• 제어로봇시스템학회논문지
• /
• 제15권2호
• /
• pp.155-162
• /
• 2009

In walking guide robot, a guide vehicle detects an obstacle distribution in the walking space using range sensors, and generates a 3D grid map to map the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans a walking route and controls the guide vehicle. The algorithm for 3D detection of an obstacle distribution and the method of mapping the generated obstacle map and the tactile display device are proposed in this paper. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of fixed obstacles on the ground, the moving obstacle, and the detection of down-step are performed. The performance for the 3D detection of an obstacle distribution and space mapping is verified through the experiment.

• 한국콘텐츠학회논문지
• /
• 제18권6호
• /
• pp.333-341
• /
• 2018

최근 사용자 중심의 스마트시티 서비스에 대한 관심이 높아지고 있다. 본 연구는 공간기반의 커뮤니케이션을 통한 스마트시티 서비스 시나리오 도출을 위해 공간정보유형을 검토하고, 사용자 중심의 체험요소 시나리오 도출을 위한 방향성을 마련하고자 한다. 본 연구결과는 향후 스마트시티 테스트베드에 적용 가능한 보행지도, 워킹맵으로서 시민이 스마트시티를 체험할 수 있는 공간시나리오를 제시하기 위한 기초자료를 제시하는 데 의의를 둔다. 특히 보행지도인 워킹맵을 통해 스마트시티 테스트베드 내 보행시나리오를 시뮬레이션 함으로서 사용자 요구사항을 기반으로 하는 서비스 방향을 실험하였다. 본 연구를 통해 기존 인프라를 통한 스마트시티 서비스가 다목적으로 활용될 수 있음을 확인하였다. 본 연구에서 제시된 공간정보 및 체험요소 연계모델과 페르소나 모델을 통한 워킹맵은 추후 스마트시티 테스트베드에 적용 가능한 예비시나리오로서 활용될 수 있다.

• 제어로봇시스템학회논문지
• /
• 제13권8호
• /
• pp.783-789
• /
• 2007

In this paper, firstly, we propose a generating method of the 3-D obstacle map using ultrasonic sensors. Secondly, we try to find the necessary stimulation conditions of compact tactile display device for effective transfer of obstacle information. The final goal of this research is the development of a walking guide system for the blind to walk safely. The walking guide system consists of a guide vehicle for the obstacle detection and a tactile display device for the transfer of the obstacle information. The guide vehicle, located in front of the walking blind, detects the obstacle using ultrasonic sensors. The processed information makes an obstacle map and transmits safe path and emergency situation to the blind by the tactile display. The tactile display device, located in the handle which is connected with the guide vehicle by cane, offers the processed obstacle information such as position, size, moving, shape of obstacle and safe path, etc. The concept of a walking guide system with tactile display is introduced, and experiments of 3-D obstacle detection and tactile perception are carried out and analyzed.

• 한국정밀공학회지
• /
• 제27권7호
• /
• pp.36-48
• /
• 2010

This paper is concerned with stereo vision-based approach to detect obstacles and to generate the path of destination from the start. The hexapod robot in the experiment is cable of walking by legs and driving by wheels simultaneously. The hexapod robot operates under the driving mode normally, and it changes driving mode to walking mode to overcome obstacles using its legs. Disparity map, which is the correlation between two images taken by stereo camera, is employed for calculation of the distance between the robot and obstacles. When the obstacles information is extracted from the disparity map, the potential field algorithm is applied to create the obstacle-avoidance path. Simulator, based on OpenGL, is developed to generate the graphical path, and the experimental results are shown for the verification of the proposed algorithm.

• 제어로봇시스템학회논문지
• /
• 제14권11호
• /
• pp.1189-1195
• /
• 2008

We introduce a MEMS-based pedestrian dead reckoning (PDR) system. A walking navigation algorithm for pedestrians is presented and map-matching algorithm for the navigation system based on dead reckoning (DR) is proposed. The PDR is equipped on the human body and provides the position information of pedestrians. And this is able to be used in ubiquitous sensor network (USN), U-hearth monitoring system, virtual reality (VR) and etc. The PDR detects a step using a novel technique and simultaneously estimates step length. Also an azimuth of the pedestrian is calculated using a fluxgate which is the one of magnetometers. Map-matching algorithm can be formulated to integrate the positioning data with the digital road network data. Map-matching algorithm not only enables the physical location to be identified from navigation system but also improves the positioning accuracy. However most of map-matching algorithms which are developed previously are for the car navigation system (CNS). Therefore they are not appropriate to implement to pedestrian navigation system based on DR system. In this paper, we propose walking navigation system and map-matching algorithm for PDR.

