• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.192-197
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• 2009

In this paper, we proposed the obstacle avoidance system using a single camera image and LM(Levenberg-Marquart) neural network fuzzy controller. According to a robot technology adapt to various fields of industry and public, the robot has to move using self-navigation and obstacle avoidance algorithms. When the robot moves to target point, obstacle avoidance is must-have technology. So in this paper, we present the algorithm that avoidance method based on fuzzy controller by sensing data and image information from a camera and using the LM neural network to minimize the moving error. And then to verify the system performance of the simulation test.

• 대한임베디드공학회논문지
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• 제14권3호
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• pp.151-156
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• 2019

According to recent advances in technology, major robot technologies that have been developed and commercialized for industrial use are being applied to various fields in our everyday life such as guide robots and cleaning robots. Among them, the navigation based on the self localization has become an essential element technology of the robot. In the case of indoor environment, many high-priced sensors are used, which makes it difficult to activate the robot industry. In this paper, we propose a robotic platform and a moving algorithm that can travel by using Dijkstra algorithm. The proposed system can find a short route to the destination with its own position. Also, its performance is discussed through the experimentation of an actual robot.

• 한국항행학회논문지
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• 제16권2호
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• pp.318-329
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• 2012

항공서비스에 있어서 인적서비스 품질은 고객만족과 고객인지가치에 매우 큰 영향을 미친다. 최근, 서비스 직원의 서비스 역량 가운데 하나로 감성을 이해하고 관리하는 능력이 중요하게 다뤄지고 있다. 또한 서비스 기업에서 팀 중심의 업무 수행이 증가되고 개인의 팀웍역량이 서비스 품질에 중대한 영향을 미침으로서 서비스 직원을 채용하고 관리하는데 있어 팀웍역량 또한 중요한 자질로 평가되고 있다. 본 논문은 항공사 승무원이 자신의 감성을 인식하고 조절하는 개인적 감성능력과 타인의 감성을 이해하고 관계를 맺는 사회적 감성능력이 객실서비스를 수행하기 위한 팀웍역량에 어떠한 영향을 미치는지 알아보고자 하였으며 연구 결과, 감성능력이 높을수록 팀웍역량 또한 높게 나타나는 것으로 밝혀졌다. 이를 통해 서비스 직원의 감성능력을 개발하고 강화함으로서 고객과의 상호 작용품질 및 팀 성과를 향상시키는데 그 목적이 있다.

• 한국항행학회논문지
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• 제22권4호
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• pp.302-310
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• 2018

자율주행을 현실화하기 위해 각국에서는 관련통신표준을 기반으로 시스템을 구성하고 있으며, 그 중 무선랜 표준을 제정하는 IEEE에서는 IEEE 802.11p와 WAVE 계열표준을 제정하여 차량통신용 무선통신을 지원하고 있다. 최근 저전력 동작이 부각됨에 따라 보조수신기를 활용하는 표준인 IEEE 802.11ba이 진행 중이며, 그 사용 예시에는 V2P 동작을 포함하고 있다. 이때, V2X 통신에 사용되는 무선 랜 표준인 IEEE 802.11p가 IEEE 802.11ba와 같이 사용 될 경우, 기존 IEEE 802.11ba에서의 추가적인 wake-up frame의 전송으로 인해 채널용량이 지나치게 낮아져 지연시간 요구사항을 맞추지 못할 수 있다. 본 논문에서는 차량용 무선랜 표준인 IEEE 802.11p 및 WAVE가 최근 개발되고 있는 저전력 표준인 IEEE 802.11ba 표준과 결합될 때의 시스템 구성방법을 제시하고 성능분석과 고찰을 통해 미래 자율주행 통신에서 IEEE 802.11ba를 이용한 저전력 V2P 동작을 효과적으로 사용하기 위한 고려사항 및 개선 방안을 제시하고자 한다.

