• 융합보안논문지
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• 제17권2호
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• pp.81-88
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• 2017

암호화된 공간데이터베이스와 같은 최근의 여러 응용에서는 질의 기준이 최대근접객체가 되는 객체들을 찾는 역최대 근접질의가 자주 발생한다. 실세계의 검색공간에는 강, 호수 그리고 고속도로 등과 같은 다양한 장애물이 존재하며, 이러한 환경에서 검색성능을 높이기 위해서는 장애물을 고려한 검색거리 측도가 반드시 필요하다. 본 연구에서는 장애물이 존재하는 검색공간에서 역최대근접질의 처리를 최적화하기 위한 검색거리 측도들과 질의처리 알고리즘을 제시한다.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2004년도 SMICS 2004 International Symposium on Maritime and Communication Sciences
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• pp.100-105
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• 2004

In this paper, we propose a method to avoid obstacles that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. When a chaos robot meets an obstacle in a Lorenz equation or Hamilton equation trajectory, the obstacle reflects the robot. We also show computer simulation results for avoidance obstacle which fixed obstacles and hidden obstacles of Lorenz equation and Hamilton equation chaos trajectories with one or more Van der Pol obstacles

• International journal of advanced smart convergence
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• 제8권2호
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• pp.30-38
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• 2019

Recently, the spread of personal mobility has been rapidly increasing due to the development of environmentally friendly alternative transportation means. In addition, the level of battery technology is also rapidly developing, accelerating the popularization of personal mobility. Such personal mobility has convenience of location transfer, amusement, and high portability compared to other transportation devices. Most personal mobility, however, is made up of small wheels, which cannot overcome obstacles such as rugged roads or obstacles on the road. In this paper, to solve these problems, we tried to devise a device that can easily overcome obstacles by combining wheels with small moving means. The wheel size can be mounted on the front wheel of the small moving means in a protruding manner so that obstacles can be encountered before the front wheels and the safety and ride comfort of the running can be improved.

• 한국지능시스템학회논문지
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• 제17권2호
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• pp.259-264
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• 2007

본 본문은 Arnold 방정식, Chua's 방정식과 같은 여러 종류의 카오스 회로를 이동 로봇에 내장하여 카오스 이동 로봇을 구성하고 이 카오스 이동 로봇이 어느 임의 평면을 카오스 궤적을 가지고 탐색하다가 장해물을 만나거나 근접하게 되면 장해물을 회피하는 방법과 목표물을 만나면 목표물을 집중 탐색하는 방법을 제시하고 그 결과를 검증하였다. 장해물 회피를 위해서 장해물을 고정 장해물과 BVP 모델을 이용한 은닉 장해물로 장해물을 가정하여 카오스 궤적을 가지고 회피하도록 하는 알고리즘을 개발하고 목표물 탐색을 위해서 BVP 모델을 이용하여 목표물로 가정하여 카오스 궤적을 가지고 집중적으로 탐색하도록 하는 알고리즘을 개발하고 그 결과를 검증하였으며 이에 대한 타당성을 확인하였다.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1102-1107
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• 2009

An ultrasonic sensor has been widely used as a range sensor for its low cost and capability of detecting some obstacles, such as glasses and black surfaces, which are not well detected by a laser scanner and an IR sensor. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to obstacle avoidance using low-cost anisotropic ultrasonic sensors with wide beam angle. In this paper, obstacles can be detected by the proposed sensor configuration which consists of one transmitter and three receivers. Because even wide obstacles are represented by a point, which corresponds to the intersection of range data from each receiver of the anisotropic sensor, a robot cannot avoid wide obstacles successfully. This paper exploits the probabilistic mapping technique to avoid collision with various types of obstacles. The experimental results show that the proposed method can robustly avoid obstacles in most indoor environments.

• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.93-100
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• 2007

The mobile robots to rescue a life in a disaster area and to explore planets demand high mobility as well as recognition of the environment. To avoid unknown obstacles exactly in unknown environment, accurate sensing is required. This paper proposes a sensor fusion to recognize unknown obstacles accurately by using low-cost sensors. Ultrasonic sensors and infrared sensors are used in this paper to avoid obstacles. If only one of these sensors is used alone, it is not useful fer the mobile robots to complete their tasks in the real world since the surrounding environment in the real world is complex and composed of many kinds of materials. So infrared sensor may not recognize transparent or reflective obstacles and ultrasonic sensor may not recognize narrow obstacles, far example, columns of small diameter. Therefore, I selected six ultrasonic sensors and five infrared sensors to detect obstacles. Then, I fused ultrasonic sensors with infrared sensors in order that both advantages and disadvantages of each sensor are utilized together. In fusing sensors, fuzzy algorithm is used to cope with the uncertainties of each sensor. TAMRY which is terrain-adaptive mobile robot is used as the mobile robot for experiments.

