정우진 교수

The human-friendly navigation of mobile robots is a significant social and technological issue. There are many potential applications of human-following technology. Good examples are human-following shopping carts, porter robots at airports, and museum guide robots. In this paper, we propose detection and tracking schemes for human legs by the use of a single laser range finder. The leg detection algorithm takes an inductive approach by the application of a support vector data description scheme

Service robots are spreading their application areas to human coexisting real environments. However, it is still difficult to find an autonomous robot that is capable of manipulation services in a real environment. The three major difficulties of manipulation service can be summarized as follows: 1) unstructured human-centered environment; 2) limited resources in a robot; and 3) uncertainties in real environments. This paper deals with the autonomous manipulation task by a service robot in human

We present one approach to achieve safe navigation in an indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms possess fundamental limitations in that the robot can avoid only ldquovisiblerdquo ones among surrounded obstacles. In a real environment, it is not possible to detect all the dynamic obstacles around the robot. There are many occluded regions due to the limited field of view. In order to av

본 연구는 교사들의 직무만족에 영향을 미치는 여러 가지 요인들 중에서 학교장의 변혁적지도성, 협동문화, 임파워먼트를 중심으로 구조적 관계를 분석하였다. 이를 위해 KELS 자료 중 1차년도 교사 2,910명의 데이터를 사용하여 구조방정식 모형을 통해 분석하였다. 분석결과에 따르면, 변혁적지도성은 교사들간의 협동문화와 임파워먼트에, 협동문화와 임파워먼트는 교사직무만족에 직접적인 영향을 미치는 것으로 나타났다. 변혁적지도성은 협동문화와 임파워먼트를 매개로 직무만족에 간접 영향을 미치는 것으로 나타났으며, 협동문화보다는 임파워먼트에 더 많은 영향을 미치는 것으로 나타났다. 한편, 직무만족에 대한 영향력에 있어서는 임파워먼트보다 협동문화가 더 많은 영향을 미치는 것으로 나타나 교사들간 협동문화조성의 중요성을 보여주었다.

It is important to overcome different types of uncertainties for the safe and reliable navigation of mobile robots. Uncertainty sources can be categorized into recognition, motion, and environmental sources. Although several challenges of recognition uncertainty have been addressed, little attention has been paid to motion uncertainty. This study shows how the uncertainties of robot motions can be quantitatively modeled through experiments. Although the practical motion uncertainties are affecte

It is shown how a holonomic and omni-directional mobile robot is designed towards indoor public services. Dual offset steerable wheels with orthogonal velocity components are proposed. The proposed wheel provides precise positioning and reliable navigation performance as well as durability. A fabricated prototype is introduced, then, an experiment is carried out.

This paper describes an integrated navigation strategy for the autonomous service robot in large-scale indoor environments. It includes architecture of navigation system, the development of crucial navigation algorithms like map, path planning, and localization, and planning scheme such as error/fault handling. Major advantages of proposed navigation are as follows: 1) A range sensor based generalized scheme of navigation without modification of the environment. 2) Intelligent navigation-related

A passive multiple-trailer system provides various practical advantages for multi-functional service robots. However, motion control is difficult because the kinematic model is highly nonlinear. The kinematic design of a trailer system was proposed in prior research of ours. In this paper, it is shown how the backward motion of a robot with n passive trailers can be controlled. Once the desired trajectory of the last trailer is computed, the control input of the pushing robot is obtained through

Three-dimensional light detection and ranging (LiDAR) sensors have received much attention in the field of autonomous navigation owing to their accurate, robust, and rich geometric information. Autonomous vehicles are typically equipped with multiple 3D LiDARs because there are many commercially available low-cost 3D LiDARs. Extrinsic calibration of multiple LiDAR sensors is essential in order to obtain consistent geometric information. This paper presents a systematic procedure for the extrinsi