• Journal of the Korean Society for Aviation and Aeronautics
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• v.30 no.3
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• pp.19-27
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• 2022

Urban Air Mobility is expected to resolve some problems in urban transportation such as traffic congestion and air pollution. Various studies for a large-scale commercialization of UAM are being actively conducted. To that end, the UAM Traffic Management system aims at securing a safety and an efficiency of UAM operations. In this study, a risk assessment model is proposed to evaluate the risk of collision between a vehicle and surrounding obstacles. The proposed model is conceived from the past studies for determining a proper separation distance between parallel runways for their independent operations. The model calculates the risk that the surveillance system fails to meet a target level of safety for a given buffer zone size between a designed route and surrounding obstacles. The model is applied to one of the routes proposed in K-UAM roadmap to evaluate its performances.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.1
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• pp.270-286
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• 2012

In this paper, we propose a novel routing protocol called the Cartography Enhanced OLSR (CE-OLSR) for multi hop mobile ad hoc networks (multi hop MANETs). CE-OLSR is based on an efficient cartography gathering scheme and a stability routing approach. The cartography gathering scheme is non intrusive and uses the exact OLSR reduced signaling traffic, but in a more elegant and efficient way to improve responsiveness to the network dynamics. This cartography is a much richer and accurate view than the mere network topology gathered and used by OLSR. The stability routing approach uses a reduced view of the collected cartography that only includes links not exceeding a certain distance threshold and do not cross obstacles. In urban environments, IEEE 802.11 radio signals undergo severe radio shadowing and fading effects and may be completely obstructed by obstacles such as buildings. Extensive simulations are conducted to study the performances of CE-OLSR and compare them with those of OLSR. We show that CE-OLSR greatly outperforms OLSR in delivering a high percentage of route validity, a much higher throughput and a much lower average delay. In particular the extremely low average delay exacerbated by CE-OLSR makes it a viable candidate for the transport of real time data traffic in multi hop MANETs.

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.283-288
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• 2024

In this paper, a novel mechanism for overcoming obstacles is studied by designing an All-Directional RC car for obstacle traversal and creating test courses with various obstacles. We propose an algorithm for controlling the RDS3115 servo motor and utilize a gyro sensor to detect the incline of various obstacle terrains, adjusting the servo motor's angle to enable the RC car to navigate the terrain. Through terrain experiments in the test course, we determined the most suitable RC car turning angles for traversing all obstacle terrains created in the experimental terrain.

• Journal of Wind Energy
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• v.9 no.4
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• pp.32-39
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• 2018

In this study, the annual power production of a wind farm according to obstacles and wind data was predicted for the Garyeok-do wind farm in the Saemangeum area. The Saemangeum Garyeok-do wind farm was built in December 2014 by the Korea Rural Community Corporation. Currently, two 1.5 MW wind turbines manufactured by Hyundai Heavy Industries are installed and operated. Automatic weather station data from 2015 to 2017 was used as wind data to predict the annual power production of the wind farm for three consecutive years. For prediction, a commercial computational fluid dynamics tool known to be suitable for wind energy prediction in complex terrain was used. Predictions were made for three cases with or without considering obstacles and wind direction errors. The study found that by considering both obstacles and wind direction errors, prediction errors could be substantially reduced. The prediction errors were within 2.5 % or less for all three years.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.74-79
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• 2005

In this paper, we propose a novel approach to decentralized motion planning and conflict-resolution for multiple mobile agents working in an environment with unexpected moving obstacles. Our proposed motion planner has two characteristics. One is a real-time collision prognosis based on modified collision map. Collision map is a famous centralized motion planner with low computation load, and the collision prognosis hands over these characteristics. And the collision prognosis is based on current robots status, maximum robot speeds, maximum robot accelerations, and path information produced from off-line path planning procedure, so it is applicable to motion planner for multiple agents in a dynamic environment. The other characteristic is that motion controller architecture is based on potential field method, which is capable of integrating robot guidance to the goals with collision avoidance. For the architecture, we define virtual obstacles making delay time for collision avoidance from the real-time collision prognosis. Finally the results obtained from realistic simulation of a multi-robot environment with unknown moving obstacles demonstrate safety and efficiency of the proposed method.

• Journal of Technology Innovation
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• v.23 no.2
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• pp.81-100
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• 2015

The aim of this study is to investigate the effect of factors hampering innovation on firm's R&D cooperation. We classify the obstacles to innovation into lack of money and information, and also distinguish between horizontal cooperation and vertical cooperation. We argue that different obstacles have a differential effect on the types of R&D cooperation. We examined the hypotheses using KIS (Korea Innovation Survey) data. The results show that deficiency of information is positively related to both vertical and horizontal cooperation, however, lack of money is not related to firm's R&D cooperation. Based on these findings from Korean manufacturing firms, the implications of the results and future research directions are discussed.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.1
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• pp.93-103
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• 1999

To detect obstacles and lane-markers for driving vehicles, a new moving window scheme where moving windows are assigned to an image frame captured by a camera is addressed. For the detection of obstacles, it is important to estimate lane-markers precisely and rapidly. For this purpose, selecting some partes of an image frame at the expected lane locations, i.e., selecting window are generally adopted for extracting lane-markers efficiently. In this paper, a new scheme that extracts lane-markers precisely by assigning variable size windows at the expected locations of lane-markers considering the road curvature and finally detects obstacles within a driving lane is proposed. The accuracy improvement using this moving window scheme is showed by comparing to the conventional fixed window method and to using radar to laser sensors.

• Journal of Auto-vehicle Safety Association
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• v.11 no.2
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• pp.29-34
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• 2019

This paper presents a new method for construction of a static obstacle map. A static obstacle is important since it is utilized to path planning and decision. Several established approaches generate static obstacle map by grid method and counting algorithm. However, these approaches are occasionally ineffective since the density of LiDAR layer is low. Our approach solved this problem by applying probability theory. First, we converted all LiDAR point to Gaussian distribution to considers an uncertainty of LiDAR point. This Gaussian distribution represents likelihood of obstacle. Second, we modeled dynamic transition of a static obstacle map by adopting the Hidden Markov Model. Due to the dynamic characteristics of the vehicle in relation to the conditions of the next stage only, a more accurate map of the obstacles can be obtained using the Hidden Markov Model. Experimental data obtained from test driving demonstrates that our approach is suitable for mapping static obstacles. In addition, this result shows that our algorithm has an advantage in estimating not only static obstacles but also dynamic characteristics of moving target such as driving vehicles.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.129-141
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• 2018

This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework's effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.552-557
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• 2009

In this paper, we propose hybrid navigation system, for obstacle detection and avoidance in Intelligent wheelchairs (IWs). To robustly detect obstacles and avoid them on various environments, hybrid navigation system combines both range-sensor and camera information. For this, 10 range-sensors (2 ultrasonic and 8 infra-red sensors) and CCD camera are used. Through processing the informations obtained from those sensors, our system can detect obstacles with various sizes and shapes, and then avoid them. To assess the effectiveness of the proposed hybrid navigation system, it was tested on complex environments including various obstacles, then the results showed the potential of our system as mobility aids for disabled people.