• 한국정밀공학회지
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• 제16권3호통권96호
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• pp.164-173
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• 1999

Robot calibration needs accurate measurements of robot end-effector position at a number of different robot configurations. One of the efficient ways of the measurement is "Touching on Jig" method suggested in [7], which utilizes a touch sensor and a fixture consisting of various sizes of blocks. By moving the end-effector to touch the surface of a block whose position relative to the other is known, the end-effector position relative to the fixture coordinate system can be obtained at the instant of touching. However, the global size of fixture is too small to cover the various configurations of the robot. Because of the manufacturing difficulties, the fixture cannot be manufactured large enough for well distributed position measurement. It results in the improvement of robot accuracy only in the limited space near to the fixture rather than over the whole space of the robot working volume. The paper proposes a method to resolve the above problem by measuring the end-effector positions with respect to several different coordinate system using the same measurement devices. It is found that the proposed method leads the improvements of robot position accuracy over the large space of working volume. The experimental studies are performed to show the validity of the method and their results are discussed.

• 전자공학회논문지CI
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• 제43권1호
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• pp.35-44
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• 2006

최근 XML 문서의 저장 및 관리에 대한 연구가 활발히 이루어지고 있다. XML 문서를 위한 현재까지 연구된 대부분의 색인기법의 경우 절대좌표를 이용하여 표현하는 방법을 사용하므로 갱신연산이 커다란 부담으로 받아들여지고 있다. 본 논문에서는 이를 개선하기 위하여 상대위치좌표에 기반한 BitmapInvert 색인 기법을 제안하였다. 상대위치좌표는 부모 노드와 좌, 우 형제 노드들 간의 관계만을 표현하므로 갱신연산지 자주 발생하더라도 좋은 성능을 보인다. BitmapInvert 색인 기법은 bitwise 연산을 지원하는 텍스트 검색을 지원하고, PostUpdate 알고리즘을 적용하여 갱신에 따른 성능 저하를 줄이도록 하였다. 따라서, 제안하는 기법은 검색이나 갱신에 대해서 접근하는 노드를 줄임으로써 전체적인 성능을 향상시킬 수 있다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 1998년도 Proceedings of International Symposium on Remote Sensing
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• pp.349-354
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• 1998

The grid reference system (GRS) has been useful for identifying the geographical location of satellite images. In this study we derive a GRS for the KOMPSAT Electro-Optical Camera (EOC) images. The derivation substantially follows the way that SPOT defines for its GRS, but incorporates the KOMPSAT orbital characteristics. The KOMPSAT EOC GRS (KEGRS) is designed to be a (K,J) coordinate system. The K coordinate parallel to the KOMPSAT ground track denotes the relative longitudinal position and the J coordinate represents the relative latitudinal position. The numbering of K begins with the prime meridian of K=1 with K increasing eastward, and the numbering of J uses a fixed value of J=500 at all center points on the equator with J increasing northward. The lateral and vertical intervals of grids are determined to be 12.5 km about at the 38$^{\circ}$ latitude to allow some margins for the value-added processing. The above design factors are being implemented in a satellite programming module of the KOMPSAT Receiving and Processing System (KRPS) to facilitate the EOC data collection planning over the Korean peninsula.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.892-896
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• 2005

This paper presents method of depriving the relationship between static passive RFID tag and mobile robot In the field of tag-range. We use probabilistic sensor model of RFID reader by experiments. And we proposed estimation techniques by using direction of identification and relative-distance from the sensor model. Corresponding to distribution of identification, we can correct estimated tag position in relative coordinate. Simulation and Experimental Results show that the proposed method can provide good performance and thus be used fer mobile-robot localization.

• 한국지능시스템학회논문지
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• 제25권1호
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• pp.42-47
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• 2015

본 논문은 다개체 로봇을 위한 랭크 기반의 포메이션을 다룬다. 여기서 제안되는 방법은 이웃한 두 대 로봇의 지역 위치를 이용한다. 전통적인 다개체 로봇의 포메이션을 위한 연구는 모든 로봇의 위치를 파악하기 위해 로봇과 중앙 컴퓨터사이의 통신을 필요로 한다. 그리고 전역좌표에서 모든 로봇의 위치를 참조하여 포메이션 형성 및 로봇 경로가 만들어 진다. 기존의 연구들과는 다르게 제안된 포메이션 형성 방법은 지역좌표에서 이웃한 두 대의 로봇 위치를 사용 한다. 따라서 제안된 방법은 여러 모양의 포메이션을 형성할 때 모든 로봇의 협력 관계는 필요하지 않고 주변의 이웃 로봇 위치를 개별적으로 이용한다. 시뮬레이션 결과는 제안된 방법이 효과적으로 포메이션을 형성할 수 있음을 보여준다.

