• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.568-576
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• 1999

Using a laser sheet beam projector combined with a CCD-Camera, an efficient technique to recognize complex surface of curvature and lane has been demonstrated for the purpose of mobile robot navigation. In general, obstacles of indoor environments in the field of SLIT-RAY plane are captured as segments of an elliptical arc and a line in the camera image. The robot has been capable of moving along around the obstacle in front of it, by recognizing the original shape of each segment with the differential coefficient by means of least squares method. In this technique, the imaged pixels of each segment, particularly elliptical arc, have been converted into a corresponding circular arc in the real-world coordinates so as to make more feasible the image processing for the position and radius measurement than conventional way based on direct elliptical are analyses. Advantages over direct elliptical cases include 1) higher measurement accuracy and shorter processing time because the circular arc process can reduce the shape-specifying parameters, 2) no complicated factor such as the tilt of elliptical arc axis in the image plane, which produces the capability to find column position and radiua regardless of the camera location . These are essentially required for a mobile robot application. This technique yields an accuracy less than 2cm for a 28.5cm radius column located in the range of 70-250cm distance from the robot. The accuracy obtained in this study is sufficient enough to navigate a cleaning robot which operates in indoor environments.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1048-1053
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• 2005

This paper presents design and integration of the ROBHAZ-DT3, which is a newly developed mobile robot system with chained double-track mechanisms. A passive adaptation mechanism equipped between the front and rear body enables the ROBHAZ-DT3 to have good adaptability to uneven terrains including stairs. The passive adaptation mechanism reduces energy consumption when moving on uneven terrain as well as its simplicity in design and remote control, since no actuator is necessary for adaptation. Based on this novel mobile platform, a rescue version of the ROBHAZ-DT3 with appropriate sensors and a semi-autonomous mapping and localization algorithm is developed to participate in the RoboCup2004 US-Open: Urban Search and Rescue Competition. From the various experiments in the realistic rescue arena, we can verify that the ROBHAZ-DT3 is reliable in traveling rugged terrain and the proposed mapping and localization algorithm are effective in the unstructured environment with uneven ground. The another application is an military robot for an EOD(Explosive Ordnance Disposal) and reconnaissance mission. The military version of the ROBHAZ-DT3 with a water disrupter, a thermal scope and a long distance wireless communication device is developed and sent to the area of military tactics in Iraq. Consequently, the feasibility of the military version of ROBHAZ-DT3 is verified.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.848-855
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• 2008

In this paper, we describe correspondence among multiple images taken by multiple cameras. The correspondence among multiple views is an interesting problem which often appears in the application like visual surveillance or gesture recognition system. We use the principal axis and the ground plane homography to estimate foot of human. The principal axis belongs to the subtracted silhouette-based region of human using subtraction of the predetermined multiple background models with current image which includes moving person. For the calculation of the ground plane homography, we use landmarks on the ground plane in 3D space. Thus the ground plane homography means the relation of two common points in different views. In the normal human being, the foot of human has an exactly same position in the 3D space and we represent it to the intersection in this paper. The intersection occurs when the principal axis in an image crosses to the transformed ground plane from other image. However the positions of the intersection are different depend on camera views. Therefore we construct the correspondence that means the relationship between the intersection in current image and the transformed intersection from other image by homography. Those correspondences should confirm within a short distance measuring in the top viewed plane. Thus, we track a person by these corresponding points on the ground plane. Experimental result shows the accuracy of the proposed algorithm has almost 90% of detecting person for tracking based on correspondence of intersections.

• Journal of the Korean Association of Geographic Information Studies
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• v.11 no.3
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• pp.68-79
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• 2008

Ground vehicle borne system which is named RoSSAV(Road Safety Survey and Analysis Vehicle) developed in KICT(Korea Institute of Construction Technology) can collect road geometric data. This system therefore is able to evaluate the road safety and analyze road deficient sections using data collected along the roads. The purpose of this study is to extract road geometric data for 3D road modeling in dangerous road section and The system should be able to quickly provide more accurate data. Various sensors(circular laser scanner, GPS, INS, CCD camera and DMI) are installed in moving object and collect road environment data. Finally, We extract 3d road geometry(center, boundary), road facility and slope using integrated multi-sensor data.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.5
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• pp.88-99
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• 2018

In Korea, there is no clear regulation about right of way (ROW) for personal mobility device (PMD). So it is now illegal to use PMD in a space other than roadway. PMD has an advantage of being able to travel a long distance to move on foot with a relatively high speed, so it seems to spread widely in the near future. In this study, we'd like to establish the permission criteria for PMD in sidewalk, with the performance factors of the PMD. We review the cases of ROW of PMD in some foreign countries, and the performance standards for similar products that are currently allowed to use in the sidewalk or used in the sidewalk. Based on the maintenance standards for the sidewalk, we establish criteria to select the PMD moving means that can be used in sidewalk.

