• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제6권4호
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• pp.217-222
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• 2017

본 연구에서는 사람을 대신하여 험난한 지형에서 위험작업을 수행이 가능한 지상로봇과 짧은 시간 안에 원거리 비행이 가능한 드론과의 결합을 통해 위험 상황에서의 효과적인 협업이 가능한 시스템을 구현하였다. 최근 관련 연구는 드론을 수용할 수 있는 무인지상차량이나 4족 로봇에 관한 연구가 있었으나 전체 가용 시간의 장점에 비해 대규모 로봇을 필요로 하여 현장에서 적용하기엔 어려움이 있었다. 본 논문에서는 경량 드론에 장착된 임베디드 웹캠과 영상처리 알고리즘을 사용하여 객체의 한 유형인 마커를 Canny Edge 알고리즘 및 특정한 Template matching 방법을 통하여 비행 중 실시간 검출한 결과를 보여주며, 지상로봇위에 표시된 마커의 2차원적 위치 정보 획득과 레이저 센서를 이용한 상대거리 확보를 융합하여 지상로봇과 드론간의 도킹을 구현하는 시스템을 제안하였다. 실험을 통하여 제안된 시스템은 50회의 도킹 시도에서 95%의 도킹 성공률을 보였으며 6가지의 Template mateching 방법 중 시스템에 적용할 수 있는 2가지의 템플릿 매치 방법을 제시하였다.

• 전기학회논문지P
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• 제55권3호
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• pp.123-127
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• 2006

In a heating control system, the indoor temperature controller transfers temperature signals inputted from the temperature sensor and the user to the valve controller. The valve controller receives these signals then the valve controller controls the valve driving motor on two position control and controls the indoor temperature. When setting up a new valve driving motor from a long distance it is necessary to set up a new valve controller. But occasionary, due to construction, It is impossible to wire between the existing valve controller and the new valve controller. In this situation, the new and existing valve controllers can communicate via power line communication. In this paper it is proposed heating control system controls on two position control via power line communication.

• 동력기계공학회지
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• 제14권3호
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• pp.46-51
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• 2010

A torsional guided wave was applied to detect a defect in petrochemical pipes. Phase and group velocity dispersion curves for the longitudinal and torsional modes of the inspected pipe were presented for the theoretical analysis. It was found through mode shape analysis that there was mode conversion when torsional wave is incident at an asymmetric defect. An artificial notch was fabricated in the pipe and the detectability was examined from the distance 2m of the end of the pipe by using magnetostrictive sensors. The relativities between the amplitude of the reflected signal and the size of the defect was examined. It was shown that the T(0,1) mode could be used for the long range inspection for the petrochemical pipes.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권12호
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• pp.6063-6079
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• 2019

When the length of sampling data sequence is too large, the method of gesture recognition based on traditional Dynamic Time Warping (DTW) algorithm will lead to too long calculation time, and the accuracy of recognition result is not high.Support vector machine (SVM) has some shortcomings in precision, Edit Distance on Real Sequences(EDR) algorithm does not guarantee that noise suppression will not suppress effective data.A new method based on Improved Interpolation Dynamic Time Warping (IIDTW)algorithm is proposed to improve the efficiency of gesture recognition and the accuracy of gesture recognition. The results show that the computational efficiency of IIDTW algorithm is more than twice that of SVM-DTW algorithm, the error acceptance rate is FAR reduced by 0.01%, and the error rejection rate FRR is reduced by 0.5%.Gesture recognition based on IIDTW algorithm can achieve better recognition status. If it is applied to unlock mobile phone, it is expected to become a new generation of unlock mode.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.41.6-41
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• 2001

As autonomous mobile robot become more widely used in industry, the importance of navigation system is rising, But eh primary method of locomotion is with wheels, which cause man problems in controlling tracked mobile robots. In this paper, we discuss the used navigation control of tracked mobile robots with multiple sensors. The multiple sensors are composed of ultrasonic wave sensors and vision sensors. Vision sensors gauge distance using a laser and create visual images, to estimate robot position. The 80196 is used at close range and the vision board is used at long range. Data is managed in the main PC and management is distributed to ever sensor. The controller employs fuzzy logic.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2016년도 학술발표회
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• pp.375-379
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• 2016

