• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.4
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• pp.339-346
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• 2005

Artificial potential field (APF) is a widely used method for local path planning of autonomous mobile robot. So far, many different types of APF have been implemented. Once the artificial potential functions are selected, how to choose appropriate parameters of the functions is also an important work. In this paper, a detailed analysis is given on how to choose proper parameters of artificial functions to eliminate free path local minima and avoid collision between robots and obstacles. Two kinds of potential functions: Gaussian type and Quadratic type of potential functions are used to solve the above local minima problem respectively. To avoid local minima occurred in realistic situations such as 1) a case that the potential of the goal is affected excessively by potential of the obstacle, 2) a case that the potential of the obstacle is affected excessively by potential of the goal, the design guidelines for selecting appropriate parameters of potential functions are proposed.

• Journal of the Korean Society of Safety
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• v.31 no.2
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• pp.98-103
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• 2016

The goals of this study were to investigate some significant factors to judge level of safety at urban railway construction field and to analyze degree of risk by work classification. Currently, there are lots of construction fields for the urban railway for national transportation, and our government also planned constructing more urban railway in near future. However, most of the researches on safety neglected the degree of risk factors on the urban railway construction field. Safety managers participated in the brainstorming session for deriving decision criteria of the degree of risk (i.e., significant factors). Then, they were asked to answer a structured questionnaire which was developed for deriving most important factors. Finally, the analytic hierarchy process (AHP) was used to analyze level of risk by work classification. The following results were obtained. First, total twelve factors judging degree of risk were found in the brainstorming session. Second, the questionnaire showed four significant factors, including adjacency of obstacle, intensity of work, unsafe condition and work space. Third, the results of AHP showed civil work is the most dangerous work among 6 work types. The results could be used to give the safety management priority on accident prevention efforts among several hazards and to reduce degree of risk in construction field of the urban railway.

• Archives of design research
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• v.19 no.2 s.64
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• pp.5-14
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• 2006

Visual perception is ability that analyze visual information about things accepting through eyes in central nervous system. That is, it is ability that recognize and discriminates a visual stimulus, and analyzes by combining such stimulus with previous experience. At today, work which clears visual perception obstacle's cause through visual perception test and grasps all special quality of visual perception obstacle's is used method of treating that improve visual perception obstacle by visual perception training program. Present, visual perception test tools using the paper and pens are used mainly on psychological consultation of welfare facilities and education for the handicapped or occupational therapy, but a lot of problems are discovered in it. Therefore, purpose of this paper is to develop prototype of web-based visual perception test program that can construct to database to solve existing problem, and to design graphic item. As a result, classified measurement pattern that can diagnose visual perception by three, and illustrated development direction of graphic item for examination with this. Also, extracted check list item that should consider for design and construction of visual perception test program and the variable for feasibility study of believability, and presented process for prototype development.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.3
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• pp.377-383
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• 2021

Recently, in accordance with the 4th industrial revolution, The use of autonomous mobile robots for flexible logistics transfer is increasing in factories, the warehouses and the service areas, etc. In large factories, many manual work is required to use Simultaneous Localization and Mapping(SLAM), so the need for the improved mobile robot autonomous driving is emerging. Accordingly, in this paper, an algorithm for mapless navigation that travels in an optimal path avoiding fixed or moving obstacles is proposed. For mapless navigation, the robot is trained to avoid fixed or moving obstacles through Deep Q Network (DQN) and accuracy 90% and 93% are obtained for two types of obstacle avoidance, respectively. In addition, DQN requires a lot of learning time to meet the required performance before use. To shorten this, the target size change algorithm is proposed and confirmed the reduced learning time and performance of obstacle avoidance through simulation.

