• 천문학회보
• /
• 제37권2호
• /
• pp.88.2-88.2
• /
• 2012

We present kinematic properties of the narrow-line region in three type-2 QSOs at z~0.35, using 2-D spectra obtained with the VIMOS integral field unit spectrograph at the Very Large Telescope. One of the objects shows a line-of-sight velocity shift of the [OIII] and $H{\beta}$ lines up to 40km/s on a 15 kpc scale, which can be interpreted as either outflow or rotation. The outflow scenario is supported by the presence of blue wings and a radio structure showing lobes in the same direction. Another object features double-peaked emission lines which can be decomposed into two velocity components. Its Hubble Space Telescope image shows two nuclei separated by ~0.2"(~1kpc), implying this may be a binary AGN.

• 센서학회지
• /
• 제19권4호
• /
• pp.278-284
• /
• 2010

Indoor localization for pedestrian is the key technology for caring the elderly, the visually impaired and the handicapped in health care districts. It also becomes essential for the emergency responders where the GPS signal is not available. This paper presents newly developed pedestrian localization system using the gyro sensors, the magnetic compass and pressure sensors. Instead of using the accelerometer, the pedestrian gait is estimated from the gyro sensor measurements and the travel distance is estimated based on the gait kinematics. Fusing the gyro information and the magnetic compass information for heading angle estimation is presented with the error covariance analysis. A pressure sensor is used to identify the floor the pedestrian is walking on. A complete ambulatory system is implemented which estimates the pedestrian's 3D position and the heading.

• Advances in Computational Design
• /
• 제5권1호
• /
• pp.13-34
• /
• 2020

As small size and complex metal machining components demand increases, cutting processes in microscale become necessary. Ball-end milling is a commonly used finishing process, which nowadays can be applied in the microscale size. Surface quality and dimensional accuracy are two basic parameters that affect small size components in their assembly and functionality. Thus, good quality can be achieved by optimizing the cutting conditions of the procedure. This study presents a 3D simulation model of ball-end milling in microscale developed in a commercial CAD software and its optical and computing results. These carried out results are resumed to surface topomorphy, surface roughness, chip geometry and cutting forces calculations that arising during the cutting process. A great number of simulations were performed in a milling machine centre, applying the discretized kinematics of the procedure and the final results were compared with measurements of Al7075-T651 experiments.

• 한국정밀공학회지
• /
• 제10권4호
• /
• pp.190-199
• /
• 1993

In this study a three-axes mobile robot which has two independently controlled driving wheels and a function of simultaneously steering the driving wheels has been developed. Two-motion modes of the mobile robot, the first is a differential velocity motion of two driving wheels and the second is a equal driving and steering motion, have been analyzed and the kinematic and dymanic analyses about the each motion mode have been carried out. As a result of dynamic analysis, the torque used on a motor control and acceleration have been derived explicitly. Hence, a computation time is saved effectively and a real time control of the mobile robot considering the dynamics has become possible. Through a simulation the results considering the dynamics have been compared with that no regarding the dynamics and the possibility of real-time control has been proved.

• 대한전자공학회논문지SP
• /
• 제37권5호
• /
• pp.21-30
• /
• 2000

서로 다른 언어 사이의 언어 장벽을 극복하기 위한 한 방법으로 CG 애니메이션 기술을 이용한 수화통신 시스템이 연구되고 있다. 이 시스템에서 하나의 수화 애니메이션을 생성하기 위해서는 그 제스춰에 해당하는 팔과 손의 관절 각을 결정해야 한다 그러나 현재까지 시행착오적인 방법으로 관절 각을 계산하였기 때문에 애니메이터의 숙련도에 의지할 수밖에 없었다 따라서 본 논문에서는 이러한 문제점을 해결하기 위하여, 쉽고 빠르게 3차원 수화 애니메이션을 위한 팔과 손의 키 프레임을 함께 생성할 수 있는 통합된 키 프레임 에디터를 제작한다 구현된 키 프레임 에디터에서는 관절 각 계산에 역 운동학을 이용하였으며, 양팔과 20개의 손가락 관절에 통일한 변환 행렬식을 이용 할 수 있도록 표준화하였다 실험 결과 본 논문에서 제시한 에디터를 이용할 경우 이종언어간의 수화통신에 사용되는 수화 파라미터 사전을 좀더 효율적으로 생성할 수 있음을 확인하였다.

