• 한국컴퓨터정보학회지
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• 제25권1호
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• pp.7-10
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• 2017

• 전자진흥
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• 제9권6호
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• pp.91-99
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• 1989

• 수완나부미
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• 제3권1호
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• pp.87-104
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• 2011

붓다고사(Buddhaghosa)는 불교승려이자 작가로써 상좌부불교에서 가장 뛰어난 승려로 유명하다. 그는 청결을 의미하는 Visudhimagga의 작가로서도 유명한데, 이 작품들은 정전(正典)문학의 백과사전이라 불리고 있으며, 담마의 다양한 보물 컬렉션이라 할 수 있다. 붓다고사는 Visuddhi의 순결함에 도달하기 위해 magga 형식을 설명하고 있고, 불교교리 전체를 조직적으로 설명하고 있다. 붓다고사는 스리랑카어로 쓰여진 atthakathā를 Magadyhi(빨리어)로 변역했다. 이러한 업적으로 그는 명예를 얻었고, 이 작품은 상좌부불교(Theravāda)를 연구하는 학자들 사이에서 신성한 텍스트로 여겨졌다. 최초의 붓다고사에 관한 전기문은 6세기에 쓰여진 Mahavamsa에 나타난다. 마하밤사에 따르면, 그는 큰 보리수가 있는 인도 마가다국에서 브라만으로 태어났다고 전해진다. 그러나 Buddhaghosa의 atthakathā를 연구한 Kosanbi박사는 붓다고사는 북인도로부터 온 인물은 아니라고 보았으며, 붓다고사가 미얀마 사람일지도 모른다고 추정했다. 그 이유는 다수의 atthakathā가 미얀마에서 발견되었기 때문이다. 미얀마뿐만 아니라, 태국 그리고 캄보디아 역시 붓다고사가 자국인이라고 주장하고 있다. 5세기부터 더 나아가 11세기 중반까지 하(下) 미얀마의 고대 쀼왕국에서 불교가 매우 번성했다는 지속적인 기록이 있다. 이는 5세기에 붓다고사 전설과 함께 불교를 활성화시켰으며, 상좌부불교와 관련된 조각품들과 비문을 연구하는데 반영되었다. 붓다고사의 자타카 해설은 붓다의 역사적 탄생을 다루고 있으며, 미얀마의 모든 청소년에게 오랫동안 교육자료로 활용되어 왔다. 또한 자타카 해설은 비석에서 중요한 부분을 차지하고 있으며, 테라코타 부조나 11세기와 12세기의 버간사원의 벽화에서도 사용된다. 이처럼 미얀마에서 비석과 테라코타 부조, 그리고 수많은 벽화들이 발견되는 것을 통해 붓다고사가 미얀마 출신이었다는 것을 확인할 수 있다.

• 로봇학회논문지
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• 제4권2호
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• pp.147-154
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• 2009

Visions of ubiquitous robotics and ambient intelligence involve distributing information, knowledge, computation over a wide range of servers and data storage devices located all over the world, and integrating tiny microprocessors, actuators, and sensors into everyday objects as well in order to make them smart. In this paper, we introduce our ongoing research effort aimed at realizing ubiquitous robots in an information structured space. For this, a ubiquitous space and ambient intelligent systems for a librarian robot are introduced and the RFID technology based approach for these systems is described.

• 로봇학회논문지
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• 제4권2호
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• pp.112-120
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• 2009

In this paper, a localization error recoverymethod based on bias estimation is provided for outdoor localization of mobile robot using different-type sensors. In the previous data integration method with DGPS, it is difficult to localize mobile robot due to multi-path phenomena of DGPS. In this paper, fault data due to multi-path phenomena can be recovered by bias estimation. The proposed data integration method uses a Kalman filter based estimator taking into account a bias estimator and a free-bias estimator. A performance evaluation is shown through an outdoor experiment using mobile robot.

• 로봇학회논문지
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• 제4권2호
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• pp.130-138
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• 2009

Recently, people tracking technology is being required to various area including security application. This paper suggests a method to track people with multiple laser scanners to detect the waist part of human. Multi-target model and Kalman filter based estimation are employed to track the human movement. The proposed method is applied to a novel system to monitor the entrance area and to filter out the trespasser to pass through the door without identification. Experiments for various cases are performed to verify the usefulness of the developed system.

• 한국주조공학회지
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• 제42권6호
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• pp.387-391
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• 2022

• 로봇학회논문지
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• 제3권3호
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• pp.176-185
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• 2008

In this paper, new filtering method for sensor registration is provided to estimate and correct error of registration parameters in multiple sensor environments. Sensor registration is based on filtering method to estimate registration parameters in multiple sensor environments. Accuracy of sensor registration can increase performance of data fusion method selected. Due to various error sources, the sensor registration has registration errors recognized as multiple objects even though multiple sensors are tracking one object. In order to estimate the error parameter, new nonlinear information filtering method is developed using minimum mean square error estimation. Instead of linearization of nonlinear function like an extended Kalman filter, information estimation through unscented prediction is used. The proposed method enables to reduce estimation error without a computation of the Jacobian matrix in case that measurement dimension is large. A computer simulation is carried out to evaluate the proposed filtering method with an extended Kalman filter.

• 로봇학회논문지
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• 제4권2호
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• pp.121-129
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• 2009

This paper presents a goal-directed reactive obstacle avoidance method based on lane method. The reactive collision avoidance is necessarily required for a robot to navigate autonomously in dynamic environments. Many methods are suggested to implement this concept and one of them is the lane method. The lane method divides the environment into lanes and then chooses the best lane to follow. The proposed method does not use the discrete lane but chooses a line closest to the original target line without collision when an obstacle is detected, thus it has a merit in the aspect of running time and it is more proper for narrow corridor environment. If an obstacle disturbs the movement of a robot by blocking a target path, a robot generates a temporary target line, which is parallel to an original target line and tangential to an obstacle circle, to avoid a collision with an obstacle and changes to and follows that line until an obstacle is removed. After an obstacle is clear, a robot returns to an original target line and proceeds to the goal point. Obstacleis recognized by laser range finder sensor and represented by a circle. Our method has been implemented and tested in a corridor environment and experimental results show that our method can work reliably.