• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1139-1145
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• 2008

A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.

• Bulletin of the Korean Chemical Society
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• 제35권12호
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• pp.3601-3608
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• 2014

RGB light emitting ZnSe based nanocrystals: ZnSe (blue), ZnSe:Cu (green) and ZnSe:Mn (red) were synthesized by capping the surface of the nanocrystals with oleic acid. The obtained nanocrystal powders were characterized by using XRD, HR-TEM, ICP-AES, FT-IR, and FT-Raman spectroscopies. The optical properties were also measured by UV/Vis and photoluminescence (PL) spectroscopies. The PL spectra showed broad emission peaks at 471 nm (ZnSe), 530 nm (ZnSe:Cu) and 665 nm (ZnSe:Mn), with relative PL efficiencies in the range of 0.7% to 5.1% compared to a reference organic dye standard. The measured average particle sizes from the HR-TEM images for those three nanocrystals were 4.5 nm on average, which were also supported well by the Debye-Scherrer calculations. The elemental compositions of the ZnSe based nanocrystals were determined by ICP-AES analyses. Finally, the drawn CIE diagram showed the color coordinates of (0.15, 0.16) for ZnSe, (0.22, 0.57) for ZnSe:Cu, and (0.62, 0.35) for ZnSe:Mn respectively, which were fairly well matched to that of the RGB color standards.

• 한국지능시스템학회논문지
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• 제20권2호
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• pp.298-303
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• 2010

로봇은 무선센서를 이용하여 상대 로봇의 위치를 확인한다. 그로인해 자신의 이동방법을 결정하고, 이를 통해 임의위치의 이동 로봇들이 일렬종대와 횡대, 여러 집합모양, 원모양등 여러 가지 형태의 로봇집단을 형성 할 수 있을 것이다. 이러한 로봇집단 형성은 무인 잠수함이나 무인 탱크의 배치계획, 침입자에 대한 포위진형 계획 등에 이용될 것이다. 본 논문은 기반 시설이 필요 없는 군집로봇의 상호위치인식시스템에 대해 다루고 있다. 그러므로 기준점의 좌표 값을 알 필요 없는 삼변측량을 이용하여 상대좌표계에서의 로봇 간 상호위치를 인식한다. 위치탐지를 위한 주요센서로는 초음파, 적외선, 레이저, RFID, 카메라 센서 등을 들 수 있다. 이들 센서들의 정확도는 전파 수단 및 사람, 초목, 건물 등 주위 환경변화에 민감하다. 본 논문에서는 위치추정의 정확도를 높이기 위해 파티클 필터를 제안한다.

• 한국항행학회논문지
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• 제21권5호
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• pp.514-519
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• 2017

이 연구에서는 안드로이드의 GPS 원시데이터를 이용한 의사거리 기반 GPS 성능을 자체 계산된 NMEA와 비교했다. 원시데이터를 이용한 GPS와 NMEA간의 성능 비교를 위해 Nexus 9 태블릿을 사용하고, 구글에서 제공하는 GNSS logger 어플리케이션을 이용하여 원시데이터와 NMEA를 수집하였다. 산출된 최종좌표의 성능을 검증하기 위해 VRS를 기준 좌표로 사용하고, 동시간 NMEA 결과와 비교하였다. 원시데이터의 의사거리를 이용한 GPS의 정확도는 수평 RMS 3.05 m, 수직 RMS 3.82 m, 3차원 RMS 4.97 m로 NMEA 대비 수평 32 %, 수직 65 %, 3차원 49 %의 성능 향상을 확인할 수 있었다.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.955-961
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• 2006

The global ultrasonic system for the self-localization of a mobile robot consists of several ultrasonic transmitters fixed at some reference positions in the global coordinates of robot environment. By activating the ultrasonic transmitters, the mobile robot is able to get the distance to the ultrasonic transmitters and compute its own position in the global coordinate. Due to the limitation on the ultrasonic signal strength and beam width as well as the environmental obstacles however, the ultrasonic signals from some generator may not be transmitted to the robot. Thus, instead of activating the all ultrasonic transmitters, it is necessary to select some ultrasonic generators to activate based on the current robot position. In this paper, we propose a selective activation algorithm for self-localization with the global ultrasonic system. The selective activation algorithm gets the meaningful ultrasonic data at every sampling instants, which results in the faster and more accurate response of the self-localization than the conventional sequential activation. Through the self-localization and path following control, we verify the effectiveness of the proposed selective activation algorithm.