• Journal of Biosystems Engineering
• /
• 제39권4호
• /
• pp.389-399
• /
• 2014

Purpose: This study was aimed at developing a tractor-driving simulator for the safety training of agricultural tractor operators. Methods: The developed simulator consists of five principal components: mock operator control devices, a data acquisition and processing device, a motion platform, a visual system that displays a computer model of the tractor, a motion platform, and a virtual environment. The control devices of a real tractor cabin were successfully converted into mock operator control devices in which sensors were used for relevant measurements. A 3D computer model of the tractor was also implemented using 3ds Max, tractor dynamics, and the physics of Unity 3D. The visual system consisted of two graphic cards and four monitors for the simultaneous display of the four different sides of a 3D object to the operator. The motion platform was designed with two rotational degrees of freedom to reduce cost, and inverse kinematics was used to calculate the required motor positions and to rotate the platform. The generated virtual environment consisted of roads, traffic signals, buildings, rice paddies, and fields. Results: The effectiveness of the simulator was evaluated by a performance test survey administered to 128 agricultural machinery instructors, 116 of whom considered the simulator as having potential for improving safety training. Conclusions: From the study results, it is concluded that the developed simulator can be effectively used for the safety training of agricultural tractor operators.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.1636-1639
• /
• 2005

The process equipment and remote handling for the deep geological disposal of high-level radioactive waste(HLW) should be checked prior to the operation in view of reliability and operability. In this study, the concept of virtual environment workcell is implemented to analyze and define the feasible disposal process instead of real mock-up, which is very expensive and time consuming. To do this, the parts of process equipment for the disposal and maintenance will be modeled in 3-D graphics, assembled, and kinematics will be assigned. Also, the virtual workcell for the encapsulation and disposal process of spent fuel will be implemented in the graphical environment, which is the same as the real environment. This virtual workcell will have the several functions for verification such as analyses for the equipment's work space, the collision detection, the path planning and graphic simulation of the processes etc. This graphic virtual workcell of the HLW disposal process can be effectively used in designing of the processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• 로봇학회논문지
• /
• 제19권2호
• /
• pp.149-158
• /
• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• 전자공학회논문지
• /
• 제51권9호
• /
• pp.208-214
• /
• 2014

차선유지 제어시스템, 적응식순항 제어시스템과 같은 첨단운전 지원시스템은 기본적으로 차량의 거동 정보를 기반으로 구동되지만, 최근 도로의 기하학적 정보를 추가적으로 활용하는 연구가 활발히 진행되고 있다. 특히, 도로의 종단경사는 차량의 가감속 제어 및 항법알고리즘 구현에 있어 필수적인 정보로서 DGPS-RTK와 같은 고가의 장비로 직접 측정하는 방법과 디지털 맵에 저장된 속성정보를 활용하는 방식이 제안되고 있으나, 상용화 관점에서는 아직 많은 문제점이 존재한다. 따라서, 본 논문에서는 추가 센서의 장착없이 연속형 확장칼만필터를 활용하여 차량의 동특성과 도로종단경사를 효율적으로 추정하는 알고리즘을 제안한다. 도로종단경사를 포함하는 3자유도 차량동역학 모델과 차량의 내부 네트워크롤 통해 수집할 수 있는 차량의 상태정보를 기반으로 확장칼만필터를 설계하여 차량의 동특성과 도로종단경사를 추정한다. 제안된 알고리즘은 시뮬레이션과 실차실험을 통해 그 성능을 검증하였다.

• Journal of Radiation Protection and Research
• /
• 제34권3호
• /
• pp.107-114
• /
• 2009

컴프턴 카메라는 컴프턴 산란 현상에 기반을 둔 감마선 영상장치로 기존의 영상장치가 가지는 여러 가지 한계점들을 극복할 수 있어서 차세대 영상장치로 관심을 받고 있다. 본 연구에서는 4-D 전산모사 기법을 이용하여 회전형 컴프턴 카메라의 영상 특성을 평가하였으나, 원자력 산업용으로 활용될 수 있는 컴프턴 카메라에 대하여 가능성을 확인하여 보았다. 고정된 시스템 보다는 선원 주위를 회전하여 영상을 획득할 경우 선원의 위치 및 분포를 상대적으로 정확하게 결정할 수 있음을 확인하였다. 또한, 컴프턴 카메라의 3차원 영상가능을 통해 대형 원자력 시설해체 시 콘크리트 벽안에 존재하는 방사화된 철근구조의 위치 및 분포를 한 쪽 벽면에서 정확히 결정할 수 있음을 확인하였다. 본 연구에서 활용한 4-D 전산모사 기법은 컴프턴 카메라 분야에 최초로 적용된 기술이며, 이는 움직이는 장기 및 LINAC 켄트리, 4-D CT 등 동적 구조에 대한 모델링이 가능하므로 다양한 응용분야에서 활용될 수 있을 것으로 기대한다.