• 한국전자통신학회논문지
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• 제8권1호
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• pp.27-40
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• 2013

본 연구는 미래예측방법으로 많이 활용되고 있는 시나리오플래닝 방법론을 적용하여 2006년에 개발된 한국형 수중로봇시스템(심해무인잠수정시스템)의 바람직한 미래상을 도출하였다. 한국이 개발한 이 심해무인잠수정의 설계심도는 6000미터이며, 그 구성을 보면, '해미래'는 실질적인 심해탐사작업을 실행하고, 이 '해미래'를 지원하는 '해누비'는 심해에서 시료채취나 탐사가 가능하다. 한편 이 한국형 심해무인잠수정시스템은 수중복합항법시스템을 사용하고 있지만, 6000m심해에서 5m이내의 항법오차가 있고 50cm이내의 상대 위치오차를 가지고 있다. 따라서 본고는 이를 보완하여 관련 분야에서 기술 선도국이 될 수 있는 한국정부가 추진해야 할 바람직한 미래전략방향을 고찰했다. 그 결과 인디케이터와 가상벽을 갖춘 외부장치를 구비한 심해무인잠수정 시스템 개발이 한국에 있어 미래지향적인 정책추진방안이었다.

• 전자공학회논문지
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• 제53권6호
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• pp.146-151
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• 2016

본 논문에서는 등속 직선 기동하는 수중표적의 CPA 상황에서의 방위각 정보를 이용하여 표적의 CPA 거리와 속도의 비를 추정하는 기법을 제시한다. 선행 연구를 통해 근접센서를 이용한 포락선 CPA 기법으로 이 값을 추정하는 방안이 제시되었으나, 이는 표적과 수신 센서의 거리가 가깝거나 다중경로로 인한 간섭효과가 커질 경우 성능이 떨어지는 문제를 가진다. 이에 이를 극복하는 방안으로 표적 방위각 정보를 이용하는 방위각 CPA 기법을 제시한다.

• 한국군사과학기술학회지
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• 제18권5호
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• pp.538-547
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• 2015

The goal of this study is to develop an algorithm to propose optimal deployment of detection sensor nodes in the target area, based on a performance surface, which represents detection performance of active and passive acoustic sonar systems. The performance surface of the active detection system is calculated from the azimuthal average of maximum detection ranges, which is estimated with a transmission loss and a reverberation level predicted using ray-based theories. The performance surface of the passive system is calculated using the transmission loss model based on a parabolic equation. The optimization of deployment configurations is then performed by a hybrid method of a virtual force algorithm and a particle swarm optimization. Finally, the effectiveness of deployment configurations is analyzed and discussed with the simulation results obtained using the algorithm proposed in this paper.

• 로봇학회논문지
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• 제10권1호
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• pp.1-8
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• 2015

This paper proposes a study for accurate surface localization system using DWT(Discrete Wavelet Transform) and GPS/INS fusion algorithm. Because the propagation in the underwater is not passed by characteristics of the medium unlike the ground, the sonar system like DVL is used instead of GPS. But since these systems are installed on the seafloor and operated, a long time is required for installation and navigation systems are limited outside of the range area. And it is difficult to estimate position in a three-dimensional considering the depth in actual marine environment. In this paper, before the development of underwater localization system, precisely estimated position system is proposed in a two-dimensional by developing surface localization system using removing noise and disturbance with DWT and relatively inexpensive GPS and INS sensor.

