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Safety Enhancement for Personal Mobility Vehicles |
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Changwon Kim, Junho Seo(Korea Institute of Machinery and Materials, Korea) |
| In this paper, an active safety system for a personal mobility vehicle is proposed. Active safety system is consists of automatic braking, automatic steering, and their manager, function arbitrator. After the collision hazard is evaluated via time to collision, corresponding control actions are conducted. In order to manage each function, a control arbitrator is developed and makes decision to select optimal function. Experimental results demonstrate the performance of active safety system. |
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Mathematical modeling of kinematics and control strategies for riding-type rice transplanter |
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Wonpil Yu(ETRI, Korea), Song Li, Dong-Yeob Kang(Daegu-Gyeongbuk Research Center, Electronics and Telecommunications Research Institute (ETRI), Korea), Tae-Yong Doh(Hanbat National University, Daejeon, Korea) |
| This paper describes a mathematical model of kinematics and dynamics of a riding-type rice transplanter. We derive a nonlinear state equation describing dynamic behavior of the depth-control sub-system of the rice transplanter. A preliminary result based on the developed mathematical model is described. |
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U-turn Motion Planner for Autonomous Navigation System |
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Byungjae Park(ETRI, Korea), Jaemin Byun(Hyundai Heavy Industry, Korea), Woo Yong Han(ETRI, Korea) |
| A motion planner for an autonomous navigation system is proposed to make a U-turn in an urban environment. The proposed method uses the A* graph search algorithm to search for a collision-free trajectory in the four-dimensional space. During the search process, the safety of the trajectory is checked using an occupancy gridmap, which is built using 3D LiDAR data. An experiment in a real road environment was conducted to verify that the proposed motion planner can search for a collision-free trajectory to make a U-turn safely. |
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Experimental Results on Visual Inspection of Underwater Structures using Remotely Operated Underwater Vehicle |
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Jinwoo Choi(Korea Research Institute of Ships & Ocean engineering, Korea) |
| This paper deals with visual inspection of underwater structures using underwater robotic system. Underwater structures should be inspected for safety. For this purpose, a ROV is developed to perform visual inspection of underwater structures. The developed ROV is equipped with visual system, navigation system and thrusters. Using the onboard sensors, high quality images can be transmitted to surface system to test the underwater structures. A basin test was conducted to verify the performance of visual inspection of the ROV |
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3D Point Cloud Reduction by Fractal Bubble Method |
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Yonghwan Kim(MOTLAB, Korea), Joono Cheong(Korea University (Sejong), Korea) |
| Point cloud information commonly requires a large storage space and a great amount of computational load in data processing. In this paper, we propose an effective method to simplify 3D point cloud data by using fractal bubble algorithm. Fractal bubble algorithm simplifies the numbers of points in several 2D cross sections and reconstructs 3D shapes keeping primary object shapes, while generating bubbles and copies of itself. We present experimental results to show efficiency of multi-scale simplification in terms of simplification parameters. |
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