• International Journal of Aeronautical and Space Sciences
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• 제16권1호
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• pp.77-88
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• 2015

The dynamics of relative motion in a perturbed orbital environment are exploited based on Gauss' and Cowell's variational equations. The inertial coordinate frame and relative coordinate frame (Hill frame) are used, and a linear high fidelity model is developed to describe the relative motion. This model takes into account the primary gravitational and atmospheric drag perturbations. Then, this model is used in the design of a navigation, guidance, and control system of a chaser vehicle to approach towards and to depart from a target vehicle in proximity operations. Relative navigation uses an extended Kalman filter based on this relative model to estimate the relative position/velocity of the chaser vehicle with respect to the target vehicle. This filter uses the range and angle measurements of the target relative to the chaser from a simulated LIDAR system. The corresponding measurement models, process noise matrix, and other filter parameters are provided. Numerical simulations are performed to assess the precision of this model with respect to the full nonlinear model. The analyses include the navigation errors and trajectory dispersions.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.883-890
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• 2010

This paper proposes tip position control system which uses a visual marker to determine the tip position of a robot manipulator. The main idea of this paper is to introduce visual marker for the tracking control of a robot manipulator. Existing researches utilize stationary markers to get pattern information from them. Unlike existing researches, we introduce visual markers to get the coordinates of them in addition to their pattern information. Markers need not be stationary and the extracted coordinate of markers are used as a reference trajectory for the tracking control of a robot manipulator. To build the proposed control scheme, we first obtain intrinsic parameters through camera calibration and evaluate their validity. Secondly, we present a procedure to obtain the relative coordinate of a visual marker with respect to a camera. Thirdly, we derive the equation for the kinematics of the SCORBOTER 4pc manipulator which we use for control of manipulator. Also, we provide a flow diagram of entire visual marker tracking system. The feasibility of the proposed scheme will be demonstrated through real experiments.

• 한국멀티미디어학회논문지
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• 제19권2호
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• pp.112-121
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• 2016

ADAS(Advanced Driver Assistance Systems) and street furniture information collecting car like as MMS(Mobile Mapping System), they require object location estimation method for recognizing spatial information of object in road images. But, the case of conventional methods, these methods require additional hardware module for gathering spatial information of object and have high computational complexity. In this paper, for a coordinate of road sign in single camera image, a position estimation scheme of object in road images is proposed using the relationship between the pixel and object size in real world. In this scheme, coordinate value and direction are used to get coordinate value of a road sign in images after estimating the equation related on pixel and real size of road sign. By experiments with test video set, it is confirmed that proposed method has high accuracy for mapping estimated object coordinate into commercial map. Therefore, proposed method can be used for MMS in commercial region.

• 한국자동차공학회논문집
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• 제20권4호
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• pp.16-24
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• 2012

This paper proposes a method utilizing Differential Global Position System (DGPS) with Real-Time Kinematic (RTK) and pre-built Geo-graphic Information System (GIS) to detect lane departure of a vehicle. The position of a vehicle measured by DGPS with RTK has 18 cm-level accuracy. The preconditioned GIS data giving accurate position information of the traffic lanes is used to set up coordinate system and to enable fast calculation of the relative position of the vehicle within the traffic lanes. This relative position can be used for safe driving by preventing the vehicle from departing lane carelessly. The proposed system can be a key component in functions such as vehicle guidance, driver alert and assistance, and the smart highway that eventually enables autonomous driving supporting system. Experimental results show the ability of the system to meet the accuracy and robustness to detect lane departure of a vehicle at high speed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.407-407
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• 2000

For acquisition of 3-Dimensional information in real space, stereo vision system is suitable. In the stereo system, 3D real world position is derived from translation of coordinates between cameras and world. Thus, to use stereo vision, it is needed to construct a precise system which provides kinematically precise translation between camera and world coordinate, in spite of intricacy and hardness. So much cost and time should be spent to build the system. In this paper, facilely to solve previous problem, a method which can easily obtain 3D informations using reference objects and RSD(Relative Stereo Disparity) is proposed. Instead of direct computation of position with translation of coordinates, only relative stereo disparity in stereo pair of image is used to find the reference depth of objects, and real 3D position is computed with initial condition of reference objects. In computation, subpixel resolution is involved to find the display for accuracy. To find the RSD, corresponding points are calculated in subpixel resolution. So the result in experiemnt will be shown that subpixel resolution is more accurate than 1 pixel resolution.