• 한국측량학회지
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• 제9권2호
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• pp.1-8
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• 1991

정밀측지좌표의 계산, 탄도무기의 탄도계산 및 관성유도장치의 기준 방향설정 등에 영향을 주는 지오 이드형상은 지구 물리학 및 측지학에서 매우 중요하게 취급된다. 본 연구는 우리나라에 가장 적합한 지오이드 모델을 개발하는데 그 최종 목적이 있으며, 여러가지의 지오이드 결정 방법 중 가장 기초적이고 고전적인 천문측지 수준측량 및 곡면다항식 방법을 사용하여 표준오차 $\pm$0.49m 및$\pm$0.66m의 지역 지오이드를 얻을 수 있었으며, 최대 지오이드 경사는 약 22m~23m 정도임을 알 수 있었다.

• 한국측량학회지
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• 제25권6_1호
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• pp.575-583
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• 2007

Surface segmentation aims to represent the terrain as a set of bounded and analytically defined surface patches. Many previous segmentation methods have been developed to extract planar patches from LIDAR data for building extraction. However, most of them were not fully satisfactory for more general applications in terms of the degree of automation and the quality of the segmentation results. This is mainly caused from the limited information derived from LIDAR data. The purpose of this study is thus to develop an automatic method to perform surface segmentation by combining not only LIDAR data but also images. A region-based method is proposed to generate a set of planar patches by grouping LIDAR points. The grouping criteria are based on both the coordinates of the points and the corresponding intensity values computed from the images. This method has been applied to urban data and the segmentation results are compared with the reference data acquired by manual segmentation. 76% of the test area is correctly segmented. Under-segmentation is rarely founded but over-segmentation still exists. If the over-segmentation is mitigated by merging adjacent patches with similar properties as a post-process, the proposed segmentation method can be effectively utilized for a reliable intermediate process toward automatic extraction of 3D model of the real world.

• 한국축산시설환경학회지
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• 제21권3호
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• pp.93-98
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• 2015

The objective of this study was to review application of next-generation sequencing (NGS) to investigate microbiome in the livestock sector. Since the 16S rRNA gene is used as a phylogenetic marker, unculturable members of microbiome in nature or managed environments have been investigated using the NGS technique based on 16S rRNA genes. However, few NGS studies have been conducted to investigate microbiome in the livestock sector. The 16S rRNA gene sequences obtained from NGS are classified to microbial taxa against the 16S rRNA gene reference database such as RDP, Greengenes and Silva databases. The sequences also are clustered into species-level OTUs at 97% sequence similarity. Microbiome similarity among treatment groups is visualized using principal coordinates analysis, while microbiome shared among treatment groups is visualized using a venn diagram. The use of the NGS technique will contribute to elucidating roles of microbiome in the livestock sector.

• 대한공간정보학회지
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• 제1권2호
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• pp.97-104
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• 1993

지적은 GIS모델에 있어서 가장 중요한 한 부분으로 토지와 소유권에 대한 기하적인 자료의 수집을 위하여 지적에서는 가장 현대화된 방범을 사용하여야 한다. 일반적으로 지형도 작성을 위한 지형측량에 있어서는 가장 적절한 장비로 측량을 하기 때문에 도면의 정도는 여러 사용자에 있어서 정도가 너무 낮다. 하지만 대축척의 지적도는 이러한 문제에 있어서 커다란 문제점이 없다. 따라서 지적의 경우 정밀한 점좌표와 기하적인 정보를 얻는 것이 필요하다. 본 연구에서는 이와 같은 점간의 거리측정요소와 조정뿐만 아니라 GIS자료와 지적자료간의 접합 및 기준점체계, 위상설정, 모델링 등에 대하여 연구하였다.

• 한국지능시스템학회논문지
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• 제15권3호
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• pp.357-362
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• 2005

Iris recognition system is the one of the most reliable biometries recognition system. An algorithm is proposed to determine the localized iris from the iris image received from iris input camera in client. For the first step, the algorithm determines the center of pupil. For the second step, the algorithm determines the outer boundary of the iris and the pupillary boundary. The localized iris area is transformed into polar coordinates. After performing three times Wavelet transformation, normalization was done using a sigmoid function. The converting binary process performs normalized value of pixel from 0 to 255 to be binary value, and then the converting binary process is compared pairs of two adjacent pixels. The binary code of the iris is transmitted to the server by the network. In the server, the comparing process compares the binary value of presented iris to the reference value in the database. The process of recognition or rejection is dependent on the value of Hamming Distance. After matching the binary value of presented iris with the database stored in the server, the result is transmitted to the client.