A Technology of Obstacle Avoidance of Mobile Robot

Se-Bong Oh(오세봉),Sung-Hyun Han(한성현) 한국생산제조학회 2008 한국생산제조학회지 Vol.17 No.6

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

모바일 로봇의 지능제어

오세봉(Se-Bong Oh),심병균(Byoung-Kyun Shim),Nguyen Van Quyet,한성현(Sung-Hyun Han),박동준(Dong-Jun Park) 한국생산제조학회 2008 한국생산제조시스템학회 학술발표대회 논문집 Vol.2008 No.10

This paper achieves a research about remote control of robot based on voice recognition. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot controller.

초음파 센서 기반 이동로봇의 장애물 회피

오세봉(Se-Bong Oh),이우송(Woo-Song Lee),Le Xuan Thu,한성현(Sung-Hyun Han) 한국생산제조학회 2007 한국생산제조시스템학회 학술발표대회 논문집 Vol.2007 No.10

In this paper, it is presented a new approach to the design of intelligent control system of a autonomous robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

이동로봇의 실시간 장애물인식에 관한 연구

오세봉(Se-Bong Oh),Nguyen Huu Cong,김준홍(Jun-Hong Kim),조창제(Chang-Jae Cho),한성현(Sung-Hyun Han) 한국생산제조학회 2008 한국생산제조시스템학회 학술발표대회 논문집 Vol.2008 No.10

This paper achieves a research about avoidance of obstacles avoidance based on ultrasonic sensor. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic systems modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonic sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory automation.

영,유아 효교육에 대한 교사 인식조사

오세봉 ( Se Bong Oh ) 한국사회복지경영학회 2015 사회복지경영연구 Vol.2 No.1

영유아 교사들의 효교육에 대한 인식조사 결과 효교육 활동에 대한 관심도는 전체 69.3%가 유아 효교육 활동에 대해 관심이 있는 것으로 볼 수 있다. 유아교육기관에서의 효교육 강조 정도를 분석한 결과 전체 41.1%가 유아교육기관에서 효교육을 강조하는 것으로 볼 수 있다. 유아교육기관에서의 효교육 활동을 위한 시설 환경 만족도를 분석한 결과 전체 19.6%만이 유아교육기관에서의 효교육활동을 위한 시설 환경에 대해 만족하는 것으로 볼 수 있다. 우리사회에서 효교육이 강조되고 있는 이유를 분석한 결과 ‘도덕적 헤이’가 20.3%로 가장 높게 나타났고, 효교육의 목적을 분석한 결과 ‘인격형성``이 17.0%로 가장 높게 나타났다. 연구대상자의 일반적 특성에 따라서는 기관유형, 학력에 따라 통계적으로 유의미한 차이가 나타났으며, 효교육의 발전방향은 효교육 활동을 위한 유아교육기관 내 환경 발전방향으로 ‘효교육 프로그램 개발’이 31.4%로 가장 높게 나타났다. 영유아 교사들의 효교육에 대한 인식조사 결과 영유아 효교육에 대한 교사들의 관심은 높았으며 효교육에 대해 전반적으로 매우 긍정적인 생각을 가지고 있었다. 이러한 연구 결과를 바탕으로 영유아 교사 및 유아교육기관에 효교육 프로그램을 보급하여 적극 활용 할 수 있도록 많은 기회를 제공하고, 효교육이 더욱 활성화 되어 영유아들의 인성교육에 도움이 될 수 있도록 적극적인 연구가 필요할 것이다. Concern about the effects recognized research training activities for teachers in the Hyo education of young children can be seen that the entire 69.3% interest in Hyo educational activities for infants. As a result of the entire 41.1% analyze the effect degree of emphasis on early childhood education institutions it can be viewed as highlighting the effective education in early childhood education. Results 19.6% overall satisfaction for the analysis of the environmental effects facility in early childhood education activities can be seen as the only institution that meets for the facilities for effective environmental education activities in early childhood education. It got analyze the reasons that effective training is emphasized results "moral Hey ``is the highest with 20.3% in our society, the result of analysis of the purpose of effective education`` character building ``This was the highest with 17.0%. Institutions are the general characteristics of the study subjects type, were statistically significant differences appeared in Education, Development of the effective environmental education within early childhood education development direction for the effective training activities, developing effective education program ``is 31.4 It was the highest as a percentage. Interest of teachers for effective teaching infants recognize investigation for effective education of teachers of infants had a very positive opinion about the overall effect was higher education. To disseminate Hyo education programs on infant and toddler teacher education institutions on the basis of these studies provide a lot of opportunities to take advantage, and enable more Hyo education is needed to make an active study could be helpful in character education of infants will.