• 한국산업융합학회 논문집
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• 제17권3호
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• pp.151-169
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• 2014

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

• 대한공간정보학회지
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• 제16권3호
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• pp.65-69
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• 2008

본 연구의 목적은 수중의 다양한 공간정보를 무인으로 획득할 수 있는 무인원격선체를 개발하는데 있다. 무인원격 선체는 GPS, 음향측심기, 사이드스캔소나, 지층탐사기 등을 탑재하고 자동제어에 의한 방법으로 내수면 및 연안해역의 수중공간정보를 획득하는 기능을 수행한다. 무인 원격 수중 공간정보 획득장비를 개발함으로써, 기존의 측량선을 이용하기가 어려운 저수지, 댐 등의 지역 및 오염으로 인해 사람이 접근하기 불가능한 지역의 각종 수중정보 취득이 가능할 것으로 기대된다. 또한 하나의 선체에 다중빔 에코사운더, 영상센서, 수질측정 센서 등 사용목적에 맞는 센서를 장착하여 다목적으로 사용할 수 있으므로 내수면과 관련된 정보의 획득을 필요로 하는 거의 모든 산업분야에서의 경제적인 활용이 가능할 것으로 판단된다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.933-934
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• 2006

High level perceptual tasks such as context understanding, SLAM and object recognition are essential for intelligent robot to provide services for human supports. Those intelligent robots often use camera sensor for vision information, sonar or laser sensor for range information, encoder for angular velocity of wheel and so on. The information is generated at different time intervals by the different H/W devices and S/W algorithms. The generation of high level information requires the specific mixture of low level information. And the information should be represented to be useful for robots to use in their ecological niche. In conventional robot systems, perceptual module requires the resource to use by tightly coupling whenever it is needed. So the resource and information cannot be easily shared and even could be invalid for the delayed information. In this paper, we propose a synchronization system of robot-centered information for context understanding. Our system represents information for the robot capacity and synchronizes the information that is asynchronously generated, where is employed the black-board architecture.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.505-511
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• 2011

In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.

• 전자공학회논문지S
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• 제35S권7호
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• pp.72-85
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• 1998

In this paper, we propose a new method that sequentially estimates TDOA(Time Delay Of Arrival) and FDOA(Frequency Delay Of Arrival) for extracting the information about the bearing and relative velocity of a target in passive radar or sonar arrays. The objective is to efficiently estimate the TDOA and FDOA between two sensor signal measurements, corrupted by correlated Gaussian noise sources in an unknown way. The proposed method utilizes the one dimensional slice function of the third order cumulants between the two sensor measurements, by which the effect of correlated Gaussian measurement noises can be significantly suppressed for the estimation of TDOA. Because the proposed sequential algoritjhm uses the one dimensional complex ambiguity function based on the TDOA estimate from the first step, the amount of computations needed for accurate estimationof FDOA can be dramatically reduced, especially for the cases where high frequency resolution is required. It is demonstrated that the proposed algorithm outperforms existing TDOA/FDOA estimation algorithms based on the ML(maximum likelihood) criterionandthe complex ambiguity function of the third order cumulant as well, in the MSE(mean squared error) sense and computational burden. Various numerical resutls on the detection probability, MSE and the floatingpoint computational burden are presented via Monte-Carlo simulations for different types of noises, different lengths of data, and different signal-to-noise ratios.

• 전자공학회논문지SC
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• 제42권2호
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• pp.1-10
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• 2005

본 논문에서는 이동로봇에 장착된 단일 초음파 센서 회전 모듈을 이용하여 구조화가 잘 된 실내 환경에 대한 지도를 작성하고 작성된 지도를 바탕으로 로봇의 자기 위치를 보정하는 데 있어서 지도작성과 위치 보정에 대한 정량화를 통해 성능을 향상시키기 위한 방법을 제시한다 이동로봇의 환경은 물체의 형상, 즉 직선, 모서리 ,곡선 등의 기하학적인 형상으로 표현되는 지도를 구성하고 초음파센서의 거리정보로부터 동일거리영역(Region of Constant Depth: RCD)을 분류하였다. 그리고 물리적 기반의 초음파 센서모델을 적용하여 주행중인 이동로봇의 자기위치 추정할 수 있도록 확장 칼만필터를 이용하였다 제시된 방법을 이용하여 시뮬레이션을 통하여 제시한 방법을 검증하고 실내 환경에서의 실험을 통해서 그 성능을 제시하고 있다.