• 농촌계획
• /
• 제22권2호
• /
• pp.31-43
• /
• 2016

In existing method, research for landscape resource is driven by professional (or with the participation of local people at Tokenism level), and usually hinder local residents from reflecting their appreciations on the landscape resources in their own ways and eventually ends up with indistinguishable landscape planning. To avoid this, a profound understanding of what landscape they experience in their daily life and how they perceive it should be empirically analysed carefully. The purpose of this study is to apply walking behavior as a method to examine local residents' subjective perceptions and consider its usability. The researcher walked the site(Sucheongri) with the residents, carrying a GPS device, taking photographs of the landscape objects they described, and recording the relevant explanations. After gathering photographs and explanations which represent the research participants' individual subjective perception, the researcher analysed the explanation using open coding, based on grounded theory. By the analysis, 117 landscape objectives are identified and 18 reason factors for landscape perception were deduced from the explanation. Those factors could be classified as 'positive feeling inducing' and 'negative feeling inducing', and also as 'personal emotion based' and 'community based emotion'. By comparison between feeling map by conventional method and feeing map by new method, usability of new method was empirically reveled. Walking behavior makes it easier for researcher to get more abundant data in quantitative aspect and profound understanding with affection of respondent by allowing them to 'go beyond' the perceptions they remember. Finally new method with walking gives professionals a contextual understanding of a place and more resident-oriented plans and management on sites.

• Journal of Positioning, Navigation, and Timing
• /
• 제10권3호
• /
• pp.189-196
• /
• 2021

In this paper, we propose techniques to correct the altitude error and heading error of 3D Pedestrian Inertial Navigation (PIN). When a PIN is used to estimate the location of a pedestrian only with an Inetrial Measurement Unit (IMU) without infrastructure, there is a problem in that the location error gradually increases due to the limitation of the observability of the filter. To solve this problem without additional sensors, we propose two techniques in this paper. First, stair walking is recognized in consideration of the altitude difference that may occur during one step. If it is recognized as stair walking, only Zero-velocity UPdaTe (ZUPT) is performed, and if it is recognized as level walking, ZUPT + Altitude Damping (AD) is performed together to correct the altitude error. Second, the straight-line movement direction is calculated through the difference of the estimated position, and the heading error is corrected by matching this information with the link information of the digital map. By applying these techniques, it is verified through real tests that accurate three-dimensional location information of pedestrians can be estimated without infrastructure.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
• /
• 제18권1호
• /
• pp.15-23
• /
• 2012

The purpose of this research is support blind person's daily walking. In order to achieve the purpose, we investigate how the environmental information is used for their daily walking both in residential and commercial areas considering the characteristics of walking. In the investigation, interview to the persons concerned is carried out and all the conversation with them is recorded with a voice recorder. Moreover, the environmental information that may become clues is plotted on a map together with photos. The results are as follows; (1) Environmental information which the blind persons use is different depending on the role of its own of place, such as place confirmation, direction decision, distance understanding. (2) It is demonstrated that the information acquisition from sound is effective when they especially understand place and location.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.84.4-84
• /
• 2001

In this paper, we present a method to classify electromyogram (EMG) signals which are utilized to be control signals for patient-responsive walker-supported system for paraplegics. Patterns of EMG signals for dierent walking motions are classied via adequate filtering, real EMG signal extraction, AR-modeling, and modified self-organizing feature map (MSOFM). More efficient signal processing is done via a data-reducing extraction algorithm. Moreover, MSOFM classifies and determines the classified results are presented for validation.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2008년도 춘계학술대회 논문집
• /
• pp.7-8
• /
• 2008