• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1480-1484
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• 2004

In this paper, a self-propulsive and small concrete floor finishing trowel robot with twin trowels is proposed. Due to the small size and omni-directional moving capability, it is adequate for small space such as apartment. By adjusting the posture of trowels, it can move in any direction without wheels. We used cheap PIC processor for the cost saving design of the modules and adopted mode processors for easy operation of control stick. For the position control of the robot, we made a motion control algorithm appealing to the stepping motor driver module and the wireless communication module between the robot and PC (or control stick). In this paper, we discuss the control problem of the floor finishing robot in order to move to the right position. By comparing experimental result with simulation, we show the validity of the robot mechanism, sensors, and the control system.

• 한국전자파학회:학술대회논문집
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• 한국전자파학회 2005년도 종합학술발표회 논문집 Vol.15 No.1
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• pp.211-216
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• 2005

In this paper, we have designed, fabricated and measured a compact rectangular mono-cone antenna for ultra-wideband applications. The proposed antenna covers the entire UWB band (3.1 GHz $\sim$ 10.6GHz). The measured bandwidth is 8.2 GHz from 2.8GHz to 11 GHz for ${\mid}S_{11}{\mid}{\leq}-10dB$. From the measured results, the proposed antenna shows a good characteristics (linear phase, omni-directional pattern and very low gain variation) for UWB applications. Also, the measured results have a reasonable agreement with the simulated results.

• 한국전자통신학회논문지
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• 제9권2호
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• pp.249-254
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• 2014

본 논문에서는 RFID 태그를 설계하여 철도 안정화 시스템으로의 적용 가능성에 대하여 연구하였다. UHF 대역에서 동작하는 태그를 설계 제작, 현장 테스트를 진행하였다. 제안된 UHF 대역 태그 안테나는 PIFA형 안테나 구조를 가지며 인셋 급전 다중 정합기술로 주파수와 임피던스 정합을 시도하였다. 제안된 안테나는 UHF 대역인 917~923 MHz에서 VSWR 3:1 이하의 주파수 특성을 나타내었으며, 또한 전방향적인 방사패턴(Omni-directional radiation pattern)을 가진다. 917~923 MHz의 동작주파수에서 안테나의 최대 이득은 3.225 dBi 이었다. 모터카에 RFID 리더를 거취하고 선로에 태그를 설치한 후, 속도에 따른 태그 인식률을 테스트한 결과 45 km/h 이하의 속도에서 100 %의 인식률을 나타내었다.

• 대한공간정보학회지
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• 제20권2호
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• pp.31-37
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• 2012

도로의 확장 및 신규 도로의 설치로 인하여 도로교통시설물의 변경 및 신규설치는 매년 꾸준히 증가하고 있다. 또한, 자동차 및 운전자의 증가와 함께 교통안전을 위한 도로 및 교통안전표지는 지속적인 증설과 관리가 요구된다. 도로 시설물 중 교통안전표지판을 신속하게 갱신하기 위하여 본 연구에서는 교통안전표지판에 대하여 자동인식기능을 개발하고 위치정확도를 분석하여 수치지형도의 도로시설물 효율적 갱신방안 제시를 목적으로 하였다. 이를 위하여 좌표측정을 위한 전방위 카메라 표정요소 산출, GPS/IMU/DMI 통합시스템 구축 및 영상처리기법을 적용하여 수치지형도의 도로시설물 DB의 효율적 갱신방법을 제시하였다.

• 한국포장학회지
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• 제4권2호
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• pp.33-38
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• 1998

일반골판지 상자에 고무판인쇄를 하는데 있어서 바코드 인쇄 정밀도에는 필름 마스터의 정밀도와 적정축소율이 매우 중요하며, 현장에서의 판독률 향상요인으로는 스캐너를 포함한 완벽한 시스템의 구성이 필요하다. 필름마스터에는 입력된 바코드번호를 변환기로 변환하여 인화현상기로 필름을 제작하는 것이 정밀도가 좋았으며 축소율은 BWR 100이 BWR 200보다 양호하였다. 또한 바코드를 판독하는데 있어서 omni directional scanner type이 99.5%이상의 판독률을 나타내어 목표치인 판독률 99.8% 이상의 완벽한 시스템구성 가능할 것으로 기대된다.

