• 대한전기학회논문지:시스템및제어부문D
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• 제53권4호
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• pp.246-257
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• 2004

This paper proposes two contributions. One is an analysis for the limit of the subject of goal-directed reactive robot navigation, and the other is an effective navigation method employing the scheme of the subject. The analysis for the subject is presented in order to clarify the limit of the method. On the basis of the analysis, a safety-guaranteeing and deadlock-free reactive navigation method is newly proposed. The proposed method has a simple behavior-based frame such that it can make the required navigation tasks such as obstacle avoidance, deadlock resolving, and etc. with a very small set of behaviors in entirely unknown environments such as a living room, an office, and etc. Some results of experiments show these validities.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.542-544
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• 2006

This paper aims to provide a way to improve dynamic stability of biped robots against undesirable disturbances and in a slope. By using an angular velocity sensor and an acceleration sensor on its waist, we can make a medium-sized biped robot walk stably in a slope against impulsive disturbances. In addition, it is possible for the robot to walk stably in an unknown slope. The measured signals from the sensor are used for compensating the reference angles of ankle, knee, and pelvis joints. Some experiments show that the stability of the robot is much enhanced by using cheat sensors and a simple algorithm. This work helps bided robots walk more stably in real environments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.249-251
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• 2005

In this paper, an algorithm of path planning and obstacle avoidance for mobile robot is proposed. We call the proposed method Random Access Sequence(RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors. By processing assigned numbers all regions are covered and then the path from start to destination is selected by these numbers. The RAS has an advantage of fast planning because of simple operations. This implies that new path selection may be possible within a short time and helps a robot to avoid obstacles in any direction. The algorithm can be applied to unknown environments. When moving obstacles appear, a mobile robot avoids obstacles reactively. then new path is selected by RAS.

• 천문학회보
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• 제39권2호
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• pp.37-37
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• 2014

Magnetic fields appear to be ubiquitous in astrophysical environments. The existence of magnetic fields in the large-scale structure of the universe has been established through observations of Faraday rotation and synchrotron emission, as well as through recent gamma-ray observations. Yet, the nature and origin of the magnetic fields remains controversial and largely unknown. In this talk, I briefly summarize recent developments in our understanding of the nature and origin of magnetic fields. I also describe a plausible scenario for the origin of the magnetic fields; seed fields were created in the early universe and subsequently amplified during the formation of the large-scale structure of the universe. I then discuss the prospect of observation of magnetic fields in the large-scale structure of the universe.

• 한국통신학회논문지
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• 제24권6A호
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• pp.881-887
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• 1999

In this paper, were introduce two types of equalizers, called equalizer-a and equalizer-b, applying to wireless communications having unknown channel characteristics. The equalizer-a, which has the single sample detector with equalizer system, is developed while the equalizer-b has the partition detectors with the same system used in equalizer-a. The methodologiy we adopt for designing the equalizers is that the sample space is partitioned into finite number of regions by using quantiles, which are estimated by robbins-monro stochastic approximation (RMSA) algorithm, and the coefficients of equalizers are calculated based on nonlinear minimum mean, square error (MMSE) algorithm. Through the computer simulation, the equalizers show much better performance in equiprobably partitioned sample subspaces of observations than the single sample detector and the detector, which has the conventional equalizer, in unquantized observation space under various noise environments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.134.6-134
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• 2001

The purpose of navigation algorithm is to reach a given target point without collision with obstacles while an autonomous mobile robot is navigating. To achieve a safe navigation, this paper presents an effective navigation algorithm for the autonomous mobile robot equipped with ultrasonic sensors in unknown environments. The proposed navigation algorithm consists of an obstacle-avoidance behavior, a target-reaching behavior and a fuzzy-based decision maker. In the obstacle-avoidance behavior and the target-reaching behavior, artificial immune networks are used to select a proper steering angle, make the autonomous mobile robot avoid obstacles and approach a given target point. The decision maker using fuzzy inference systems weights the steering angles selected ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.652-657
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• 1991

Up to date, application areas of mobile robots have been expanded. In addition, Many types of LRF(Laser Range Finder) systems have been developed to acquire three dimensional information about unknown environments. However in real world, because of various noises (sunlight, fluorescent light), it is difficult to separate reflected laser light from these noise. To overcome the previous restriction, we have developed a new type vision system which enables a mobile robot to measure the distance to a object located 1-5 (m) ahead with an error than 2%. The separation and detection algorithm used in this system consists of pulse phase difference method and multi-stripe structured light. The effectiveness and feasibility of the proposed vision system are demonstrated by 3-D maps of detected objects and computation time analysis.

• 한국수산과학회지
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• 제50권2호
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• pp.195-206
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• 2017

Joint time-frequency images of the broadband echo signals of six fish species were obtained using the smoothed pseudo-Wigner-Ville distribution in controlled environments. Affine transformation and principal component analysis were used to obtain eigenimages that provided species-specific acoustic features for each of the six fish species. The echo images of an unknown fish species, acquired in real time and in a fully automated fashion, were identified by finding the smallest Euclidean or Mahalanobis distance between each combination of weight matrices of the test image of the fish species to be identified and of the eigenimage classes of each of six fish species in the training set. The experimental results showed that the Mahalanobis classifier performed better than the Euclidean classifier in identifying both single- and mixed-species groups of all species assessed.

• Journal of Mechanical Science and Technology
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• 제17권12호
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• pp.1876-1885
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• 2003

The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1999년도 하계종합학술대회 논문집
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• pp.1113-1116
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• 1999

For mobile robot, the navigation effectiveness can be improved by providing autonomy, but this autonomy requires the mobile robot to detect unknown obstacles and avoid collisions while moving it toward the target. This paper presents an effective method for autonomous navigation of the mobile robot in structured environments. This method uses ultrasonic sensor array to detect obstacles and utilizes force relationship between the obstacles and the target for avoiding collisions. Accuracy of sensory data produced by ultrasonic sensors is improved by employing error eliminating rapid ultrasonic firing (EERUF) technique. Navigation algorithm controlling both the velocity and steering simultaneously is developed, implemented to the mobile robot and tested on the floor filled with the cluttered obstacles. It is verified that from the results of the field tests the mobile robot can move at a maximum speed of 0.66 m/sec without any collisions.