• 한국항행학회논문지
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• 제15권5호
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• pp.857-864
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• 2011

오늘날의 교육은 강의를 통한 수동적 학습에서 벗어나 학습자 본인 스스로 자기 주도적 학습이 이루어 질 수 있도록 많은 노력을 기울이고 있다. 본 논문에서는 초등학생을 대상으로 하는 수학과목에 SCORM 기반의 수준별 오답분석시스템을 구현하였다. 학습자의 문제영역별, 문제능력별 취약점을 분석할 수 있고, 오답분석을 통한 개인의 수준에 맞는 보충학습으로 레벨이 낮은 그룹에 더 높은 학습 성취도 향상을 가져왔다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1612-1616
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• 2005

In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulator, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and HMR. Finally, the good performance of the designed HMR is confirmed through the results of the mess clean-up and arrangement.

• 대한임베디드공학회논문지
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• 제11권3호
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• pp.193-200
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• 2016

This paper introduces an algorithm to middle-low price drone's autonomous navigation flight system using computer vision and GPS. Existing drone operative system mainly contains using methods such as, by inputting course of the path to the installed software of the particular drone in advance of the flight or following the signal that is transmitted from the controller. However, this paper introduces new algorithm that allows autonomous navigation flight system to locate specific place, specific shape of the place and specific space in an area that the user wishes to discover. Technology developed for military industry purpose was implemented on a lower-quality hobby drones without changing its hardware, and used this paper's algorithm to maximize the performance. Camera mounted on middle-low price drone will process the image which meets user's needs will look through and search for specific area of interest when the user inputs certain image of places it wishes to find. By using this algorithm, middle-low price drone's autonomous navigation flight system expect to be apply to a variety of industries.

• Journal of the Optical Society of Korea
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• 제19권4호
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• pp.415-420
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• 2015

A novel method to measure the scale factor for the all-optical atomic spin inertial measurement device (ASIMD) is demonstrated in this paper. The method can realize the calibration of the scale factor by a self-consistent method with small errors in the quiescent state. At first, the matured IMU (inertial measurement unit) device was fixed on an optical platform together with the ASIMD, and it has been used to calibrate the scale factor for the ASIMD. The results show that there were some errors causing the inaccuracy of the experiment. By the comparative analysis of theory and experiment, the ASIMD was unable to keep pace with the IMU. Considering the characteristics of the ASIMD, the mismatch between the driven frequency of the optical platform and the bandwidth of the ASIMD was the major reason. An all-optical atomic spin magnetometer was set up at first. The sensitivity of the magnetometer is ultra-high, and it can be used to detect the magnetization of spin-polarized noble gas. The gyromagnetic ratio of the noble gas is a physical constant, and it has already been measured accurately. So a novel calibration method for scale factor based on the gyromagnetic ratio has been presented. The relevant theoretical analysis and experiments have been implemented. The results showed that the scale factor of the device was $7.272V/^{\circ}/s$ by multi-group experiments with the maximum error value 0.49%.

• 한국항행학회논문지
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• 제18권4호
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• pp.364-370
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• 2014

본 논문에서는 트렌치 게이트 MOSFET에 적용을 위한 고 신뢰성을 갖는 트렌치 형성기술과 고품격의 제조기술을 제안하였다. 이는 향후 전력용 MOSFET 에 널리 적용이 가능하다. 트렌치 구조는 DMOSFET에서 셀 피치크기를 줄여서 Ron 특성을 개선하거나 대다수 전력용 IC에서 전력용 소자를 다른 CMOS(Complementary Metal Oxide Semiconductor) 소자로부터 독립시킬 목적으로 채용된다. 마스크 레이어를 사용하여 자기정렬기술과 산화막 스페이서가 채용된 고밀도 트렌치 MOSFET를 제작하기 위한 새로운 공정방법을 구현하였다. 이 기술은 공정 스텝수를 감소시키고 트렌치 폭과 소오스, p-body 영역을 감소시킴으로써 결과적으로 셀 밀도와 전류 구동성능을 증가시키며 온 저항의 감소를 가져왔다.

• 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.