• 제어로봇시스템학회논문지
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• 제19권6호
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• pp.547-554
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• 2013

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omni-directional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multi-robots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have $360^{\circ}$ of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.

• 한국정밀공학회지
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• 제16권5호통권98호
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• pp.151-159
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• 1999

A self-propulsive polishing robot is proposed as a method which automates a floor polisher. The proposed robot with two rotary brushes does not require any mechanism such as wheels to obtain driving forces. When the robot polishes a floor with its two brushes rotating, friction forces occur between the two brushes and the floor. These friction forces are used to move the robot. Thus, the robot can move in any direction by controlling the two rotary brushes properly. In this paper, firstly a dynamics model of a brush is presented. It computes the friction force between the brush and the floor. Secondly, the dynamics of the proposed robot is presented by using the bush dynamics. Finally, the inverse dynamics is solved for the basic motions, such as the forward, backward, leftward, rightward motions and the pure rotaion. This paper will contribute to realize a self-propulsive polishing robot as proposed above, In addition, this paper will give basic ideas to automate the concrete floor finishing trowel, because its basic idea for motion is similar to that of the proposed robot.

• 로봇학회논문지
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• 제10권4호
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• pp.186-192
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• 2015

This paper proposes a robust balance and driving control for omni-directional ball robot(generally called ball-bot) with two axis mecanum wheel. Slip between ball and mecanum wheel actuator inevitably occurs along diagonal axis due to its instantaneous strong torque. In order to reduce and saturate slip, exact distance calculation scheme especially for rotational movement is essential. So this research solved Euler-Lagrange dynamics for proposed two axis ball robot based on practical mechanical modeling. Robust balance control was carried out by PID controller according to the pitch and roll angles of ball robot by using sensor fusion between AHRS and wheel encoder. Proposed PID controller enhances stability by reducing steady state error and settling time. Proposed slip control algorithm for omni-directional ball robot has been demonstrated by experiments for balance control and arbitrary driving control.

• 제어로봇시스템학회논문지
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• 제21권8호
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• pp.766-772
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• 2015

This paper proposes an object detection method based on motion estimation using background subtraction in the fisheye images obtained through omni-directional camera mounted on the vehicle. Recently, most of the vehicles installed with rear camera as a standard option, as well as various camera systems for safety. However, differently from the conventional object detection using the image obtained from the camera, the embedded system installed in the vehicle is difficult to apply a complicated algorithm because of its inherent low processing performance. In general, the embedded system needs system-dependent algorithm because it has lower processing performance than the computer. In this paper, the location of object is estimated from the information of object's motion obtained by applying a background subtraction method which compares the previous frames with the current ones. The real-time detection performance of the proposed method for object detection is verified experimentally on embedded board by comparing the proposed algorithm with the object detection based on LKOF (Lucas-Kanade optical flow).

• 대한전자공학회논문지SP
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• 제42권5호
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• pp.79-84
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• 2005

일반적인 카메라의 시야는 사람에 비하여 매우 좁기 때문에 큰 물체를 한 화면으로 얻기 힘들며, 그 움직임도 넓게 감시하기에 어려움 점이 많다. 이에 본 논문에서는 어안 렌즈(Fish-Eye Lens)를 사용하여 넓은 시야의 영상을 획득하고 전방향 감시를 위한 투시(perspective) 영상과 파노라마(panorama) 영상을 복원하는 방법을 제시한다. 영상 변환 과정에서 어안 렌즈의 특성으로 인한 해상도 차이를 보완하기 위하여 여러 가지 영상 보간법을 적용하고 결과를 비교하였다. 그리고 ME(Moving Edge) 방법으로 움직임을 검출하여 다중 물체를 추적할 수 있도록 하였다.