• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.1
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• pp.92-98
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• 2014

This paper proposes a hermite spline based D* algorithm for effective path planning of mobile robot to improve the detecting speed. In conventional path planning research, a robot is supposed to pass through predetermined centers of grid partitions of area. However it doesn't guarantee the optimal path during its navigation. In addition, a robot is hard to avoid obstacles effectively. The proposed algorithm in this paper makes use of stochastic characteristics of nonholonomic mobile robot and estimation of shortest path to curvature movement of the robot. The performance evaluation of the improved spline D* algorithm performed through simulation shows its effectiveness. Moreover, the experiment verifies that a robot can find the shortest path by building the curve paths while it is moving on the path in spline.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.155-163
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• 2000

This paper presents a path planning method of the sensor based intelligent vehicle using fuzzy logic controller for avoidance of moving obstacles in unknown environments. Generally it is too difficult and complicated to control intelligent vehicle properly by recognizing unknown terrain with sensors because the great amount of imprecise and ambiguous information has to be considered. In this respect a fuzzy logic can manage such the enormous information in a quite efficient manner. Furthermore it is necessary to use the relative velocity to consider the mobility of obstacles, In order to avoid moving obstacles we must deliberate not only vehicle's relative speed toward obstacles but also self-determined acceleration and steering for the satisfaction of avoidance efficiency. In this study all the primary factors mentioned before are used as the input elements of fuzzy controllers and output signals to control velocity and steering angle of the vehicle. The main purpose of this study is to develop fuzzy controllers for avoiding collision with moving obstacles when they approach the vehicle travelling with straight line and for returning to original trajectory. The ability are and effectiveness of the proposed algorithm are demonstrated by simulations and experiments.

• Journal of information and communication convergence engineering
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• v.8 no.4
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• pp.349-354
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• 2010

Moving pixel displacement detection algorithm using correlation functions for making panorama image on the continuous images is presented in this paper. The input images get from a CMOS image sensor (CIS). The camera is maintained by constant brightness and uniform sensing area in test input pattern. For simple navigation and capture image has to 70% overlapped region. A correlation rate in two image data is evaluated by using reference image with first captures, and compare image with next captures. The displacement of the two images are expressed to second order function of x, y and solved with finding the coefficient in second order function. That results in the change in the peak correlation displacement from the reference to the compare image, is moving to pixel length. The navigating error is reduced by varying the path because the error is shown in the difference of the positioning vector between the true pixel position and the navigated pixel position. The algorithm performance is evaluated to be different from the error vector to vary the navigating path grid.

• Journal of the Korea Convergence Society
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• v.10 no.4
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• pp.39-43
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• 2019

The gantry of surface mount equipment (SMD) is responsible for transferring parts from the feeder to the PCB. At this time, the moving time of the gantry affects the yield. Therefore, in this paper, we propose the fastest path from the suction to the mounting to reduce the gantry travel time. This path is a case where the velocity in front of the camera is 2m/sec due to the nature of the gantry. Therefore, the trajectory graph of this case was created through simulation and the travel time was calculated. As a result, we can see that the moving time of the moving-motion method proposed in this paper is 20% shorter than the current stop-motion method.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.11
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• pp.204-212
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• 1999

In this paper, the vibrational motion of a flexible beam clamped on a translating base and carrying a moving mass is investigated. The equations of motion which describe the total dynamics of the beam-mass-cart system are derived and the coupled dynamic equations are solved by unconstrained modal analysis. In modal analysis, the exact normal mode solutions corresponding to the eigenfrequencies for the position of the moving mass and the ratios of the mass of the flexible beam, the moving mass and the base cart are used. Proper transformations of the time solutions between the normal modes for a position and those for the next position of the moving mass are also adopted. Numerical simulations are carried out to obtain the open-loop responses of the system in tracking the pre-designed path of the moving mass.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.10
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• pp.58-66
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• 2008

In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, therefore, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.12
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• pp.1054-1060
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• 2013

This paper proposes a vehicle ad-hoc network (VANET) routing algorithm to reduce the probability of routing path discontinuity in urban intersections. In urban intersections, the vehicles may frequently change their moving directions. It can cause the disconnection of routing path and the increase of a packet transmission delay. In order to resolve this problem, the proposed routing algorithm exploits the information of moving directions in urban intersections. In this way, the proposed algorithm can reduce the probability of the local maximum which causes the increase of the number of routing hops and packet transmission delay. Simulation results show that the proposed algorithm can reduce the local maximum probability by 10% and increase the successful packet transmission ratio by 5% compared to the conventional VANET routing algorithms.

• Journal of Korea Society of Digital Industry and Information Management
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• v.9 no.2
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• pp.41-54
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• 2013

In this paper, We collected location based services of the user's past moving paths through the GPS. Using the collected by location-based services through the analysis of the similarity between the user's of service level agreement recommended of mobile contact area(SLA) proposed that can be. S-RCA method based on Service Level Agreement of the users in order to provide the service user's path distance, time, and to predict the direction of the movement paths and collect. The data collected by the interests and requirements of users through classification with the same interests and the needs of users to move between the analysis of the similarity between the path is used to analyze the results of analysis of the path-specific tolerance range (distance, time, and space) is determined according to the difference in the contact area. From a small area of the error range for users first to recommended and through their smartphones recommended contact area (S-RCA) to meet with the other party to make a choice of recommended methods. We verify through experiments that proposed method(S-RCA) a valid and reliable mobile contact area were recommended.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.107-110
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• 2008

In this study, we propose a system for setting a Destination on CNS(Car Navigation System) or PNS(Personal Navigation System). The present Navigation does set the destination by only static method like name search, address search and wire telegraph telephone number search. But, the kind of setting a static destination does not reflect the dynamic moving situation. So we suggest setting the destination of navigation using Identifier of moving terminal. And it includes privacy protection on personal position information

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3083-3085
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• 1999

This paper presents an algorithm that the mobile robot track accurately a moving object with information from a CCD camera mounted on mobile robot. Singular Value Decomposition is adapted to remove the measurement noise of a Raw data of CCD. The mobile robot estimate the trajectory using Kalman filter and track the path of a moving object with a servo motor. Computer simulation results are showed that the efficient tracking system for the mobile robot is designed properly.