• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.10
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• pp.163-173
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• 2010

In multi-mobile robot environment, path planning and collision avoidance are important issue to perform a given task collaboratively and cooperatively. The proposed approach is based on a potential field method and fuzzy logic system. For a global path planner, potential field method is employed to select proper path of a corresponding robot and fuzzy logic system is utilized to avoid collisions with static or dynamic obstacles around the robot. This process is continued until the corresponding target of each robot is reached. To test this method, several simulation-based experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• Journal of Auto-vehicle Safety Association
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• v.14 no.4
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• pp.84-90
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• 2022

With the popularization of autonomous driving technology, safety has emerged as a more important criterion. However, there are no assessment protocol or methods for AES (Autonomous Emergency Steering). So, this study proposes AES assessment protocol and scenario corresponding to collision avoidance Car-to-Car scenario of Euro NCAP in order to prepare for obstacles that appear after the emergency steering of LV (Leading Vehicle) avoiding obstacles in front of. Autoware-based autonomous driving stack is developed to test and simulate scenario in CARLA. Using developed stack, it is confirmed that obstacle avoidance is successfully performed in CARLA, and the AES performance of VUT (Vehicle Under Test) is evaluated by applying the proposed assessment protocol and scenario.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.359-364
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• 2022

This study presents a nonlinear model predictive control (NMPC)-based obstacle avoidance and whole-body motion planning method for the mobile manipulators. For the whole-body motion control, the mobile manipulator with an omnidirectional mobile base was modeled as a nine degrees-of-freedom (DoFs) serial open chain with the PPR (base) plus 6R (arm) joints, and a swept sphere volume (SSV) was applied to define a convex hull for collision avoidance. The proposed receding horizon control scheme can generate a trajectory to track the end-effector pose while avoiding the self-collision and obstacle in the task space. The proposed method could be calculated using an interior-point (IP) method solver with 100[ms] sampling time and ten samples of horizon size, and the validation of the method was conducted in the environment of Pybullet simulation.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.2
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• pp.60-69
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• 2010

Lookup-Table (LUT) based fuzzy controller for obstacle avoidance enhances operations faster in multiple obstacles environment. An LUT based fuzzy controller with Positive/Negative (P/N) fuzzy rule base consisting of 18 rules was introduced in our paper$^1$ and this paper shows a 50-rule P/N fuzzy controller for enhancing performance in obstacle avoidance. As a rule, the more rules are necessary, the more buffers are required. This paper suggests LUT sharing method in order to reduce LUT buffer size without significant degradation of performance. The LUT sharing method makes buffer size independent of the whole fuzzy system's complexity. Simulation using MSRDS(MicroSoft Robotics Developer Studio) evaluates the proposed method, and in order to investigate its performance, experiments are carried out to Pioneer P3-DX in the LabVIEW environment. The simulation and experiments show little difference between the fully valued LUT-based method and the LUT sharing method in operation times. On the other hand, LUT sharing method reduced its buffer size by about 95% of full valued LUT-based design.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.6
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• pp.379-388
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• 2018

In this study, we propose a new approach to impliment autonomous travelling of mobile robot based on obstacle avoidance and voice command. Obstacle Avoidance technology of mobile robpot. It has been used in wide range of different robotics areas to minimize the risk of collisions. Obstacle avoidance of mobile robots are mostly applied in transportation systems such as aircraft traffic control, autonomous cars etc. Collision avoidance is a important requirement in mobile robot systems where they all featured some kind of obstacle detection techniques in order to avoid colliding. In this paper it was illustrated the reliability of voice command and obstacle avoidance for autonomous travelling of mobile robot with two wheels as the purpose of application to the manufacturing process by simulation and experiments.