부품형상 및 모델 번호의 실시간 인식에 관한 연구

이우송(Woo-Song Lee),오세봉(Se-Bong Oh),Le Xuan Thu,한성현(Sung-Hyun Han) 한국생산제조학회 2007 한국생산제조시스템학회 학술발표대회 논문집 Vol.2007 No.10

The purpose of this research is to develop the robot vision technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens or electronic parts for the performance verification, this development can achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel unit though measuring is possible 1 pixel as 37㎛×37㎛(1.1369×10-4㎟) the accuracy to 1.5×10?⁴㎜ minutely measuring is possible performance verification and trust ability through an experiment prove.

이동로봇의 실시간 궤적제어

석진환(Jin-Hwan Sok),오세봉(Se Bong Oh),노춘수(Chun Soo No),한성현 한국생산제조학회 2009 한국생산제조시스템학회 학술발표대회 논문집 Vol.2009 No.5

This paper Proposes the travelling technique which is safe considerations in the collision of the obstacle in hidden range of vision information with character and in this research obstacle escape suddenly and fixed quantity in course Plans Division collision evasion control are applied. The course plan law range of vision if security from creates the course which is the possibility of moving quickly does as a favor, the speed control technique restricts the maximum speed from the foul territory and travelling which is safe possibly.

주행로봇의 경로제어

이우송(Woo-Song Lee),오세봉(Se-Bong Oh),안용근(Yong-Geun Ahn),한성현,Jung-Hun Mun 한국생산제조학회 2009 한국생산제조시스템학회 학술발표대회 논문집 Vol.2009 No.5

This paper propose a new path planning method for mobile robots. The creation method of the course approaches with the method of the frame line graph base where the calculation time becomes disturbance. The graph composition where is not the static course plan method of existing, a course search and repeats continuously changes a graph and proposes the course the dynamic routing plan method. The method which is proposed is composed of a course creation phase and a course improvement phase, each phase includes a graph composition and a course search process.

음성인식 기반 로봇의 원격제어

Le Xuan Thu,오세봉(Se-Bong Oh),이우송(Woo-Song Lee),조창제(Chang-Jae Cho),박동준(Dong-Jun Park),한성현(Sung-Hyun Han) 한국생산제조학회 2007 한국생산제조시스템학회 학술발표대회 논문집 Vol.2007 No.5

In this paper, it is presented a new approach to the design of intelligent control system of a autonomous robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

모바일 로봇 음성명령 제어

이우송(Woo Song Lee),오세봉(Se Bong Oh),안용근(Yong Geun Ahn),문정훈(Jung Hun Mun) 한국생산제조학회 2008 한국생산제조시스템학회 학술발표대회 논문집 Vol.2008 No.10

Voice is the interface of humans and robots for the most natural way of communicating. The pattern matching approach has DTW(Dynamic Time Warping), HMM(Hidden Markov Model) and neural network etc. Voice dissertation, the robot moves in this path and distance, the direction of the period for granting the ability to generate a random path from the driving environment possible to develop the autonomous mobile robot. The robot voice-recognition system for a period of HMM is based on the unit's speaker-independent system built on the word independence.