• 제목/요약/키워드: Mobile Robotics

검색결과 1,114건 처리시간 0.027초

스테레오 비전 센서를 이용한 실내 모바일 로봇 충돌 회피 (Collision Avoidance for Indoor Mobile Robotics using Stereo Vision Sensor)

  • 권기현;남시병;이세헌
    • 한국산학기술학회논문지
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    • 제14권5호
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    • pp.2400-2405
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    • 2013
  • 본 연구에서는 스테레오비전 센서의 거리 정보와 컬러이미지를 합성하여 일정 거리 안에 있는 장애물을 탐색하는 방법을 제시하였다. 스테레오 비전 센서로 부터 취득한 깊이이미지(depth image)를 이용하여 거리 정보를 구하고 컬러 이미지와의 합성을 통해 모바일로봇 이동에 방해되는 장애물을 검출하였다. 검출된 장애물 정보는 모바일 로봇에 송신되어 무인이동장치로써 지역을 탐색하게 하여 깊이이미지 응용에 적용가능성을 평가하였다. 스테레오 비전 센서를 이용하는 무인이동장치의 성능을 평가하기 위해 장애물간의 거리에 대한 성능 평가를 하고 컬러이미지, 깊이이미지 그리고 합성이미지 유형에 따른 성능과 취득된 이미지 프레임의 수에 따른 성능도 살펴보았다. 처리 결과 깊이이미지에 비해 합성된 이미지가 개선된 성능을 보였다.

Simple Pyramid RAM-Based Neural Network Architecture for Localization of Swarm Robots

  • Nurmaini, Siti;Zarkasi, Ahmad
    • Journal of Information Processing Systems
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    • 제11권3호
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    • pp.370-388
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    • 2015
  • The localization of multi-agents, such as people, animals, or robots, is a requirement to accomplish several tasks. Especially in the case of multi-robotic applications, localization is the process for determining the positions of robots and targets in an unknown environment. Many sensors like GPS, lasers, and cameras are utilized in the localization process. However, these sensors produce a large amount of computational resources to process complex algorithms, because the process requires environmental mapping. Currently, combination multi-robots or swarm robots and sensor networks, as mobile sensor nodes have been widely available in indoor and outdoor environments. They allow for a type of efficient global localization that demands a relatively low amount of computational resources and for the independence of specific environmental features. However, the inherent instability in the wireless signal does not allow for it to be directly used for very accurate position estimations and making difficulty associated with conducting the localization processes of swarm robotics system. Furthermore, these swarm systems are usually highly decentralized, which makes it hard to synthesize and access global maps, it can be decrease its flexibility. In this paper, a simple pyramid RAM-based Neural Network architecture is proposed to improve the localization process of mobile sensor nodes in indoor environments. Our approach uses the capabilities of learning and generalization to reduce the effect of incorrect information and increases the accuracy of the agent's position. The results show that by using simple pyramid RAM-base Neural Network approach, produces low computational resources, a fast response for processing every changing in environmental situation and mobile sensor nodes have the ability to finish several tasks especially in localization processes in real time.

국방 상용보안제품 도입을 위한 CSfC(Commercial Solutions for Classified Program) 네트워크 보안 아키텍처 분석 (CSfC Network Security Architecture Analysis for the Assurance of Commercial Security Solutions in Defense Area)

  • 이용준;박세준;박연출
    • 인터넷정보학회논문지
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    • 제22권6호
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    • pp.91-97
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    • 2021
  • 미국은 CSfC(Commercial Solutions for Classified Program) 제도를 통해 진화하는 사이버공격에 대응하기 위해 국가기관이 민간 상용보안제품을 신속히 국가관에 도입할 수 있도록 공인된 안전성 평가 및 인증을 수행하고 있다. CSfC 프로세스에 등록된 상용보안제품은 신속한 승인 프로세스를 거쳐 국방기관에서 사용할 수 있으며 중복된 평가 없이 상용보안제품을 승인한다. 승인된 보안제품은 국방정보시스템 구현에 필요한 시간, 비용, 승인 프로세스로 인한 비용을 절감할 수 있다. 본 연구는 국방에 도입하기 위해 미국 NSA(National Security Agency)에서 제시한 네트워크 보안 아키텍처 MSC(Multi-Site Connectivity), MA(Mobile Access), Campus WLAN, DAR(Data at Rest) 4종에 대한 보안통제 항목을 분석하였다.

Modified Unscented Kalman Filter for a Multirate INS/GPS Integrated Navigation System

  • Enkhtur, Munkhzul;Cho, Seong Yun;Kim, Kyong-Ho
    • ETRI Journal
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    • 제35권5호
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    • pp.943-946
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    • 2013
  • Instead of the extended Kalman filter, the unscented Kalman filter (UKF) has been used in nonlinear systems without initial accurate state estimates over the last decade because the UKF is robust against large initial estimation errors. However, in a multirate integrated system, such as an inertial navigation system (INS)/Global Positioning System (GPS) integrated navigation system, it is difficult to implement a UKF-based navigation algorithm in a low-grade or mid-grade microcontroller, owing to a large computational burden. To overcome this problem, this letter proposes a modified UKF that has a reduced computational burden based on the basic idea that the change of probability distribution for the state variables between measurement updates is small in a multirate INS/GPS integrated navigation filter. The performance of the modified UKF is verified through numerical simulations.