• Asia pacific journal of information systems
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• v.33 no.4
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• pp.1016-1035
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• 2023

Corporate tax avoidance has been the subject of international debate since the Enron scandal and has raised awareness of the need for greater transparency in financial markets. Efforts have been made to strengthen financial reporting requirements and meet the needs of investors and other stakeholders, including digitalization of financial reporting through Extensible Business Reporting Language (XBRL). This study examines the impact of the mandatory adoption of XBRL on corporate tax avoidance. We tested our predictions using a panel dataset of Indonesian firms listed on the IDX stock exchange. Based on available information in the DATASTREAM database covering the 2013-2017 period, we used two proxies for tax avoidance i.e., GAAP effective tax rate and current effective tax rate. We estimated multiple regression model including industry and year fixed effects. The results show that XBRL implementation has reduced corporate tax avoidance. These findings suggest that improving corporate transparency through XBRL could play a deterrent tool to corporate tax avoidance. The results of this study should be useful to tax authorities and accounting standard setters supporting the benefits of digitalizing financial reporting and continuing to complete XBRL taxonomies around the world.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.21 no.10
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• pp.1194-1199
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• 2010

In this paper, for a relay-based cellular network, a interference avoidance beamforming technique is proposed to enhance direct link capacity while minimizing loss in the capacity of concurrent relaying link. A direct link is transmitted by beamforming at the transmitter, and the relaying link with the least interference to the direct link is scheduled to transmit data by a collision avoidance scheduling algorithm. Simulation results show that the proposed IA beamforming provides a considerable direct link capacity enhancement while minimizing relaying link capacity loss by effectively mitigating inference between concurrent direct and relaying links only with limited feedback.

• Management & Information Systems Review
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• v.29 no.1
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• pp.79-96
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• 2010

The purpose of this study is to investigate factors that affect corporate CEOs' tax avoidance, ultimately helping find how to fundamentally prevent the avoidance, establish a tax system that ensures tax payers' compliance and revise tax laws and regulations in a positive way. For the purpose, this researcher surveyed corporate CEOs with a questionnaire that contained many questions of various types, which was developed based on previous studies. Findings of the study can be summarized as follows. Main factors affecting tax avoidance were the application of tax provisions, the ability to understand tax laws and the expectation of tax avoidance. The more corporate CEOs' were influenced by the first and the third factors, the higher their propensity for tax avoidance was. On the contrast, corporate CEOs were lower in propensity for tax avoidance when they were more able to understand tax laws. Regarding the three factors' relative influences, tax avoidance was most affected by the expectation of tax avoidance, followed by the ability to understand tax laws and the application of tax provisions in order. Meanwhile, a multi-regression analysis using the sequential deletion technique showed that tax avoidance were affected by the application of tax provisions and the expectation of tax avoidance and that tax avoidance was most influenced by the application of tax provisions, followed by the expectation of tax avoidance. These findings indicate that the degree of corporate CEOs' tax avoidance may vary depending on social and environmental changes that their business face. Meanwhile, positive factors such as tax-bearing capacity and the procedure of tax calculation and negative factors such as management ethics and tax authorities' regulation are all thought to be not helping prevent tax avoidance.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.113-118
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• 2017

Various studies on the method of ship collision risk assessment for alarm have been reported constantly, and the result of the studies is applied to navigation devices. However, it is known that navigators ignore or turn off frequent alarms from the devices of predicting collision risk, because they may avoid collisions in the most of situations. In oder to make the prediction of ship collision risk more useful, it is necessary to consider the customary actions of ship collision avoidance. This paper proposes a system of analyzing collision avoidance measures of ships according to the types of encounter and managing the avoidance history of each ship. The core module of the system is designed as a neuro-fuzzy based inference system, and the test of the module validates the proposed system.

• Knowledge Management Research
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• v.23 no.3
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• pp.45-64
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• 2022

With the increasing use of social media, the occurrence of cyber crimes on social media has also increased. In this paper, we focus on online sexual harassment among various cyber crimes and discuss how social media users use social media to avoid online sexual harassment. Drawing on threat avoidance theory, the factors affecting avoidance motivation were identified. Avoidance motivation was measured based on the affordance of social media, and the influence of the degree of sexualization was tested to examine how environmental factors affect motivation behavior. The results indicated that the more users perceived sexualization on social media, the lower their motivation to avoid sexual harassment. Thus, it is important to create an atmosphere on social media where crime is minimized, and users are able to respond appropriately by continuously managing their accounts on these platforms.