• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2420-2422
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• 2003

In this paper, two Fuzzy Logics for path planning of an autonomous mobile robot are proposed. If a target point is given, such problems regarding the velocity and object recognition are closely related with path to which the mobile robot navigates. Therefore, to ensure safety navigation of the mobile robot for two fuzzy logic parts, path planning considering the surrounding environment was performed in this paper. First, feature points for local and global path are determined by utilizing Cell Decomposition off-line computation. Second, the on-line robot using two Fuzzy Logics navigates around path when it tracks the feature points. We demonstrated optimized path planning only for local path using object recognition fuzzy logic corresponds to domestic situation. Furthermore, when navigating, the robot uses fuzzy logic for velocity and target angle. The proposed algorithms for path planning has been implemented and tested with pioneer-dxe mobile robot.

• 산경연구논집
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• 제9권3호
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• pp.45-56
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• 2018

Purpose - The Korean university education system is facing innovation and change, including cooperation between industry and university, Therefore It is important to activate the industry-university cooperation. This paper aims to demonstrate the factors that activate industry-university cooperation, particularly about the voluntary participation induction by industry and researching in path dependency perspectives. Research design, data, and methodology - The subject of this research were companies that are aware of the industry-university cooperation program. This research hypothesis is derived from the literature of previous studies of industry-university cooperation, This study have constructs that was defined operationally with reference to previous studies, this research model design to figure out structural relationship among technology leadership of university, university specialization, local network strength, fixation of local economy, recognition of path dependence, participation by industry, performance of industry-university cooperation. From 2017 July. 1 to Sept. 31, questionnaire survey targeting company staff who is involving in industry-university cooperation. 257 questionnaire survey had conducted. 249 investigated data were used for empirical analysis except wrong data. This data were used for AMOS(structural equation) & Regression statistics to verify hypothesis which developed by researcher. Results - The results of this study are as follows. First, technology leadership of universities has a significant effect on voluntary participation by industry. University specialization has significant effect on voluntary participation by industry. Second, local network strength has significant effect on voluntary participation by industry. but fixation of local economy does not affect voluntary participation by industry. Third, recognition of path dependence has moderating effect between Independent(university, company characteristics) and dependent variables(voluntary participation by industry) When recognition level of path dependence is high, preceding factors have a significant effect on voluntary participation by industry than recognition level of path dependence is low. As a result, the degree of recognition of path dependence was shown important variables that induce voluntary participation of industry for industry-university cooperation program. Conclusions - This study suggests that voluntary participation of industry is a very important factor in the achievement of industry-university cooperation. Recognition of interdependence as well as leading factors that encourage voluntary participation of industry is also just as important. If recognition of path dependence was high, Industry's voluntary participation was high.

• The Journal of the Acoustical Society of Korea
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• 제15권2E호
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• pp.14-23
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• 1996

This paper is a on the neural network to recognize the phonemes, the weight initialization to reduce learning speed, and LR parser for continuous speech recognition. The neural network spots the phonemes in continuous speech and LR parser parses the output of neural network. The whole phonemes recognized in neural network are divided into several groups which are grouped by the similarity of phonemes, and then each group consists of neural network. Each group of neural network to recognize the phonemes consisits of that recognize the phonemes of their own group and VGNN(Verify Group Neural Network) which judges whether the inputs are their own group or not. The weights of neural network are not initialized with random values but initialized from learning data to reduce learning speed. The LR parsing method applied to this paper is not a method which traces a unique path, but one which traces several possible paths because the output of neural network is not accurate. The parser processes the continuous speech frame by frame as accumulating the output of neural network through several possible paths. If this accumulated path-value drops below the threshold value, this path is deleted in possible parsing paths. This paper applies the continuous speech recognition system to the threshold value, this path is deleted in possible parsing paths. This paper applies the continuous speech recognition system to the continuous Korea digits recognition. The recognition rate of isolated digits is 97% in speaker dependent, and 75% in speaker dependent. The recognition rate of continuous digits is 74% in spaker dependent.

• 한국음향학회지
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• 제3권1호
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• pp.25-35
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• 1984

This paper analysis the Dynamic Time Warping algorithms for time normalization of speech pattern and discusses the Dynamic Programming algorithm for spoken Korean isolated digits recognition. In the DP matching, feature vectors of the reference and test pattern are consisted of first three formant frequencies extracted by power spectrum density estimation algorithm of the ARMA model. The major differences in the various DTW algorithms include the global path constrains, the local continuity constraints on the path, and the distance weighting/normalization used to give the overall minimum distance. The performance criterias to evaluate these DP algorithms are memory requirement, speed of implementation, and recognition accuracy.