• Korean Journal of Health Education and Promotion
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• v.11 no.2
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• pp.68-86
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• 1994

In order to provide data of effective health education for practice of preventive health behavior for visual acuity care. The authors investgated the actual acuity and health behavior for visual acuity care. The subjects of this study were 2250 students in high school. The data were collected by questionnaire developed for the purpose of this study which has been made through references and student's health record. The results were as follows, 1) As students move up to grade, the number of students with decreased visual acuity had a tendency to increase. In cases with decreased visual acuity below 0.2 in one or both eye, the number of cases was increased in accordance with moving up to grade, especially visual acuity of right eye was more decreased than that of left eye. 2) As to proportion of the group with decreased visual acuity among the total students, among 2250 students, students with decreased visual acuity was 35.6%(800 students). According to school type, in academic school, frequency of students with decreased visual acuity in day school was higher then that in night school. In commercial school, the frequency of students who had decreased visual acuity in night school were higher than that of students in day school. 3) As to variables influencing the decreased visual activity, there was a significant different between groups with normal visual acuity and groups with subnormal in terms of awareness of visual acuity by themself, parent's visual acuity, unbalanced eating habit, distance from television, or books, posture in watching television, posture in reading, awareness of illumination in classroom. 4) As to practice of protective and preventive health behavior for visual acuity care, In group with normal visual acuity. There was good practice such as proper eating habit, proper studying habit, and health habit in its descending order, but proper illumination and regular eye test were practiced poorly. In group with subnormal visual acuity, one of the vest practice in visual acuity care was an effort to prevent eye strain. Other good practice involve tasking regular eye test, maintaining proper studing habit, in its descending order.

• The Journal of Korean Institute for Practical Engineering Education
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• v.4 no.1
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• pp.80-85
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• 2012

The importance of warehouse is increasing since the role of warehouse in modern industry is changing from concept of storage to concept of circulation which facilitates purchasing, production, storage and distribution activities by induction of information system. In this study, a program is developed using C# for evaluating efficiency of automated storage and retrieval system(AS/RS). A simulation work is done for eight operating schemes under the combination of three conditions, which are storing method, the shape of automatic warehouse and the sequence of command performs, and the moving distance of stacker crane is calculated using the same gateway data. Using this program, the optimal operating scheme can be proposed based on the analyzed results of simulation. This progrm shows the effectiveness and applicability through the simulation work and can be utilized for courses which are related to factory facilities.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.8
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• pp.1605-1614
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• 2009

The technique of simultaneous localization and mapping is the most important research topic in mobile robotics. In the process of building a map in its available memory, the robot memorizes environmental information on the plane of grid or topology. Several approaches about this technique have been presented so far, but most of them use mapping technique as either grid-based map or topology-based map. In this paper we propose a frame of solving the SLAM problem of linking map covering, map building, localizing, path finding and obstacle avoiding in an automatic way. Some algorithms integrating grid and topology map are considered and this make the SLAM performance faster and more stable. The proposed scheme uses an occupancy grid map in representing the environment and then formulate topological information in path finding by A${\ast}$ algorithm. The mapping process is shown and the shortest path is decided on grid based map. Then topological information such as direction, distance is calculated on simulator program then transmitted to robot hardware devices. The localization process and the dynamic obstacle avoidance can be accomplished by topological information on grid map. While mapping and moving, pose of the robot is adjusted for correct localization by implementing additional pixel based image layer and tracking some features. A laser range finer and electronic compass systems are implemented on the mobile robot and DC geared motor wheels are individually controlled by the adaptive PD control method. Simulations and experimental results show its performance and efficiency of the proposed scheme are increased.

• Fashion & Textile Research Journal
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• v.4 no.2
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• pp.145-155
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• 2002

In order to investigate how upper limb motion gives influence on clothing, this study measured tests by following standards: Front Vertical motion, Side-Vertical motion, and Horizontal motion. For this study, the procedures in the order of alphabet are applied. A. Eeach of testee's pattern was copied by the motion with a method of tight fitting technique. B. Analyzing each of the size-change on measuring item. C. Studying the moving aspects at each datum points. The results shows that the biggest change can be found in the following items. 1) In vertical motion of F4 (the length to shoulder point from A-point) 2) In horizontal motion of F5 (the length to front-width point from A-point), the check-result gained by checking the notice between motions shows that the most noticeable items are F4 (the length to shoulder point from A-point), F5 (the length to front-width point from A-point), F6 (the length to armpit point from A-point), B7 (the length to side-waist point from B-point). In result of the study of datum point's movement by motion, the items which were measured with the longest on straight-distance in vertical motion are the front and rear-shoulder, and the rear-shoulder, front-armpit in horizontal motion each. In the movement of each datum points by length, the check-result gained by checking the notice between motions shows that the most remarkable item is the front-shoulder.

• The Journal of the Acoustical Society of Korea
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• v.31 no.2
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• pp.107-113
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• 2012

In this paper, we have analyzed the performance of space diversity technologies using experimental data in order to analyze the usability of space diversity techniques in underwater channel environments. After analyzing the experimental data we found out that high diversity gain should not be expected when using a stationary transmitter with a stationary receivers in swallow underwater channel. And we also find out that the distance between sensors should be at least 8 wavelengths apart to take advantage of diversity gain in underwater moving channel environments.