• International Journal of Automotive Technology
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• v.7 no.3
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• pp.361-367
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• 2006

This paper describes a novel stereo vision based localization of free parking site, which recognizes the target position of automatic parking system. Pixel structure classification and feature based stereo matching extract the 3D information of parking site in real time. The pixel structure represents intensity configuration around a pixel and the feature based stereo matching uses step-by-step investigation strategy to reduce computational load. This paper considers only parking site divided by marking, which is generally drawn according to relevant standards. Parking site marking is separated by plane surface constraint and is transformed into bird's eye view, on which template matching is performed to determine the location of parking site. Obstacle depth map, which is generated from the disparity of adjacent vehicles, can be used as the guideline of template matching by limiting search range and orientation. Proposed method using both the obstacle depth map and the bird's eye view of parking site marking increases operation speed and robustness to visual noise by effectively limiting search range.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.10
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• pp.1479-1485
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• 2015

Robot's technology was very simple and repetitive in the past. Nowadays, robots are required to perform intelligent operation. So, path planning has been studied extensively to create a path from start position to the goal position. In this paper, potential field algorithm was used for path planning in dynamic environments. It is used for a path plan of mobile robot because it is elegant mathematical analysis and simplicity. However, there are some problems. The problems are collision risk, avoidance path, time attrition. In order to resolve path problems, we amalgamated potential field algorithm with the artificial neural network system. The input of the neural network system is set using relative velocity and location between the robot and the obstacle. The output of the neural network system is used for the weighting factor of the repulsive potential function. The potential field algorithm problem of mobile robot's path planning can be improved by using artificial neural network system. The suggested algorithm was verified by simulations in various dynamic environments.

• International Journal of Advanced Culture Technology
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• v.10 no.3
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• pp.371-376
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• 2022

The purpose of this study is to develop a walking assistance system with mobility support and life support functions so that the elderly with reduced physical ability and patients who are uncomfortable when moving can move comfortably indoors and outdoors, and help social life. An obstacle recognition sensor module that can be applied indoors and outdoors is installed on a lightweight walking aid. The purpose of this study is to develop a walking assistance system with mobility support and life support functions so that the elderly with reduced physical ability and patients who are uncomfortable when moving can move comfortably indoors and outdoors, and help social life. An obstacle recognition sensor module that can be applied indoors and outdoors is installed on a lightweight walking aid. It is a system structure of an integrated actuator and brake system that can avoid obstacles in consideration of the safety of the elderly and is easy to install on the device. In this paper, the design of a lightweight walking aid was designed to increase the convenience of the socially disadvantaged and the elderly with reduced exercise ability. In addition, in order to overcome the disadvantage of being inconvenient to use indoors due to the noise and vibration of the motor during operation, an In-Wheel type motor is applied to develop and apply a low noise, low vibration and high efficiency drive system.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.337-345
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• 2023

In this paper, we propose a 3D LiDAR sensor-based costmap generation and path planning algorithm using it for reliable autonomous flight in complex indoor environments. 3D path planning is essential for reliable operation of UAVs. However, existing grid search-based or random sampling-based path planning algorithms in 3D space require a large amount of computation, and UAVs with weight constraints require reliable path planning results in real time. To solve this problem, we propose a method that divides a 3D space into several 2D spaces and a path planning algorithm that considers the distance to obstacles within each space. Among the paths generated in each space, the final path (Best path) that the UAV will follow is determined through the proposed objective function, and for this purpose, we consider the rotation angle of the 2D space, the path length, and the previous best path information. The proposed methods have been verified through autonomous flight of UAVs in real environments, and shows reliable obstacle avoidance performance in various complex environments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.583-586
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• 2003

There are electric four-wheeled vehicles to assist elder people. Because of the vehicles'dynamic characteristic such as impossible to move abeam, it is difficult for these people who has little experience and has little knowledge to drive. Also to judge the future state of dynamic obstacles and to decide how to elude them safely are more difficult. We installed the predictive fuzzy controller(evaluates the future states which several kinds of operation candidates were done and chooses the best one) that modeled humans'algorithms in the system. Human predicts the future states of dynamic obstacles and chooses an operation(wait, steer, go back, etc) to elude safely. To elude dynamic obstacles flexibly, we added expert's knowledge for safe driving to this controller. In this paper, we propose the intelligent soft driving system by the controller that can elude dynamic obstacles safely, and we confirm the effectiveness by a simulation.

• Progress in Superconductivity
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• v.1 no.2
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• pp.105-109
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• 2000

We have designed and fabricated a single-flux-quantum(SFQ) four-stage shift register using YBCO bicrystal Josephson junctions, and tested its operations using a digital measurement set-up. The circuit consists of 4 shift register stages and a read SQUID placed next to each side of the shift register. Each SQUID was inductively coupled to the nearby shift register stage. The major obstacle in testing the circuits was the interference between the two read SQUIDs, and we could get over the problem by determining the correct operation points of the SQUID from the simultaneously measured modulation curves. Loaded data ('1' or '0') were successfully shifted from a stage to the next by a controlled current pulse injected to the bias lines located between the stages, and the corresponding correct data shifts were observed with the two read SQUIDs.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2611-2613
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• 2000

This paper deals with a novel approach to unknown inputs observer(UIO) design for linear time-invariant dynamical systems using a fast Walsh transform and Walsh function's differential operation. Generally, UIO has a derivation of system outputs which is not available from the measurement directly. And it is an obstacle to estimate the unknown inputs properly when unexpected measurement noises are presented. Therefore, this paper propose an algebraic approach to eliminate such problems by using a Walsh function's differential operation.

• Journal of Korean society of Dental Hygiene
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• v.16 no.1
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• pp.137-145
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• 2016

Objectives: The purpose of the study is to investigate the opinion of dental hygienists toward school dental clinic operation. Methods: The study was carried out by telephone or e-mail to the dental hygienists in 415 elementary school dental clinics from September 1 to 30, 2014. The questionnaires were collected from 208 school dental clinics. Except incomplete answers, 148 data were analyzed using SPSS 18.0 program. The self-reported questionnaire consisted of general characteristics of the subjects(7 items), operation of school dental clinic(5 items), obstacle to school dental clinic(10 items), and effective operation of school dental clinic(5 items). Results: The school dental clinic operation accounted for 68.7% and 90.6% of the respondents answered that it was very effective for the oral health improvement. The dental hygienists answered that the clinic operation was very effective in oral disease prevention(37.1%), oral health knowledge and behavior(32.8%), oral health behavior habit(29.3%), and oral health improvement(0.9%). The change of the current operation into full time employee accounted for 79.7% and only 16.1% agreed to current operation of clinic visit by the community health center. The results showed that need for dentist was 3.69 by Likert 5 point scale. Conclusions: The oral health policy must be established to develop and implement the oral health programs for the school clinics.

• Journal of Korean Society of Water and Wastewater
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• v.25 no.2
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• pp.177-184
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• 2011

Membrane fouling is an unavoidable phenomenon in operation of seawater reverse osmosis (SWRO) and major obstacle for economic and efficient operation. When fouling occurs on the membrane surface, the permeate flux is decreased, on the contrary, the trans-membrane pressure (TMP) is increased, therefore operation and maintaining costs and potential damage of membranes are able to the pivotal risks of the process. Chemical cleaning process is essential to prevent interruptions for effective RO membrane filtration process. This study focused on proper chemical cleaning condition for polyamide RO membranes of 4 companies. Several chemical agents were applied for chemical cleaning under numbers of operating conditions. Additionally, a monitoring tool of FEEM as autopsy analysis method is adapted for the prediction of organic bio-fouling.