• Journal of Internet of Things and Convergence
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• v.10 no.2
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• pp.69-75
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• 2024

This paper proposes an IoT-based indoor autonomous driving system that applies SLAM (Simultaneous Localization And Mapping) and Navigation techniques in a ROS (Robot Operating System) environment based on TurtleBot3. The proposed autonomous driving system can be applied to indoor autonomous wheelchairs and robots. In this study, the operation was verified by applying it to an indoor self-driving wheelchair. The proposed autonomous driving system provides two functions. First, indoor environment information is collected and stored, which allows the wheelchair to recognize obstacles. By performing navigation using the map created through this, the rider can move to the desired location through autonomous driving of the wheelchair. Second, it provides the ability to track and move a specific logo through image recognition using OpenCV. Through this, information services can be received from guides wearing uniforms with the organization's unique logo. The proposed system is expected to provide convenience to passengers by improving mobility, safety, and usability over existing wheelchairs.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.5B
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• pp.889-898
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• 2000

In order to support various broadband multimedia servies in the future, we designed a well balanced WDM backbone network. In Korean network traffic environment, six regional centers are selected, link capacities between the regional centers are estimated from the PDI traffic model, and the overall network configuration is designed for the all-optical backbone network. Also, we designed a basic configuration to be able to protect minimum communication capability against link failure. A simulation study is carried out to verify the desired performance of the designed WDM backbone network. Simulation results show that performance of the backbone network is well balanced to support various communication services in Korea in the mid 2000s

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.102-108
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• 2008

This paper describes a mapping and localization based on wave algorithm[11] and Kalman filter for effective SLAM. Each robot in a multi robot system has its own task such as building a map for its local position. By combining their data into a shared map, the robot scans actively seek to verify their relative locations. For simultaneous localization the algorithm which is well known as Kalman Filter (KF) is used. For modelling the robot position we wish to know three parameters (x, y coordinates and its orientation) which can be combined into a vector called a state variable vector. The Kalman Filter is a smart way to integrate measurement data into an estimate by recognizing that measurements are noisy and that sometimes they should ignored or have only a small effect on the state estimate. In addition to an estimate of the state variable vector, the algorithm provides an estimate of the state variable vector uncertainty i.e. how confident the estimate is, given the value for the amount of error in it.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.2
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• pp.105-112
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• 2016

This paper presents the experimental setup for autonomous navigation of a robotic vehicle for touring university campus. The robotic vehicle is developed for navigation of specific areas such as university campus or play parks. The robotic vehicle can carry two passengers to travel short distances. For the robotic vehicle to navigate autonomously the specific distance from the main gate to the administrative building in the university, the experimental setup for SLAM is presented. As an initial step, a simple method of following the line detected by a single camera is implemented for the partial area. The central line on the pavement colored with two kinds, red and yellow, is detected by image processing, and the robotic vehicle is commanded to follow the line. Experimental studies are conducted to demonstrate the performance of navigation as a possible touring vehicle.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.6
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• pp.810-820
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• 2014

Recently many studies of Radar systems mounted on ground vehicles for autonomous driving, SLAM (Simultaneous localization and mapping) and collision avoidance are reported. In near field, several hits per an object are generated after signal processing of Radar data. Hence, clustering is an essential technique to estimate their shapes and positions precisely. This paper proposes a method of grouping hits in range-doppler domains into clusters which represent each object, according to the pre-defined rules. The rules are based on the perceptual cues to separate hits by object. The morphological connectedness between hits and the characteristics of SNR distribution of hits are adopted as the perceptual cues for clustering. In various simulations for the performance assessment, the proposed method yielded more effective performance than other techniques.

• Journal of Korean Society of Transportation
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• v.5 no.2
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• pp.19-35
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• 1987

Transportation energy saving is a national concern because all national petroleum energy is imported. A number of intersections are operating as semi-protected intersections, which have left-turn signal but not exclusive left-turn lanes, because of limited roadways in urban areas. Since the traffic signal methods for the intersections having left-turn signal/lanes cannot be applied to the semi-protected intersection, it is needed to develop a new technique. The purpose of this study was to develop a traffic signal timing method at semi-protected intersections for energy saving and to computerize the method for the practical use. A probability model which could estimate left-turn utilization factors of through traffic during green signal was developed based on field studies. Employing the factors, macro-models to estimate vehicular average delay and proportions of vehicles stopped at the semiprotected intersections were developed. The calculated values of the delay model agreed well with the simulated values of a simulation model using SLAM Ⅱ, a simulation language. Using the two models and the idling fuel consumption rate and the excess fuel consumption per stop-go speed change of vehicles. a traffic signal timing method at semi-protected intersections for energy saving was developed and computerized. The method can be used for other measures of effectiveness such as minimum delay, minimum stop ratio, etc.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.2
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• pp.31-39
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• 1998

In this paper, we have presented a quantitative performance effect of CCP(Call Control Processor) when SAAL(Signalling ATM Adaptation Layer) function is distributed from CCP to SIMs(Subscriber Interface Modules) in an ATM switching system with distributed architecutre. For the performance analysis, SLAM II simulation language is used and subscriber signalling messageand inter-processor communication messages according to Q.2931 based local call processing procedure are taken into consideration in the proposed queuing network model. The results of simulation are compared with in case of processing SAAL function on CCP. It is observed that the processing utilization of CCP reach 24,000 BHCA and 25,700 BHCAwhen SAAL function load amounts to 10% and 20% of the processing time of the total message, respectively. These values shows that the processing utilization of CCP is alleviated about 7% in comparison with 2,000 BHCA in case that SAAL function is carried out on CCP. Consquently, it is shown that we have to consider seriously how to distribute the functions concerning call processing in a large cale ATM switching system architecture accomodating a number of SIMs.