Robust design using fuzzy system

  • Ahn, Taechon;Lee, Sangyoun;Ryu, Younbum;Oh, Sungkwun
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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    • pp.40-43
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    • 1996
  • To design high quality products at low cost is one of very important task for engineers Design optimization for performances can be one solution in this task. This is robust design which has been proved effectively in many field of engineering design. In this paper, the concept of robust design is introduced and combined to fuzzy optimization and nonsingleton fuzzy logic system. The optimum parameter set points were obtained by the fuzzy optimization method and nonsingleton fuzzy logic system. These methods are applied to a filter circuit, a part of the audio circuit of mobile radio transceiver. The results are compared each other.

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인공면역네트워크에 의한 자율이동로봇군의 동적 행동 제어 (Dynamic behavior control of a collective autonomous mobile robots using artificial immune networks)

  • 이동욱;심귀보
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.124-127
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    • 1997
  • In this paper, we propose a method of cooperative control based on immune system in distributed autonomous robotic system(DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying immune system to DARS, a robot is regarded as a B lymphocyte(B cell), each environmental condition as an antigen, and a behavior strategy as an antibody respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is simulated and suppressed by other robot using communication. Finally much simulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy.

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중앙집중 제어에 근거한 마이크로 축구경기 로봇 (Micro soccer-playing robot based on the centralized approach)

  • 홍선기;엄태덕;김민성
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.621-624
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    • 1997
  • This paper presents the design procedure for soccer-playing rovots based on the centralized approach. Using a fast vision system, we obtain the configuration of each robot and then the host computer computes the desired motion and commands each robot directly via RF communication. The robot soccer game has a lot of problems such as obstacle avoidance, coordination between robots, dribbling the ball, and so on. To implement such motions, we think that the centralized approach seems to be more powerful than the distributed approach. We describe the technical tips for developing the robots in detail here and explain our strategy for getting the scores.

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회전 초음파 센서와 지도를 이용한 이동 로보트의 동적 절대 위치 추정 (dynamic localization of a mobile robot using a rotating sonar and a map)

  • 양해용;정학영;이장규
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.544-547
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    • 1997
  • In this paper, we propose a dynamic localization method using a rotating sonar and a map. The proposed method is implemented by using extended Kalman filter. The state equation is based on the encoder propagation model and the encoder error model, and the measurement equation is a map-based measurement equation using a rotating sonar sensor. By utilizing sonar beam characteristics, map-based measurements are updated while AMR is moving continuously. By modeling and estimating systematic errors of a differential encoder, the position is successfully estimated even the interval of the map-based measurement. Monte-Carlo simulation shows that the proposed global position estimator has the performance of a few millimeter order in position error and of a few tenth degrees in heading error and of compensating systematic errors of the differential encoder well.

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레이저 슬릿빔과 CCD 카메라를 이용한 3차원 영상인식 (3D image processing using laser slit beam and CCD camera)

  • 김동기;윤광의;강이석
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.40-43
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    • 1997
  • This paper presents a 3D object recognition method for generation of 3D environmental map or obstacle recognition of mobile robots. An active light source projects a stripe pattern of light onto the object surface, while the camera observes the projected pattern from its offset point. The system consists of a laser unit and a camera on a pan/tilt device. The line segment in 2D camera image implies an object surface plane. The scaling, filtering, edge extraction, object extraction and line thinning are used for the enhancement of the light stripe image. We can get faithful depth informations of the object surface from the line segment interpretation. The performance of the proposed method has demonstrated in detail through the experiments for varies type objects. Experimental results show that the method has a good position accuracy, effectively eliminates optical noises in the image, greatly reduces memory requirement, and also greatly cut down the image processing time for the 3D object recognition compared to the conventional object recognition.

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방사선 영상 매핑 장치 (Radiation image mapping system)

  • 최영수;박순용;이종민
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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    • pp.1884-1887
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    • 1997
  • The increasing concern over radiation exposure in the nuclear industry has fostered agrressive efforts to reduce the levels of radiation exposure. One area of the effot to reduce the radiation exposure is the development of a remote radiation monitoring system. Remote radiation monitoring can serve many benificaial functions reduce exposure to radiation by plant personnel, impruve the quality of the data that is collected and recognize the radiation environment easily. Radiation mapping system gives a good information that represents radiation level distribution. The system we have developed consists of a data acquistion parts, mobile robot and remote control parts. Data acquisition parts consist of radiation detection module and vision acquistion module which collect radiation data, visiion data and distance information. In remote control parts, the acquision data are processed and displayed. We have constructed radiation mapping image by overlaying the vision and radiation data. The radiation mapping techniques for displaying the results of the survey in an easily comprehendable form will facilitate a better understanding of the radiation environment in the facility. This system can reduce workers radiation exposure and aid to help work plan, so it has significant benifits in cost and safety.

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