• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.3
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• pp.165-171
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• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.

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

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2183-2185
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• 1998

In this paper, we propose a method of designing neural networks using biological inspired developmental and evolutionary concept. The living things are best information processing system in themselves. One individual is developed from a generative cell. And a species of this individual have adapted itself to the environment by evolution. Ontogeny of organism is embodied in cellular automata and phylogeny of species is realized by evolutionary algorithms. The connection among cells is determined by a rule of cellular automata. In order to obtain the best neural networks in the environment, we evolve the arrangement of initial cells. The cell, that is neuron of neural networks, is modeled on chaotic neuron with firing or rest state like biological neuron. A final output of network is measured by frequency of firing state. The effectiveness of the proposed scheme is verified by applying it to navigation problem of robot.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.11
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• pp.935-940
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• 2002

For robot navigation and visual reconstruction, structure from motion (SFM) is an active issue in computer vision community and its properties arc also becoming well understood. In this paper, when using stereo image sequence and direct method as a tool for SFM, we present a new method for overcoming bas-relief ambiguity. We first show that the direct methods, based on optical flow constraint equation, are also intrinsically exposed to such ambiguity although they introduce robust methods. Therefore, regarding the motion and depth estimation by the robust and direct method as approximated ones. we suggest a method that refines both stereo displacement and motion displacement with sub-pixel accuracy, which is the central process f3r improving its ambiguity. Experiments with real image sequences have been executed and we show that the proposed algorithm has improved the estimation accuracy.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.9
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• pp.775-780
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• 2013

Localization, or positioning, is gaining the increasing attention of researchers around the world. The location information, especially the indoor location, is important for navigation systems, heating and air conditioning systems, illumination adjustment, humidity control, robot service, and so on. In this paper, we propose a three-dimensional indoor localization technique using visible light. The main goal of our proposed scheme is to improve the accuracy of VLC-based indoor localization by utilizing multiple VLC transmitters. The simulation results validate the performance of our proposed scheme.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.387-390
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• 1993

The most important technique for an indoor robot navigation is to find out the direction and the distance from the current location to the destination through the information achieved from the sensor. For this purpose, we suggest sensor-based local homing method which compares the destination sensory data with the current location. As for the sensors, we use the CCD camera and the ultrasonic sensor, and recorded entire 360 degree panoramic data. We match the features of the image data, and the distance and the direction of the matched point will be considered as fuzzy numbers. Through a simple fuzzy arithmetic, we infer the geometric relations between the current location and the destination location.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2006.05a
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• pp.265-269
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• 2006

본 논문에서는 간헐성 카오스를 이용한 장해물 회피 문제를 다루었다. 본 본문은 Chua's 방정식을 이용한 카오스 회로를 이동 로봇에 내장하여 카오스 이동 로봇을 구성하고 이 카오스 이동 로봇이 어느 임의 평면을 카오스 궤적을 가지고 주행하다가 고정 장애물, 또는 은닉 이동 장애물을 만나면 이를 회피하는 알고리즘을 제시하였다. 간헐성 카오스 로봇의 장애물 회피의 경우 고정 장애 and, 이동 장애물, 장애물 위험에 따른 로봇의 접근 등에서 잘 회피됨을 확인하였으며 만족할 만한 결과를 얻었다.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1767-1768
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• 2007

This paper represents a map building system of Embedded Linux mobile robot. We propose a localization method which uses multiple sensors such as indoor GPS and encoder sensor for simultaneous map building system. In this paper we proposed a multiple sensor system for SLAM. For this, we developed a sensor based navigation algorithm and grid based map building algorithm under the Embedded Linux O.S. We proved this system's validity through field test

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2000.08a
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• pp.101-104
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• 2000

본 논문은 FLC를 이용한 원격제어 이동로봇이 다수 목적지를 보다 효율적으로 주행하도록 제어하는 것이다. 원격 제어 이동로봇이 전진, 후진, 좌회전, 우회전의 이동 명령을 한 가지씩 수행한 후 멈추는데 발생되는 단점을 보완하기 위해 본 논문은 초음파 센서를 이용하여 얻어진 지형정보를 바탕으로 목적지에 대한 경유점 수를 줄이면서 경유점 간의 이동을 최적한 경로로 주행을 할 수 있도록, 퍼지 논리 제어기를 이용하여 보다 효율적인 제어를 할 수 있는 알고리즘을 연구하였다. 그리고, 이러한 주행 알고리즘을 시뮬레이션을 통해 확인하였다.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2000.08a
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• pp.117-120
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• 2000

본 논문은 이동로봇이 주행 중 발생하는 heading 오차를 지자기센서를 이용하여 보정하고 주행을 정확히 제어하는 것에 관한 것이다. 일반적으로 이동로봇의 주행제어는 여러 원인에 의한 부정확성을 내포하고 있다. 예를 들어 바퀴의 부정확한 기계적 정렬, 기어의 헐거워짐, 센서 신호의 잡음과 오차, 바퀴의 미끄러짐, 평탄하지 않는 표면에 의한 제도변동 등이다. 따라서, 이동명령어 수행 시 이동로봇의 heading이 의도된 대로 유지되는지를 측정하는 오차 검출이 필요하며 이를 위한 센서 본 논문에서는 지자기센서를 이용하여 오차를 보정하였다. 실험은 무선 원격 제어되는 이동로봇에 지자기 센서를 부착하여 자계의 영향이 비교적 적은 평탄한 옥외에서 수행하였고, 실험 결과를 통해 지자기 센서를 이용한 이동로봇의 heading 오차 보정과 주행제어효과를 보여주었다.