• 드라이브 ㆍ 컨트롤
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• 제17권3호
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• pp.9-14
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• 2020

A special purpose machine with two manipulators and quadruped crawler system is being developed to work at disaster sites where it is intended to quickly respond in the initial stages after the event. In this study, a terrain recognition module is developed so that the above special purpose machine can quickly obtain ground information to help choose its path while recognizing objects in its way, this is intended to enhance the remote driver's limited situational awareness. Terrain recognition modules were developed for two tasks (real-time path guidance, precision terrain measurements). The real-time path guidance analyzes terrain and obstacles while moving, while the precision terrain measurement feature provides more accurate terrain information by precisely measuring the ground in front of the vehicle while stationary. In this study, an air-cooled sensor protection module was developed so that the terrain recognition module can continue its vital tasks in the event of exposure to foreign substances, including scattered dust, mist and rainfall, as well as high temperatures.

• 한국음향학회지
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• 제8권4호
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• pp.60-64
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• 1989

본 논문에서는 인식율을 증진시키기 위해 새로운 소구간 경로 제약을 제안하였다. 파라메타로써 자동 상관 및 LPC 계수를 사용함으로써 입력 음성 신호를 분석하였다 제안된 형의 소구간 경로제약이 기존의 5가지 형과 비교되었다. 본 연구에서 사용된 음성은 전철역명이고, 두명의 남성화자와 1명의 여성화자에 의한 서로 다른 13개의 단어를 10번 발음한 130개의 단어를 시험하였다. 그 결과로서 본 논문에서 제안한 형이 가장 좋은 형이라는 것을 알게 되었고 또한 이에 따른 인식율은 $94.6\%$를 얻었다.

• 한국정밀공학회지
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• 제17권8호
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• pp.189-197
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• 2000

This paper addresses that the autonomous mobile robot with the function of teaching a moving path by speech and avoiding a collision is developed. The use of human speech as the teaching method provides more convenient user-interface for a mobile robot. In speech recognition system a speech recognition algorithm using neural is proposed to recognize Korean syllable. For the safe navigation the autonomous mobile robot needs abilities to recognize a surrounding environment and to avoid collision with obstacles. To obtain the distance from the mobile robot to the various obstacles in surrounding environment ultrasonic sensors is used. By the navigation algorithm the robot forecasts the collision possibility with obstacles and modifies a moving path if it detects a dangerous obstacle.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
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• pp.142-147
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• 1988

Free-path-type guidance system does not need a hardwired path in the environment so that it gives a mobile robot a flexible path. ln this study to achieve the free-path-type guidance system for a mobile robot which is steered by the differential steering of both drive forewheels, position recognition systems are constructed using odometer system as an internal position sensor. Two odometer systems, a auxiliary wheel odometer and a 2-encoder odometer system are constructed and path following algorithms using these odometer systems are designed and experimented. PID control type is adopted in the path following algorithms.

• 한국과학교육학회지
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• 제33권5호
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• pp.981-994
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• 2013

이 연구는 학생들의 생태 태도에 관한 두 가지 가설적 모델을 통계적으로 검증하였다. 첫 번째 연구 모델은 생물의 심미적인 관점이 부정적 관점으로 이어지는 경로에서 인식과 친숙함의 매개 효과이다. 두 번째 연구 모델은 인간적 관점에서 지배적 관점으로 이어지는 두 가지 차별적인 경로이다. 이 연구를 위하여 고등학교 1학년 학생 104명이 참여하였다. 상관관계, 편상관관계, 경로분석을 활용하여 모델의 적합도를 확인하였다. 연구 결과는 생물에 대한 인지와 친숙함이 심미적인 관점과 부정적 관점을 조절하고 있음을 보여주고 있다. 심미적인 관점에서 발생하는 학생들의 선입견이 학습으로 조절될 수 있음을 보여주고 있다. 두 번째, 인간적 관점과 지배적 관점 경로에서 생태-자연적 관점 경로와 과학-이용적 관점 경로는 독립적이다. 과학-이용적 관점은 지배적 관점에 정적인 영향력이 있다. 학생들의 자연에 대한 지배적 관점을 줄이기 위해서는 생태-자연적 관점을 이해할 필요가 있을 것이다.

• 대한토목학회논문집
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• 제28권2D호
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• pp.147-154
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• 2008

도심 내의 보행공간은 도시민의 다양한 활동이 이루어지는 공간이다. 상업가로는 그 중에서도 도시 활동이 가장 활발한 장소이지만 이용자가 원하는 물건을 찾기 위해서는 많은 시간과 비용을 지출하여야 하며 이는 도심의 경제적 활성화를 저해하는 요소로서 작용될 수 있다. 이에 상업가로를 이용하는 보행자에게 실시간으로 의미있는 경로를 제공하고 보행 이동을 보조할 수 있는 방법을 개발하고자 하였다. 우선 기존의 네트워크 표현기법을 고찰하였고 물리환경적 측면, 방향전환에 따른 보행자의 공간에 대한 인지도, 시야와 접근성의 제약에 의한 인지도 3가지 관점으로 보행자의 공간 인지를 구분하여 네트워크에 반영하고자 노력하였고 이를 시뮬레이션 하였다. 그 결과 다양한 인지요소들을 반영한 경로탐색이 가능하였으며 적절한 경로를 산출할 수 있는 방법을 제시하였다.