• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.451-456
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• 2009

In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.1
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• pp.63-73
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• 2021

This paper presents a algorithm for automatic target recognition robust to the influence of the flame in order to track the target by EOTS(Electro-Optical Targeting System) equipped on UAV(Unmanned Aerial Vehicle) when there is aerial target or marine target with flame at the same time. The proposed method converts infrared images of targets and flames into a gradient vector field, and applies each gradient magnitude to a polynomial curve fitting technique to extract polynomial coefficients, and learns them in a shallow neural network model to automatically recognize targets and flames. The performance of the proposed technique was confirmed by utilizing the various infrared image database of the target and flame. Using this algorithm, it can be applied to areas where collision avoidance, forest fire detection, automatic detection and recognition of targets in the air and sea during automatic flight of unmanned aircraft.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.3
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• pp.155-160
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• 2002

This paper focuses on the problem of local obstacle avoidance of mobile robots. To solve this problem, the safety direction section search algorithm is suggested. This concept is mainly composed with non-collision section and collision section from the detecting area of laser scanning sensor. Then, we will search for the most suitable direction in these sections. The proposed local motion planning method is simple and requires less computation than others. An environment model is developed using the vector space concept to determine robot motion direction taking the target direction, obstacle configuration, and robot trajectory into account. Since the motion command is obtained considering motion dynamics, it results in smooth and fast as well as safe movement. Using the mobile base, the proposed obstacle avoidance method is tested, especially in the environment with pillar, wall and some doors. Also, the proposed autonomous motion planning and control algorithm are tested extensively. The experimental results show the proposed method yields safe and stable robot motion through the motion speed is not so fast.

• Journal of Korea Game Society
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• v.19 no.6
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• pp.99-106
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• 2019

This paper addresses a method to compute the closest approach distance between two ellipsoids in their inter-center direction. This is the key technique for collision detection and response between ellipsoids. We formulate a set of conditions with the inter-center distance, the contact point and the contact normal vector of the two externally-contacting ellipsoids. The equations are solved robustly and efficiently using a hybrid of Newton's method and the bisection method with root bracketing. We demonstrate the robustness and efficiency of the proposed method in various experiments.

• Proceedings of the Korean Information Science Society Conference
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• 2007.10d
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• pp.520-524
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• 2007

제한된 전지를 사용하는 노드들로 이루어진 이동 애드혹 네트워크 환경에서 멀티 홉 간의 에너지 효율적인 경로 설정은 매우 중요한 이슈이다. 이러한 문제를 해결하기 위해서 본 논문에서는 이동 애드혹 네트워크 환경에서 자주 사용되는 라우팅 프로토콜 중 하나인 AODV(Ad-hoc On-demand Distance Vector) 라우팅 프로토콜을 기반으로, 네트워크 계층과 MAC계층의 자원을 크로스 레이어 기법을 활용하여 에너지 효율적인 크로스 레이어 라우팅 프로토콜을 제안한다. 네트워크 계층에서의 이웃노드에 관한 상태 정보를 크로스 레이어 기법을 활용하여 MAC 계층의 back-off time을 적절히 조절함으로써 프레임의 충돌을 줄이고, 패킷의 경로를 설정하는데 있어서 신뢰성과 효율성을 부여하기 위한 방법으로 MAC계층의 자원을 활용하여 얻은 Collision-Level을 사용한다. 또한 Collision Level은 패킷 경로 선택에 사용되는 지연시간을 적응성 있게 줄이는 자원으로 사용된다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.470-471
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• 2011

As the increase in maritime traffic and leisure, the marine accident risk has increased in the domestic coast. In this paper, we propose an anti-collision system between vessels using the shortest distance and the time to reach the distance in maritime. the shortest distance and the time to reach the distance calculated with vector analysis using AIS information, a prototype is implemented for smartphone application.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.15 no.4
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• pp.251-259
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• 2015

In this paper, a ship detection method is proposed; this method uses edge-based segmentation and histogram of oriented gradient (HOG) with the ship size ratio. The proposed method can prevent a marine collision accident by detecting ships at close range. Furthermore, unlike radar, the method can detect ships that have small size and absorb radio waves because it involves the use of a vision-based system. This system performs three operations. First, the foreground is separated from the background and candidates are detected using Sobel edge detection and morphological operations in the edge-based segmentation part. Second, features are extracted by employing HOG descriptors with the ship size ratio from the detected candidate. Finally, a support vector machine (SVM) verifies whether the candidates are ships. The performance of these methods is demonstrated by comparing their results with the results of other segmentation methods using eight-fold cross validation for the experimental results.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.499-505
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• 2004

In this paper, we studied about AGVs modeling and material handling automation simulation using a virtual AGV. The proposed virtual AGV model that operates independently each other is based on a real AGV. Continuous straight-line and workstation model using vector drawing method that could easily, rapidly work system modeling are suggested. Centralized traffic control, which could collision avoidance in intersection and should not stop AGV as possible, and algorithm for detour routing which performs when another AGV is working in pre-routed path are proposed. The traffic control and the algorithm have been proved efficience by simulation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.8
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• pp.2027-2041
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• 2013

In this paper, we propose a novel reversible data hiding scheme in the index tables of the vector quantization (VQ) compressed images based on index set construction strategy. On the sender side, three index sets are constructed, in which the first set and the second set include the indices with greater and less occurrence numbers in the given VQ index table, respectively. The index values in the index table belonging to the second set are added with prefixes from the third set to eliminate the collision with the two derived mapping sets of the first set, and this operation of adding prefixes has data hiding capability additionally. The main data embedding procedure can be achieved easily by mapping the index values in the first set to the corresponding values in the two derived mapping sets. The same three index sets reconstructed on the receiver side ensure the correctness of secret data extraction and the lossless recovery of index table. Experimental results demonstrate the effectiveness of the proposed scheme.

• Bulletin of the Korean Chemical Society
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• v.31 no.10
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• pp.2841-2848
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• 2010

Quasiclassical trajectory (QCT) method has been used to investigate stereodynamics information of the reaction $O(^1D)+H_2{\rightarrow}\;OH$+H on the DK (Dobbyn and Knowles) potential energy surface (PES) at a collision energy of 23.06 kcal/mol, with the initial quantum state of reactant $H_2$ being set for v = 0 (vibration quantum number) and j = 0-5 (rotation quantum number). The PDDCSs (polarization dependent differential cross sections) and the distributions of P($\theta_r$), P($\phi_r$), P($\theta_r$, $\phi_r$) have been presented in this work. The results demonstrate that the products are both forward and backward scattered. As j increases, the backward scattering becomes weaker while the forward scattering becomes slightly stronger. The distribution of P($\theta_r$) indicates that the product rotational angular momentum j' tends to align along the direction perpendicular to the reagent relative velocity vector k, but this kind of product alignment is found to be rather insensitive to j. Furthermore, the distribution of P($\phi_r$) indicates that the rotational angular momentum vector of the OH product is preferentially oriented along the positive direction of y-axis, and such product orientation becomes stronger with increasing j.