• Journal of Biosystems Engineering
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• v.16 no.2
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• pp.167-177
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• 1991

곡물 빈에서 벼 건조시 외기 온도에 따른 연료 자동 조절 및 배출공기의 재순환이 에너지 소비, 건조비용 및 건조 시간에 미치는 효과를 분석하기 위해 슬램 II(SLAM II : Simulation Language for Alternative Modeing II)를 이용한 시뮬레이션 모텔을 개발하였다. 따라서 약 64톤의 벼를 연료 자동조절 버너를 갖춘 곡물빈에서 열풍 건조할 때, 절약 가능한 에너지 양과 공기 재순환의 효과를 시뮬레이션을 통해 분석하였으며 이를 실제의 자료와 비교하여 이 모델을 검증하였다. 시뮬레이션에 의한 본 연구의 결과는 다음과 같다. 1. 배출공기를 재순환 시키지 않는 상태에서 자동 연료조절 버너를 사용할 경우 관행 버너를 이용한 빈 시스템에 비해, 루이지애나 주에서 8월에 25%의 에너지를 절약할 수 있으며 12월에는 8%의 에너지를 절약할 수 있다. 실제의 건조 실험에서는 8월에 약 30%의 에너지를 절감할 수 있었다. 2. 자동 연료조절 버너를 갖춘 빈 시스템에서 제습을 하지 않은 배출 공기의 재순환은 건조 에너지 소비량과 건조 시간을 증가시켰으며 연료 자동조절 장치의 에너지 절약 효과를 감소시켰다. 따라서 배출 공기를 재순환하여 에너지를 절감하고자 할 때에는 반드시 배출 공기를 제습시켜 습도를 재조절 해야만 했다. 또한 제습된 공기의 재순환 효과는 여름보다 겨울에 더 컸다. 3. 연료 자동조절 버너를 갖춘 빈 시스템에서 벼를 건조할 경우 루이지애나 주, 8월에 물벼의 톤당 건조 비용은 $2.13이었으며 관행 버너를 갖춘 시스템에서는 $2.69이었다. 실험에 의한 실제 건조비용은 자동화 시스템에서 $2.17이었고 관행 시스템에서는 $2.62이었다.

• IE interfaces
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• v.11 no.3
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• pp.77-87
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• 1998

Intelligent Peripheral(IP) system is to provide specialized resource functions (SRF) such as playing announcement, collecting user information, and receiving messages in the Advanced Intelligent Network (AIN). We analyze the call processing capacity of an AIN IP system being developed in ETRI through an extensive simulation using SLAM II under a variety of AIN service scenarios. We consider televoting (VOT) and universal personal telecommunication (UPT) services which are to be provided at the fit implementation of the AIN in Korea. As the performance criteria to determine the call processing capacity, processor utilization, delay and call loss probability are considered. It turns out that the major processor called SAMP is the bottleneck processor, the service response delay dominates the delay performance, and the call loss probability becomes the primary criterion in determining the call processing capacity of the AIN IP system. It is also shown that the call processing capacity of the AIN IP system is determined by the utilization of the processor and the delay performance when the VOT ratio is below 70 percent but it is determined by the call loss probability due to the lack of service channels for providing the SRF operations.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.3
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• pp.285-292
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• 2020

This paper introduces a new computational efficient Dilution of Precision (DOP)-based landmark exclusion method while ensuring the safety of the LiDAR-based navigation system that uses an innovation-based Nearest-Neighbor (NN) Data Association (DA) process. The NN DA process finds a correct landmark association hypothesis among all potential landmark permutations using Kalman filter innovation vectors. This makes the computational load increases exponentially as the number of landmarks increases. In this paper, we thus exclude landmarks by introducing DOP that quantifies the geometric distribution of landmarks as a way to minimize the loss of integrity performance that can occur by reducing landmarks. The number of landmarks to be excluded is set as the maximum number that can satisfy the integrity risk requirement. For the verification of the method, we developed a simulator that can analyze integrity risk according to the landmark number and its geometric distribution. Based on the simulation, we analyzed the relationship between DOP and integrity risk of the DA process by excluding each landmark. The results showed a tendency to minimize the loss of integrity performance when excluding landmarks with poor DOP. The developed method opens the possibility of assuring the safety risk of the Lidar-based navigation system in real-time applications by reducing a substantial amount of computational load.