• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.832-835
• /
• 2004

In this paper, we implement a sensor which can perceive obstacles. We constructed it with a laser emitting a structured light and a small pc camera. It is cheap and can measure the precise sizes of the obstacles. Ultrasonic arrays and laser scanners are used generally to perceive obstacles in the autonomous mobile robot until now. However we knew that they can perceive big obstacles well, but cannot perceive small obstacles on the ground by experiments. We mounted this equipment to our robot and use it to perceive the obstacles of the front side. Our robot can recognize the obstacles of 10mm height. We expect that this equipment will be useful because it is cheap but work well.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제11권1호
• /
• pp.202-210
• /
• 2019

The obstacles modeling is a fundamental and significant issue for path planning and automatic navigation of Unmanned Surface Vehicle (USV). In this study, we propose a novel obstacles modeling method based on high resolution satellite images. It involves two main steps: extraction of obstacle features and construction of convex hulls. To extract the obstacle features, a series of operations such as sea-land segmentation, obstacles details enhancement, and morphological transformations are applied. Furthermore, an efficient algorithm is proposed to mask the obstacles into convex hulls, which mainly includes the cluster analysis of obstacles area and the determination rules of edge points. Experimental results demonstrate that the models achieved by the proposed method and the manual have high similarity. As an application, the model is used to find the optimal path for USV. The study shows that the obstacles modeling method is feasible, and it can be applied to USV path planning.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
• /
• pp.372-374
• /
• 2009

In this research, an obstacle avoidance method is proposed. The common usage of a robot is indoor and the obstacles to the indoor robot is studied. The accurate detection of direction after overcoming the obstacles is necessary for performance of autonomous navigation and mission project. The sensors such as Laser, Ultrasound, PSD can be used to measure the obstacles. In this research, a PSD sensor is used to detect obstacles. It detects the height and width of obstacles located on the floor. Before measuring the obstacles, a calibration of the sensor was done and it produced a better accuracy. We have plotted an error graph using data obtained from the repeated experiments. The graph is fitted to a polynomial curve. The polynomial equation is used for the robot navigation. And in this research, a model of the error of the direction of the robot after overcoming obstacles was obtained also. The prototype of the obstacle and the error of the direction after overcoming the obstacles are modelled using a neural networks. The input of the neural network composed with the height of the obstacles, the speed of robot, the direction of wheels and the error of the direction. To implement the suggested algorithm, we set up a robot which is operated by a notebook computer. Experiment showed the suggested algorithm performed well.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.463-466
• /
• 2004

This paper describes an image processing algorithm for recognition of small-obstacles using a camera and program for a mobile robot in indoor environment. Mobile robot could meet small-obstacles such as a small plastic bottle of about 1l in quantity, a small box of 7$\times$7$\times$7 cm$^3$ in volume, and so on in its designated path, and could be disturbed by them in the locomotion of a mobile robot. So, it is necessary to research on the image processing algorithm for recognition of small-obstacles using a camera and program. In this paper, 2-D the image processing algorithm for recognition of small-obstacles using a camera and program for a mobile robot in indoor environment was developed. The characteristic test of the developed program to confirm the recognition of small-obstacles was performed. It is shown that the developed program could recognize small-obstacles accurately.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2004년도 춘계학술대회 학술발표 논문집 제14권 제1호
• /
• pp.139-143
• /
• 2004

Lee et al have proposed a framework for the linguistic map-based navigational planning of a mobile robot on dynamic environment and provided simulation results applied it to the static environment[1], In this paper, we extends the navigational planning of a mobile robot into dynamic environment. There are two kinds of dynamic obstacles： (1) Time-obstacles that change condition of obstacles with time. (2) Space-obstacles that move their position with time. We propose an algorithm which a mobile robot identifies and avoids the two kinds of dynamic obstacles. The proposed algorithm consists of two stages： (1) The fuzzy logic-based perception stage which identifies the dynamic obstacles around a mobile robot by using sensory data and fuzzy rules, (2) The planning stage which plans the path to goal by avoiding the dynamic obstacles[2-6]. We provide computer simulation results for a mobile robot in order to show the validity of the proposed algorithm.

• International Journal of Computer Science & Network Security
• /
• 제22권4호
• /
• pp.254-260
• /
• 2022

The purpose of this study was to identify the obstacles facing gifted students with learning disabilities (GSLDs) from the point of view of their teachers in the Makkah region and to find suggested solutions to overcome these obstacles. The study covered Makkah, Jeddah and Taif and used semi-structured interviews which included open-ended questions. The study findings indicated that there were several educational obstacles including the absence of adapted courses or specialized teachers for GSLDs category and the insufficient time for the students to express their talents. According to the findings, there were also societal obstacles including the society's failure to expect the presence of talents along with disabilities, or its denial or rejection of their talents in addition to ridiculing them. The findings also confirmed the existence of administrative obstacles including the lack of community partnership. There were also family obstacles such as the family's lack of encouragement for the students, and ignorance of the nature of GSLDs. The study came up with a number of solutions and proposals related to awareness, educational institutions, education and competitions for talented people with learning disabilities.

