• 전자공학회지
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• 제23권12호
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• pp.115-125
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• 1996

This paper presents a new algorithm for the self-localization of a mobile robot using one degree perspective Invariant(Cross Ratio). Most of conventional model-based self-localization methods have some problems that data structure building, map updating and matching processes are very complex. Use of a simple cross ratio can be effective to the above problems. The algorithm is based on two basic assumptions that the ground plane is flat and two locally parallel sloe-lines are available. Also it is assumed that an environmental map is available for matching between the scene and the model. To extract an accurate steering angle for a mobile robot, we take advantage of geometric features such as vanishing points. Feature points for cross ratio are extracted robustly using a vanishing point and intersection points between two locally parallel side-lines and vertical lines. Also the local position estimation problem has been treated when feature points exist less than 4points in the viewed scene. The robustness and feasibility of our algorithms have been demonstrated through real world experiments In Indoor environments using an indoor mobile robot, KASIRI-II(KAist Simple Roving Intelligence).

• 한국CDE학회논문집
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• 제11권1호
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• pp.11-19
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• 2006

For several years, a research about the simulation for shipyard and shipbuilding has been performed. This research is based on the concept of PLM (Product Lifecycle Management) and DM (Digital Manufacturing). Global leading companies and research center are trying to get a good position of PLM, especially M&S field. Digital shipbuilding is to computerize shipyard facilities and shipbuilding processes, and to simulate expected scenarios of shipbuilding processes using a computer model in order to resolve a potential problem such as a bottleneck processes, and over loaded resources. In this paper, simulation methodology for shipbuilding is described. In addition, a local and global strategy for the use of simulation methodology is suggested. Finally, case studies about an indoor shop and an outdoor shop are described.

• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.1068-1076
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• 2005

In order to increase the autonomous navigation capability of a mobile robot, it is very crucial to develop a method for the robot to be able to recognize a priori hon structured environmental characteristics. This paper proposes an ultrasonic sensor based real-time method for recognizing a priori known structured indoor environmental characteristics like a wall and comer Unlike the methods reported in the literature the information obtained from the sensor can be processed in real-time by extended Kalman filter to update estimations of the position and orientation of robot with respect to known environmental characteristics.

• Journal of Biosystems Engineering
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• 제17권3호
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• pp.223-228
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• 1992

This study was conducted to develop an electro-hydraulic three-point hitch control system using an electro-hydraulic servo valve and microcomputer and to investigate the performance of the three-point hitch control system through indoor and field experiments. 1. The results from indoor experiments coincided with those from computer simulation reported in the previous paper. However, the draft control with the value 4 of Kd showed a slight sustained oscillation after it reached the draft set. 2. From the field experiments, it appeared that the RMS errors increased with the ground speed of tractor. In position control, the three-point hitch control system with electro-hydraulic servo valve showed better performance than that with on-off electro-magnetic valve in the ground speed less than 1.6 m/s. In draft control, however, there was no significant differece in performance between those two systems. 3. In depth control, the both types of electro-hydraulic three-point hitch control system showed better performance than the conventional mechanical-hydraulic three-point hitch control system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.724-728
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• 2005

This paper represents a development of a range finder sensor module for indoor 2-D mapping and modified Hough transformation for map building. A range finder sensor module has been developed by using optic PSD (Position Sensitive Detector) sensor array at a low price. While PSD sensor is cost effective and light weighting, it has switching noise and white noise. To remove these noises, we propose a heuristic filter. For line-based map building, also we proposed advanced Hough transformation and navigation algorithm. Some experiments were illustrated for the validity of the developed system.

• 제어로봇시스템학회논문지
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• 제10권6호
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• pp.529-536
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• 2004

Autonomous navigation of an indoor mobile robot using the global ultrasonic system is presented in this paper. Since the trajectory error of the dead-reckoning navigation grows with time and distance, the autonomous navigation of a mobile robot requires to localize the current position of the robot, so that to compensate the trajectory error. The global ultrasonic system consisting of four ultrasonic generators fixed at a priori known positions in the work space and two receivers on the mobile robot has the similar structure with the well-known satellite GPS(Global Positioning System), and it is useful for the self-localization of an indoor mobile robot. The EKF(Extended Kalman Filter) algorithm for the self-localization is proposed and the autonomous navigation based on the self-localization is verified by experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.440-440
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• 2000

In general, camera calibration is consisted of Indoor and Outdoor system. In case of Indoor system, it was optimized experimental condition. However, Outdoor system is different camera parameters for each image that is compared to equaled position. That is, it imply that camera parameters are varied by an environment with light or impulse noise, etc. So we make use of Image sequence because that they provide the more information for each image. In addition to, we use Corresponding line because it has less error than Corresponding point. Corresponding line has also the more information. In this paper, we suggest on-line camera calibration method using the time-varying Image sequence and Corresponding line. So we calculate camera parameters with intrinsic and extrinsic parameters in On-line system.

• 대한안전경영과학회지
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• 제21권4호
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• pp.59-65
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• 2019

The Location Based Service is growing rapidly nowadays due to the universalization of the use for smartphone, therefore the location determination technology has been placed in an important position. This study suggests a method that can provide the estimate of users' location by using PDR method and smartphone geomagnetic sensor data. This method assists the measure of enhancing the accuracy of indoor localization. Moreover, it is to study ways to provide the exact indoor layout for evacuating the workers in emergency such as fires and natural disasters.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.948-951
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• 2008

Ubiquitous sensor network (USN) based on ZigBee communication protocol has been used in various application fields, such as home-network, intelligent building and machine, logistics, environmental monitoring, military field, security field and etc. The ZigBee is targeted at radio-frequency application that require a low data rate, long battery life and secure network. Especially, the USN system can be applied efficiently to building-indoor where the complex geometry is adopted. In this study, all 90 points of railway cabin indoor were monitored for temperature and humidity using USN technology. All sensors were pre/post-calibrated and the temperature/humidity change were analyzed in a railway cabin in real-time. The results would be useful to develop the cabin heating, ventilating and air conditing (HVAC) system to meet all passengers' thermal comfort regardless of their seat position.

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2006년도 하계학술발표대회 논문집
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• pp.675-680
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• 2006

Capacities of a tandem-type air-conditioner may be modulated by turning on and off of multiple compressors, and adjusting the position of a electronic expansion valve. In this study, control algorithms for compressors and a electronic expansion valve were developed by using fuzzy logics. The pressure control algorithm was also developed for the safe operation of compressors. There algorithms were implemented in a test lab and proved to be effective for the control of indoor air temperature and superheat temperature,