• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.1863-1868
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• 2003

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. Among unique and interesting characteristics of the stratified flow past obstacles is the generation of coherent vortex the late wake far downstream of the object. Unlike in homogeneous fluid, the flow field downstream self-develops coherent vortex even after diminishing of the near wake, no matter how small the stratification is. This paper present a computational approach to simulate the generation of the coherent vortex structure in late wake of a moving sphere submerged in weakly stratified fluid. The results are in consistent with several experimental observations and the vortex stretching mechanism is employed to explain the process of coherence.

• 제어로봇시스템학회논문지
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• 제18권12호
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• pp.1132-1138
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• 2012

The MPC (Model Predictive Control) is one of the techniques that can be used to control an unmanned vehicle. It predicts the future vehicle trajectory using the dynamic characteristic of the vehicle and generate the control value to track the reference path. If some obstacles are detected on the reference paths, the MPC can generate control value to avoid the obstacles imposing the inequality constraints on the MPC cost function. In this paper, we propose an obstacle modeling algorithm for MPC with inequality constraints for obstacle avoidance and a method to set selective constraint on the MPC for stable obstacle avoidance. Simulations with the field test data show successful obstacle avoidance and way point tracking performance.

• 한국전자통신학회논문지
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• 제4권1호
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• pp.37-45
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• 2009

The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely with panning scan from sensors of distance measurement and fuzzy control. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.

• 대한기계학회논문집B
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• 제20권8호
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• pp.2593-2600
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• 1996

A modified k-$\varepsilon$ turbulence model having a generality is proposed in the present study, in which the constant $C_{\varepsilon2}$in the $\varepsilon$-equation is simply changed as a functional form of a new parameter both satisfying the tensor invariant condition and representing the extra straining effect on complex shear flows. With this model turbulent shear flows over two-dimensional obstacles placed in a channel are numerically studied for different blockage ratios and aspect ratios. Comparing with the available experimental data, the predicted results with the present model provide definite improvements over the standard model's results and work fairly well with the experimental data on the size of the recirculation zone, as well as mean velocity, wall static pressure, turbulent kinetic energy and Reynolds stresses.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.500-503
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• 2003

The navigation problem of robot is one of the main themes to deal with conficts or interferences between obstacles and the robot itself In this case, while the robot avoids obstacles on the space, the passage route should be determined efficiently. In order to solve problems above, we have come up with the distance field space medel (DFM) and then, under known environment, we have presented the distance field A algorithm for passage route path search. In this research, the method of performing the 3-dimensional passage route path search of robot under unknown environment is proposed. It is shown that the authors can build the distance search model the does not need space division by taking into account of sensor information to a distance field space model, and constructing this information as virtual obstacle information.

• 한국정보전자통신기술학회논문지
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• 제6권3호
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• pp.174-182
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• 2013

The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely with panning scan from sensors of distance measurement and fuzzy control. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 전기.전자공학 학술대회 논문집(II)
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• pp.1256-1259
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• 1987

This paper gives a new SRF (Sonic Range Finder) Array formation on the mobile robot. This SRF Array formation obtaine the mobile robot's environmental informations wider and faster than the other systems and detects the obstacles in the robot's path. It is processed and controlled by 8031, on-chip micro-computer. SRF Array sensors are drived by the LM1812 transceiver and selected by the 8-channel channel multiplexer. In this paper, it detects the obstacles in wider range and gives them to the MAIN to design the shortest modify path.

• 전자공학회논문지T
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• 제35T권3호
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• pp.67-75
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• 1998

이 논문은 이동 장애물 회피를 위한 새로운 로봇 동작 계획을 제안한다. 이동 장애물의 운동성을 고려하여, 로봇과 장애물 사이의 관계를 위해 가상거리 함수를 정의한다. 각각의 샘플링 시간에, 장애물의 움직임을 고려한 인공 전위계를 구성하기 위해 가상거리 함수를 이용한다. 로봇은 인공 전위 함수에 의해 유도된 인력과 척력 벡터에 따라 이동한다. 제안된 알고리즘은 실시간으로 이동 장애물을 회피할 수 있었다. 시뮬레이션 결과를 통해 제안된 알고리즘의 효율성을 입증한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 심포지엄 논문집 정보 및 제어부문
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• pp.135-137
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• 2004

In this paper, a new method which is based on mathematics is proposed for the obstacle-avoidance and path-planning (OAPP) of robotics in unknown environment. The robot just knows the start point and the goal point. The robot is represented by a circle(not a point) whose radius is one. After being sensed, the obstacles are represented by some mathematic functions and when avoiding the obstacles, the robot path will be generated autonomously. Along this path, the robot can get the goal point at last. The simulation results show that the proposed method works very well.

• 로봇학회논문지
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• 제4권4호
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.