• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.1
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• pp.9-21
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• 1998

This paper a new solution approach to moving obstacle avoidance problem of a mobile robot. A new concept avoidability measure (AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function (VDF), is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF ,an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• Proceedings of the KSR Conference
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• 2008.11b
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• pp.1138-1144
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• 2008

To study the feasibility of applying wireless communication technology to the control of train for the effective control of train and for the reduction of cost and time to construct the necessary infra structure, we investigate into the application of the existing commercial WCDMA network to CBTC (communication-based train control) to grasp the obstacles and propose the solutions to circumvent them. The obstacles can be categorized into the hand-off problem, the interference problem near the stations, and the problem of radio shadow areas. We propose, as solutions, the cell overlap method and multi-terminal approach for the hand-off problem, the cell sectoring method for the interference problem, and establishment of new base stations along the railroad both to provide the wireless train control and communication service to the customers on the train which was otherwise impossible because of the shadowing effect.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.7
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• pp.809-822
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• 1992

A mathematical approach to solving the time-varying obstacle avoidance problem is pursued. The mathematical formulation of the problem is given in robot joint space(JS). View-time concept is used to deal with time-varying obstacles. The view-time is the period in which a time-varying obstacles. The view-time is the period in which a time-varying obstacle is viewed and approximated by an equivalent stationary obstacle. The equivalent stationary obstacle is the volume swept by the time-varying obstacle for the view-time. The swept volume is transformed into the JS obstacle that is the set of JS robot configurations causing the collision between the robot and the swept volume. In JS, the path avoiding the JS obstacle is planned, and a trajectory satisfying the constraints on robot motion planning is planned along the path. This method is applied to the collision-free motion planning of two SCARA robots, and the simulation results are given.

• Journal of Information Technology Services
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• v.8 no.2
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• pp.71-87
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• 2009

In this paper, the technology innovation for software firms are discussed. Through the literature study, the concepts about this issue and the environment and activity of software firm's the technology innovation related are described. The survey paper was developed for searching the obstacles, policy considerations, and performance of this issue etc. Also questionnaire sheet was made for identifying the relations on technology innovation activities and performance. The degree of understanding about the need of technology innovation were very high according to the analysis result from the response based on the 103 software firms. Among this survey the other results are described as follows; the motivation of technology innovation, the necessity and implementation, the duration acquired for innovation result, the favorite support program as for innovation policy, obstacles for innovation implementation, the reason for innovation collaboration etc. Finally, it is verified statistically that the performance of technology innovation be affected by the employment of external professional technician, research and development, the technical education.

• Journal of the Korean Society of Safety
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• v.11 no.4
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• pp.64-71
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• 1996

Detonation phenomena of $C_2H_2$were invesgated using the various shock tube. To study the detonation characteristics according to the composition of $C_2H_2-0_2$$_2$ and $C_2H_2$-air mixtures, the composition were varied from 5 to 90% and 5 to 50% of acetylene each other. A spiral ring was installed in the shock tube to study the effect of obstacles in DDT phenomena. Detonation velocities were measured using the photodiode, and the DDT phenomena was visualized using the high speed schlieren photograph. From the experimental result, it was found that the detonation velocity was most high near the 1. 8times the stoichiometric ratio of acetylene. And from the visualization of DDT phenomena, it was found that the detonation wave was strengthened throuth the pile up of small compression wave of burned gas. And the obstacles in shock tube accelerate the detonation reaction by turblent effect of flammable gas mixture.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.443-446
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• 2002

Wake downstream of an object in the stratified flow has been of long-standing interest in fluid dynamics because of its similarity to geophysical flow over topographical terrains and more recently, concerns about the wake left behind a body moving through the ocean thermocline. Decades of studies of geophysical flow have unveiled that the flow downstream of obstacles in stratified flow consists of attached wake and strong internal waves, or separated, fluctuating wake and persistent late wakes, all of which depend on the flow conditions. Among unique and interesting characteristics of the stratified flow past obstacles is the generation of coherent vortex structure in the late wake far downstream of the object. Without the density stratification, the flow field downstream becomes undisturbed after relatively fast diminishing of the near wake. However, no matter how small the stratification is, the flow field downstream self-develops coherent vortex structures even after diminishing of the near wake. This paper present a computational approach to simulate the generation mechanism of the coherent vortex and analysis of the vortical structure.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1207-1212
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• 2007

We propose a haptic interface algorithm for joystick operators working in remote control systems of unmanned vehicles. The haptic interface algorithm is implemented using a force-feedback joystick, which is equipped with low price DC motors without encoders. Generating specific amounts of forces on the joystick pole according to the distance between a remote controlled vehicle and obstacles, the haptic interface enables the operator to perceive the distance information by the sense of touch. For the case of no joystick operation or no obstacles in the working area, we propose an origin control algorithm, which positions the joystick pole at the origin. The origin control algorithm prevents the false movement of the remote vehicles and provides the operator with a realistic force resisting the joystick pole's movement. The experiment results obtained under various scenarios exemplify the validity of the proposed haptic interface algorithm and the origin control algorithm.

• Asia Marketing Journal
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• v.21 no.1
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• pp.23-44
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• 2019

A decade has passed since the first generation of Genesis was launched in the U.S. with the plaque of Hyundai-Genesis. Genesis Motors was separated from Hyundai Motor in 2015, and has struggled to have the Genesis stand alone in the competitive U.S. luxury sedan market. The present case study aims to find challenges facing the Genesis, which Hyundai has positioned as a luxury sedan competing against conventional luxury brands such as BMW, Mercedes-Benz, and Lexus; evaluate Genesis Motors' strategic response to meet these challenges; and explore an alternative positioning strategy. Specifically, the present case study addresses barriers against the Genesis' market performance, by focusing on the obstacles rooted in the consumer perception as well as the obstacles that stem from the change in the U.S. automobile industry and the nascent network of the Genesis dealership. Genesis Motors' current strategies are evaluated, and an alternative strategy is explored that is largely based on the American consumers' perceptions of the Genesis vis-a-vis conventional luxury brands and outperforming midsize brands.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.33 no.4
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• pp.225-234
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• 2009

The present study has been preformed to investigate the effect of obstacles around a cooling tower with air-guide to prevent recirculation. The external region as well as the cooling tower are included in the computational domain to analyze the flow phenomena around a cooling tower accurately. Three-dimensional analysis is performed using the finite volume method with non-orthogonal and unstructured grid system. The standard turbulence model is used to consider the turbulence effect. In order to investigate the recirculation phenomena, flow and temperature fields are calculated with the distance between cooling tower and obstacle, the allocated geometrical type and the air-guide. The moisture fraction rates decrease with increment of the distance between cooling tower and obstacle. The effect of air-guide to reduce the mean recirculation rate is obviously observed.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1161-1166
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• 2007

This paper proposes the Elastic Force application on the obstacle avoidance of the Silvermate Robot. The method deals with the problem associated with the Silvermate robot driving to a goal configuration as avoiding obstacles. The initial trajectory of a robot is determined by a motion planner, and the trajectory modification is accomplished by adjusting the control points. The control points are obtained based on the elastic force approach. Consequently the trajectory of a robot is incrementally modified to maintain a smooth and adaptive trajectory in an environment with obstacles. The suggested algorithm drivers the robot to obstacle avoid in real-time. Finally, the simulation studies are carried out to illustrate the effectiveness of the proposed approach