• Water Engineering Research
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• v.2 no.4
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• pp.243-259
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• 2001

Local phenomena around bridge piers and abutments are generally considered to be similar, nevertheless the presence of the incoming boundary layer on the side wall in the abutment case generates extra pressure gradients and consequently a more complex vortex pattern. In the literature, experimental data for bridge abutments are relatively scarce; in particular almost no data are available for the time evolution of the scour. In this work we present the results of several long duration (3 days longrightarrow5weeks) clear water scour laboratory tests around bridge abutments; the time evolution of the erosion process is analysed with respect to local and global characteristic values (maxima, volume, hole shape). In particular we analyse the effect of the constriction ratio b/B between the transversal obstacle dimension and the flume width: in many practical situations abutments (or piers) obstruct a significant portion of the channel, so that the average acceleration due to constriction is expected to increase the scour effects of the local acceleration around the obstacle. Measured values for maximum scour are poorly predicted by literature formulas. Scour depths are positively correlated with the constriction ratio, but increases are smaller than expected from literature indications. Experimental results show that models for bridge piers cannot be directly applied to abutments; in particular, time scales for the latter are significantly larger than for piers.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1550-1554
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• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.8
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• pp.1213-1218
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• 2013

Recently, although the need of marine robots such as the underwater robot, surface robot and airborne robot being raised in extreme areas, the basis is very deficient. Fortunately, as the need of the robot education is increasing, it is desirable to establish the R&D basis of marine robots and to train future talents through the development and diffusion of marine robot kits. However, in conventional case, there is no marine robot-kit based on the balloon, which has the abilities of the airborne locomotion and obstacle avoidance. To solve this problem, a balloon-based autonomous airborne robot-kit that has the ability of the obstacle avoidance with an infrared sensor, is developed. The test and evaluation results show the possibility of the real applications and the necessity of additional work.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.91-99
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• 2013

An autonomous unmanned underwater vehicle is a type of marine self-propelled robot that executes some specific mission and returns to base on completion of the task. In order to successfully execute the requested operations, the vehicle must be guided by an effective navigation algorithm that enables it to avoid obstacles and follow the best path. Architectures and principles for intelligent dynamic systems are being developed, not only in the underwater arena but also in related areas where the work does not fully justify the name. The problem of increasing the capacity of systems management is highly relevant based on the development of new methods for dynamic analysis, pattern recognition, artificial intelligence, and adaptation. Among the large variety of navigation methods that presently exist, the dynamic window approach is worth noting. It was originally presented by Fox et al. and has been implemented in indoor office robots. In this paper, the dynamic window approach is applied to the marine world by developing and extending it to manipulate vehicles in 3D marine environments. This algorithm is provided to enable efficient avoidance of obstacles and attainment of targets. Experiments conducted using the algorithm in MATLAB indicate that it is an effective obstacle avoidance approach for marine vehicles.

• Journal of the Korea Safety Management & Science
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• v.15 no.2
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• pp.71-77
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• 2013

The accident which is caused by the press work remains a Permanent obstacle in worker's hand or arms, the disaster ratio is high and the fatal case is many. Mainly Like this accident occurs because the hand to enter with inside of the press die, therefore, basic countermeasure is the safety press. In order to prevent access to mechanical moving part by the hand or any part of the body, it is important to making a safety die design Structurally. It presents the design of the safety press die with suitable structure in the Product's attribute which it had shown in samples, There is a possibility of being difficult because the attribute of safety die design that had present all the productions from research does not agree each other. but because the representative process which is used most at sample had designed, If you were imitates with safety die design base which is presented from this research, It comes to be thought to be the part which can are used at the various sides.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.32 no.10
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• pp.791-799
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• 2008

We investigate the flow characteristics around a series of rectangular bodies ($40^d{\times}80^w{\times}80^h$, $80^d{\times}80^w{\times}80^h$ and $160^d{\times}80^w{\times}80^h$) placed in a deep turbulent boundary layer. The study is aiming to understand the surface pressure distribution around the bodies such as the suction pressure in the leading edge, when the flow is normal, which is responsible for producing extreme suction pressures on the roof. The experiment includes wind tunnel work by using HWA (Hot-Wire anemometry) and pressure transducers. The experiments are carried out at three different Reynolds numbers, based on the velocity U at the body height h, of $2.4{\times}10^4$, $4.6{\times}10^4$ and $6.7{\times}10^4$, and large enough that the mean flow is effectively Reynolds number independent. The results include the measurements of the growth of the turbulent boundary layer in the wind tunnel and the surface pressure around the bodies.