public health center have taken important position in the local community health promotion, have comprehended the actual condition of health behavior. For increasing the health behavior practice of subject to comprehend the factor which have effect on health behavior practice, which can be a correct role model in the local community health promotion. A survey was performed on 406 government employees who serve at five public health centers in Seoul. The period of survey was from 25th October, 2010 to 15th November, 2010. The results of this study were summarized as below. 1. Work-related stress, perceptible beneficial obstacle, and self-efficacy were composed by 5 points measure. The results show those work-related stress were $3.06{\pm}0.469$, 74perceptible beneficial obstacle were $3.74{\pm}0.471$, and self-efficacy were $3.49{\pm}0.469$. 2. As for the health behavior by general characteristic, the results have specific differences on age, education level, state of marriage, rank of the position, field of the occupation and employment forms in statics analysis. 3. As for the past health behavior by health behavior characteristic, work-related stress have specific differences on the past frequency of drinking (p<.05) in statics analysis, perceptible beneficial obstacle have specific differences on the past frequency of having breakfast(p<.05), having snacks(p<.05) and doing exercise(p<.05) in statics analysis. Self-efficacy have specific difference on the past frequency drinking(p<.01) in statics analysis. 4. According to the correlation between the factors related with health behavior and health behavior, the health behavior have specific differences on perceptible health condition(p<.01), the past health behavior and perceptible beneficial obstacle(p<.05). Work-related stress and self-efficacy don't have specific relation in health behavior practice. 5. The factors, which effect on health behavior practice have specific differences on the past health behavior, employment forms and field of the occupations. The ability of explanation occupied 54.8% what explained of the health behavior practice by general characteristic, perceptible health condition, employment forms and perceptible beneficial obstacle. Conclusions: According to the correlation between the factors related with health behavior, the health behavior have specific differences on perceptible health condition(p<.01), the past health behavior and perceptible beneficial obstacle(p<.05). The factors, which effect on health behavior practice have specific differences on the past health behavior, employment forms and field of the occupations.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2784-2786
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• 2000

Mobile robots include control modules for autonomous obstacle avoidance and navigation. They are range modules to detect and avoid obstacles. motor control modules to operate two wheels. and encoder modules for localization. There is needed an appropriate controller for each modules. In this paper. a control system. including 18 channels for Sonar sensors. 4 channels for PWM modules. and 4 channels for encoder modules. is proposed using TMS320C32 DSP adopted with CAN. The board communicates with other modules by CAN. so that mobile robots can perform several tasks in real time. So we can realize on autonomous mobile robot with basic functions such as obstacle avoidance by using the developed controller. Especially. this controller has 100 msec scan time for 16 sonar sensors and can detect closer objects comparing with standard sonar sensors.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.200-210
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• 2014

An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.