• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.423-423
• /
• 2000

This paper proposes an effective algorithm for following a wall by an autonomous mobile robot with sonar sensors and infrared sensors in an indoor environment. The proposed method uses deadreckoning to estimate the current position and orientation of a mobile robot. Sonar sensor data are used to estimate shape and position of wall using proposed algorithm. Infrared sensor data are used as assistant when sonar sensor data is uncertain. Simulation results using mobile robot show that the proposed algorithm is proper for the following wall.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1668-1672
• /
• 2005

This paper presents the wall following control of a small indoor airship (blimp). The purpose of the wall following control is that a blimp maintains its position and pose and flies along the wall. A blimp has great inertia and it is affected by temperature, atmospheric pressure, disturbance and air flow around blimp. In order to fly indoors, a volume of blimp should be small. The volume of a blimp becomes small then the buoyancy of a blimp should be smaller. Therefore, it is difficult to attach additional equipments on the blimp which are necessary to control blimp. For these reasons, it is difficult to control the pose and position of the blimp during the wall following. In our research, to cope with its defects, we developed new blimp. Generally, a blimp is controlled by using rudders and elevators, however our developed blimp has no rudders and elevators, and it has faster responses than general blimps. Our developed blimp is designed to smoothly follow the wall by using low-cost small ultra sonic sensors instead of high-cost sensors. Finally, the controller is designed to robustly control the pose and position of the blimp which could control in spite of arbitrary disturbance during the wall following, and the effectiveness of the controller is verified by experiment.

• Journal of Biomedical Engineering Research
• /
• v.15 no.2
• /
• pp.209-216
• /
• 1994

The objective of the research reported in this paper is to design locomotion system of the motorized wheelchair, to develope the wall following algorithm. The indoor navigation of a motorized wheelchair can be based on the wall following techniques. In this paper, it is proposed to enhance stability and efficiency using the 3 ultrasonic sensors arranged at a same perpendicular pivot. Using this method, the angle between the motorized wheelchair and the wall is detected and the range of control commands has been increased. For the better stability, the calculated slope of a wall using LSLF algorithm was fed back to the control part. By adapting the suggested algorithm and method, the motorized wheelchair could follow a wall in 4 seconds, for a change of distance between the wheelchair and wall from 30 to 100cm.

• Proceedings of the KIEE Conference
• /
• 2005.05a
• /
• pp.102-105
• /
• 2005

A Effective wall following plays important role for the mapping behaviors which determine the entire memory size and the shape of map before building a map. In case of wall following, attacking those cause by curved wall or obstacles brings a bad stuff that makes ripples on the moving trajectory. These types of ripples come to an end with problems that increase the load of calculation and sensing errors. In this paper, a new sensing method and its corresponding controller are suggested for problems. It minimizes the occurrence of the trajectory ripples.

• Journal of Mechanical Science and Technology
• /
• v.18 no.8
• /
• pp.1288-1296
• /
• 2004

Wall-following control problem for a mobile robot is to move it along a wall at a constant speed and keep a specified distance to the wall. This paper proposes wall-following controllers based on Lyapunov function candidate for a two-wheeled mobile robot (MR) to follow an unknown wall. The mobile robot is considered in terms of kinematic model in Cartesian coordinate system. Two wall-following feedback controllers are designed: full state feedback controller and observer-based controller. To design the former controller, the errors of distance and orientation of the mobile robot to the wall are defined, and the feedback controller based on Lyapunov function candidate is designed to guarantee that the errors converge to zero asymptotically. The latter controller is designed based on Busawon's observer as only the distance error is measured. Additionally, the simulation and experimental results are included to illustrate the effectiveness of the proposed controllers.

• Archives of Plastic Surgery
• /
• v.36 no.4
• /
• pp.428-431
• /
• 2009

Purpose: Blow out fracture resulting from facial trauma is of high frequency among facial bone fractures, and can cause severe complications. So, proper management and close observation after operation are needed. So far, Computed tomography has been the best choice in the evalution following orbit wall reconstruction. However, cost - effectiveness, accessibility to patients and hazard of radiation exposure of computed tomography require supplementary measure for the evaluation following orbit wall reconstruction. This study was performed to describe the effectiveness of ultrasonography in the evalution following orbit wall reconstruction. Methods: A retrospective study was performed on 40 patients who underwent orbit wall reconstruction from June, 2008 to July, 2008. The patients' ages ranged from 13 to 65 years (mean 27.5 years), and this group was compsoed of 27 male and 13 female patients. The follow up period ranged from 2 weeks to 28 weeks (mean 11weeks). Preoperatively, all fractures were diagnosed using computed tomography. Ultrasonography for all cases, and computed tomography for 2 cases were performed for evaluation following orbit wall reconstruction. Results: Reduction of herniated orbital soft tissue and orbit implant was identified by using ultrasonography in 38 cases out of 40 cases. In other cases which we could not identify the orbit implant, computed tomography was performed. Con clusion: Compared to computed tomography, ultrasonography is simple, inexpensive and convenient method. Ultrasonography can be used as supplementary measure to computed tomography in the evaluation following orbit wall reconstruction for elective patients.

• Journal of Mechanical Science and Technology
• /
• v.15 no.8
• /
• pp.1097-1107
• /
• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.7
• /
• pp.586-593
• /
• 2000

In this paper we propose a new approach to the autonomous wall-following of wheeled mobile robots using hybrid system reference motion synthesis and generation. The hybrid system approach is in-troduced to the motion control of nonholonomic mobile robots for the indoor navigation problems. In the dis-crete event system the discrete states are defined by the user-defined constraints and the reference mo-tion commands are specified in the abstracted motions. The hybrid control system applied for the non-holonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoid-ance for the indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation in indoor environments.

• Computers and Concrete
• /
• v.10 no.2
• /
• pp.173-196
• /
• 2012

Experimental results of cyclic reversed lateral force test on a two-story reinforced concrete shear wall sub-assemblage are simulated analytically by using the PERFORM-3D program. A comparison of experimental and analytical results leads to the following conclusions: (1) "Shear Wall" and "General Wall" models with "Concrete shear" cannot simulate the pinching phenomena due to shear and show larger amounts of inelastic energy absorption than those in the experiment. (2) Modeling a story-height wall by using two or more "General Wall" elements with "Diagonal shear" in the vertical direction induces the phenomenon of swelling-out at the belly, leading to the erroneous simulation of shear behaviors. In application to tall building structures, it is recommended to use one element of "General Wall" with "Diagonal shear" for the full height of a story. (3) In the plastic hinge area, concrete deformations of analytical models overestimate elongation and underestimate shortening when compared with experimental results.

• Journal of Chest Surgery
• /
• v.55 no.3
• /
• pp.246-249
• /
• 2022

Recurrent pectus excavatum (PE) after a Ravitch operation is not uncommon. Extensive costal cartilage resection from the previous Ravitch procedure can lead to an irregular, unstable chest wall depressions with a varying degree of deformity. The optimal approach to cover the chest wall defect and remodel the deformity, remains unknown. We report the case of a 27-year-old woman seeking surgery for the third time for recurrent PE. The patient presented with 2-time recurrent pectus excavatum following a failed Ravitch procedure and subsequent pectus bar repair. The entire chest wall reconstruction and remodeling entailed covering the chest wall defect with 2 titanium plates across both sides of the rib cage, and lifting and fixing the depressed chest wall with 2 parallel pectus bars.