Recently derived energy dissipation equation by Chamani(2008) and the profile function of the free overfall by Marchi(1993) were verified with present experiment data. The experiment was conducted in hydraulic laboratory, Hanyang University where the flume is 7m long and 0.44m wide, and the height of the drop structure is 0.205m. Water depth and free overfall profile data were collected using an ultra sonic distance sensor and photographic images. The time-averaged water depth data and the free overfall profile were analyzed to examine the energy dissipation pattern over the drop structure

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2006년도 하계학술발표대회 논문집
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• pp.1150-1155
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• 2006

In a heating control system, the indoor temperature controller transfers temperature signals inputed from the temperature sensor and the user to the valve controller. The valve controller recieves these signals then the valve controller controls the valve driving motor on two position control and controls the indoor temperature. When setting up a new valve driving motor from a long distance it is necessary to set up a new valve controller. But occasionary, due to construction, it is impossible to wire between the existing valve controller and the new valve controller. In this situation, the new and existing valve controllers can communicate via power line communication. In this paper it is proposed heating control system controls on two position control via power line communication.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제6권11호
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• pp.463-468
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• 2017

모바일 노드를 이용하여 넓은 범위를 센싱하기 위해서는 노드 배치의 균일성이 매우 중요한 이슈 중 하나이다. 본 논문에서는 희소 모바일 애드 혹 네트워크 환경에서 빅 데이터 센싱을 위한 커버리지 문제에 대한 주제를 다룬다. 커버리지 문제에 관한 기존 연구에서는 넓은 범위를 센싱하기 위해 노드의 수가 충분히 많은 환경을 가정하였다. 하지만 희소 모바일 애드 혹 네트워크 환경에서 센서 커버리지 문제는 노드들 간의 센싱 범위가 겹치는 범위를 최소화하기 위해 노드들 간의 거리가 충분히 멀어야 한다. 따라서 본 논문에서는 희소 모바일 애드 혹 네트워크 환경에서 센서 커버리지 문제를 정의하고 중앙 중재자 없이 자가 조직의 방식에 의한 해결 방안을 제시한다. 실험 결과를 통해 제안하는 방식은 커버리지 영역과 에너지 소비 관점에서 효율적임을 보인다.

• 한국통신학회논문지
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• 제34권4C호
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• pp.437-445
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• 2009

USN(Ubiquitous Sensor Network)환경의 일반적인 노드는 메시지 전달을 위해서 무선기반의 통신 체제를 사용한다. 그래서 제한된 전원을 고려하고 원거리의 불특정 노드와 통신하려면 다수의 홉 플러딩이 필요하다. 그러나 불특정 노드가 사용자의 가시권 반경에 밀집해 있는 경우 무선 기반의 플러딩은 대안으로서 부족한 점이 있다. 그러한 상황에서는 어둠 속에서 열쇠를 찾기 위해 플래시를 비추는 것처럼, 좀 더 직접적이고, 비접촉인 근거리의 메시지 전달 방식이 필요하다. 본 연구는 다음의 2단계 방법을 통해 이를 해결한다. 첫 번째 단계로 텍스트 메시지를 컬러 코드화할 두 가지 부호화 방안을 제안한다 두 번째 단계에서는 근거리에서 다양한 LED(light-emitting diode) 색 신호를 송수신할 하드웨어 모듈을 개발한다. 실험은 특정 색 광소자를 기준으로 거리와 빛의 입사 각도를 고정한 상태에서 진행하였다.

• 상하수도학회지
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• 제30권3호
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• pp.253-261
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• 2016

A variety of methods for detecting the location of an underground water pipeline are being used across the world; the current main methods used in South Korea, however, have the problems of low precision and efficiency and the limitations in actual application. On this, this study developed locator capable of detecting the location of a water pipe by the use of an IMU sensor, and technology for using the extended karman filter to correct error in location detection and to plot the location on the coordinate system. This study carried out a tract test and a road test as basic experiments to measure the performance of the developed technology and equipment. As a result of the straight line, circular and ellipse track tests, the 1750 IMU sensor showed the average error of 0.08-0.11%; and thus it was found that the developed locator can detect a location precisely. As a result of the 859.6-m road test, it was found that the error was 0.31 m in case the moving rate of the sensor was 0.3-0.6 m/s; and thus it was judged that the equipment developed by this study can be applied to long-distance water pipes of over 1 km sufficiently. It is planned to evaluate its field applicability in the future through an actual pipe network pilot test, and it is expected that locator capable of detecting the location of a water pipe more precisely will be developed through research for the enhancement of accuracy in the algorithm of location detection.