• 한국초등수학교육학회지
• /
• 제14권2호
• /
• pp.241-262
• /
• 2010

초등학생의 분수 덧셈 뺄셈 계산 과정의 분석을 통해서 다양한 인지적 장애 현상의 유형을 확인할 수 있었다. 이러한 분수 계산에서 나타나는 인지적 장애 현상의 원인을 인식론적, 심리적 요인으로 구분하여 분석하였다. 인식론적 요인으로는 과잉 일반화, 직관의 영향, 언어적 표현의 영향, 부분에만 주목하는 경향을, 심리적 요인으로는 도구적 이해, 오류적 개념 이미지, 자연수 계산에 대한 집착, 문제 조건 변형을 통한 개인적 이해 등을 확인할 수 있었다. 앞의 분석 결과를 바탕으로 학생들이 분수 계산에서 겪는 인지적 장애 극복을 위한 방안과 관련하여 다음의 결론을 얻었다. 첫째, 학생들 스스로 분수 덧셈과 뺄셈에 대한 잘못된 인식을 깨닫고 올바른 이해를 도울 수 있는 지도 방안의 고려가 필요하다. 둘째, 알고리즘과 형식화에 치중하기보다 다양한 활동을 통해 원리를 이해하도록 지도하는 활동이 무엇보다 중요하다. 인지적 장애는 선행 지식과의 관련성 외에 인식론적, 심리적 요인들의 복합적인 작용에 기인하므로 선행지식을 재지도하는 방식을 넘어 다양한 인지적 장애 원인을 고려한 수업 연구가 이루어져야 할 것으로 생각한다.

• 한국수학교육학회지시리즈C:초등수학교육
• /
• 제15권2호
• /
• pp.159-170
• /
• 2012

본 연구의 목적은 비와 비율 학습에서 나타나는 초등학교 학생들의 인식론적 장애의 유형을 분류하고 원인을 찾아내어 그에 따른 지도 방안을 제시하는 것이다. 이를 위해 그 동안 연구되어 온 선행 연구의 결과와 수학교과서와 지도서, TIMSS 2003, 2007 등 여러 자료들을 분석하여 비와 비율 검사지를 제작하였다. 이를 위해 서울시내 초등학교 5학년 학생 138명을 여러 지역을 고려하여 선정한 후 설문 및 면담을 하여 인식론적인 장애를 검사하였다. 검사지 결과 분석 및 면담 내용을 토대로 인식론적 장애의 유형을 크게 용어, 계산, 표현과 관련된 것의 세 가지로 분류되었다. 그리고 각 유형에 따른 원인과 지도 방안을 제시하고 비와 비율의 효과적인 학습을 위한 제언을 하였다.

• 로봇학회논문지
• /
• 제3권3호
• /
• pp.212-218
• /
• 2008

Collision avoidance is a fundamental and important task of an autonomous mobile robot for safe navigation in real environments with high uncertainty. Obstacles are classified into static and dynamic obstacles. It is difficult to avoid dynamic obstacles because the positions of dynamic obstacles are likely to change at any time. This paper proposes a scheme for vision-based avoidance of dynamic obstacles. This approach extracts object candidates that can be considered moving objects based on the labeling algorithm using depth information. Then it detects moving objects among object candidates using motion vectors. In case the motion vectors are not extracted, it can still detect the moving objects stably through their color information. A robot avoids the dynamic obstacle using the dynamic window approach (DWA) with the object path estimated from the information of the detected obstacles. The DWA is a well known technique for reactive collision avoidance. This paper also proposes an algorithm which autonomously registers the obstacle color. Therefore, a robot can navigate more safely and efficiently with the proposed scheme.

• 대한산업공학회지
• /
• 제28권1호
• /
• pp.25-35
• /
• 2002

This paper presents a heuristic algorithm that a mobile robot avoids obstacles using optical flow. Using optical flow, the mobile robot can easily avoid static obstacles without a prior position information as well as moving obstacles with unknown trajectories. The mobile robot in this paper is able to recognize the locations or routes of obstacles, which can be detected by obtaining 2-dimensional optical flow information from a CCD camera. It predicts the possibilities of crash with obstacles based on the comparison between planned routes and the obstacle routes. Then it modifies its driving route if necessary. Driving acceleration and angular velocity of mobile robot are applied as controlling variables of avoidance. The corresponding simulation test is performed to verify the effectiveness of these factors. The results of simulation show that the mobile robot can reach the goal with avoiding obstacles which have variable routes and speed.