• 제어로봇시스템학회논문지
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• 제20권10호
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• pp.1067-1072
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• 2014

The ability to overcome obstacles is necessary for field robots for various applications including the ability to climb stairs. While much research has been performed focusing on overcoming obstacles, the resulting robots do not have sufficient ability to overcome obstacles such as stairs. In this research, the purpose is to overcome relatively large obstacles by flipping locomotion through the modification of the stair climbing robotic platform of the previous research. We propose two scenarios to overcome large obstacles: a rear wheel driving system and an elevation system using a ball screw. The research is performed based on static analyses on obstacle-climbing. As the simulation results indicate, we determined the optimal posture of the robot for climbing obstacles for rear wheel driving. Also, an elevation system is analyzed for obstacle climbing. Between the two scenarios an elevation system is determined to reduce the operating torque of the actuator, and the prototype was recently assembled. The climbing ability of the robotic platform is verified. We expect the application area for this robotic platform will be in accident areas of nuclear power plants.

• 한국건설관리학회논문집
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• 제17권3호
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• pp.81-89
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• 2016

국내 건설기업들의 수익성 악화로 인한 내실 경영이 중요한 화두가 되고 있는 현 시점에서 본 연구는 실행예산 편성 업무에서 나타나는 애로요인을 도출하고 이들 애로요인에서 나타나는 주요 특징과 시사점을 분석하기 위한 목적으로 수행되었다. 종합건설사의 견적과 공무의 경험이 있는 전문가들을 대상으로 설문조사와 인터뷰조사를 통하여 실행예산 편성업무의 6개 애로요인군(群)과 18개 애로요인에 대하여 분석을 실시하였다. 그 결과는 실행 편성 업무에서 다양한 애로요인이 존재하지만 각 애로요인에는 경중이 있으며 우선적으로 주목하고 대비할 애로요인이 존재하는 것으로 나타났다. 또한 실행 예산 편성업무에서 나타나는 어려움을 최소화하기 위해 해결해야 할 가장 중요한 현안은 협력업체의 견적능력 역량 강화와 견적전문가 양성 및 안정적인 운영인 것으로 나타났다.

• 대한기계학회논문집A
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• 제38권11호
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• pp.1193-1199
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• 2014

서비스 로봇이 충돌안전성을 확보한 상태에서 고속 주행 임무를 수행하기 위해서는 동적 장애물의 속도를 고려한 궤적 계획이 필요하다. 정적 장애물만을 고려한 상태에서 궤적을 계획하는 경우 장애물과의 상대속도로 인해서 로봇이 장애물과 충돌할 수 있다. 본 연구에서는 동적 장애물의 속도를 고려한 궤적시간조정기법을 제안한다. 제안된 기법을 통해서 기존에 생성된 궤적의 시간을 조정해서 장애물 회피가 가능한지를 평가할 수 있다. 만일 회피가 불가능할 경우 생성된 경로가 아닌 다른 경로를 선택할 수 있다. 모의 시험 결과를 통해서 제안된 기법을 통해서 짧은 시간 내에 장애물 회피를 수행할 수 있음을 보였다.

• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.463-468
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• 2010

An obstacle avoidance method for a mobile robot is proposed in this paper. Our research was focused on the obstacles that can be found indoors since a robot is usually used within a building. It is necessary that the robot maintain the desired direction after successfully avoiding the obstacles to achieve a good autonomous navigation performance for the specified project mission. Sensors such as laser, ultrasound, and PSD (Position Sensitive Detector) can be used to detect and analyze the obstacles. A PSD sensor was used to detect and measure the height and width of the obstacles on the floor. The PSD sensor was carefully calibrated before measuring the obstacles to achieve better accuracy. Data obtained from the repeated experiments were used to plot an error graph which was fitted to a polynomial curve. The polynomial equation was used to navigate the robot. We also obtained a direction-error model of the robot after avoiding the obstacles. The prototypes for the obstacle and direction-error were modeled using a neural network whose inputs are the obstacle height, robot speed, direction of the wheels, and the error in direction. A mobile robot operated by a notebook computer was setup and the proposed algorithm was used to navigate the robot and avoid the obstacles. The results showed that our algorithm performed very well during the experiments.