• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 춘계학술대회 논문집
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• pp.369-370
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• 2007

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 춘계학술대회 논문집
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• pp.53-54
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• 2007

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.581-582
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• 2010

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권4호
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• pp.280-285
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• 2011

Recently, with the development of service robots and the concept of ubiquitous, the position estimation of mobile objects has received great interest. Some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter. The RFID receiver gets the synchronization signal from the mobile robot and the ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can acquire the ultrasonic signals from only one or two beacons, due to the obstacles located along the moving path. In this paper, a position estimation scheme using fewer than three sensors is developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• 로봇학회논문지
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• 제2권1호
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• pp.40-47
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• 2007

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the absolute location of the moving objects subjected to large errors. To implement a precise and convenient localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from three beacons and the absolute position information of the beacons themselves. Since it is not easy to install the beacons at a specific position precisely, there exists a large localization error and the installation time takes long. To overcome these problems, and provide a precise and convenient localization system, a new auto calibration algorithm is developed in this paper. Also the extended Kalman filter has been adopted for improving the localization accuracy during the mobile robot navigation. The localization accuracy improvement through the proposed auto calibration algorithm and the extended Kalman filter has been demonstrated by the real experiments.

• Journal of Astronomy and Space Sciences
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• 제24권3호
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• pp.203-208
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• 2007

We report the distance modulus of nearby dwarf elliptical galaxy NGC 147 estimated from the Tip of Red-giant Branch (TRGB) method applying to the color-magnitude diagrams and luminosity functions in the near-infrared JHK bands. Apparent magnitudes of TRGBs in each band are obtained by applying Savitzky-Golay filter to the luminosity functions, and the theoretical absolute magnitudes are estimated from Yonsei-Yale isochrones. The derived values of distance modulus to NGC 147 are $(m-M)=23.69{\pm}0.12,\;23.78{\pm}0.17,\;and\;23.85{\pm}0.22\;for\;J,\;H,\;and\;K$ bands, respectively. Distance modulus in bolometric magnitude is also derived as $(m-M)=23.87{\pm}0.11$. We compare the derived values of the TRGB distance modulus to NGC 147 in the near-infrared bands with the previous results in other bands.

• Journal of Astronomy and Space Sciences
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• 제21권4호
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• pp.275-282
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• 2004

2004년 6월부터 7월까지 총 13일간 레몬산천문대의 1m 망원경과 BVR 필터를 사용하여 접촉 쌍성 CK Boo의 광도곡선을 완성하고, 4개(주극심 3개, 부극심 1개)의 새로운 극심시각을 산출하였다. 1998년에 개정한 Wilson-Devinney 쌍성모델의 접촉모드를 이용하여, 우리의 BVR 광도곡선과 Rucinski & Lu(1999)의 시선속도곡선을 분석하였다. 그 결과, 우리는 CK Boo가 질량비(q=0.11)와 궤도 경사각($i=65^{\circ}$)이 작은 A형 과접촉쌍성($f=84\%$)임을 확인하였다. 우리의 측광 및 분광학적 해로 부터 이 쌍성계의 절대 물리량을 $M_1=1.42Me{\odot},\;M_2=0.15M{\odot},\;R_1=1.47R{\odot}$, 그리고 $R_2=0.59M{\odot}$으로, 거리를 129pc으로 산출하였다. 우리가 구한 거리는 Hipparcos 삼각시차에 의한 거리($157{\pm}33pc$)와 오차의 범위 내에서 일치한다.

• Journal of Astronomy and Space Sciences
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• 제21권2호
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• pp.73-82
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• 2004

Samec et al.(1997)의 UBV 광도곡선과 Lu ＆ Rucinski(1999)의 시선속도곡선을 2003년에 개정한 Wilson-Devinney 쌍성모델을 적용하여 W형 과접촉쌍성 V417 Aql의 측광 및 분광학적 해를 새롭게 산출하였다. 광도곡선 분석에서 Qian(2003)이 제안한 제3천체의 광도를 광도곡선 분석에서 고려한 결과, 삼체의 광도가 U, B, V 필터에서 각각 2.7%, 2.2%, 0.4% 존재하고, 삼체의 광도를 고려한 경우가 그렇지 않은 경우보다 이론치와 관측치가 극심 부근에서 더 잘 일치하였다. 우리의 해로부터 V417 Aql의 절대 물리량을 $M_1$= 0.53 $M_{ }$, $M_2$= 1.45 $M_{*}$, $R_1$= 0.84 $R_{*}$, 그리고 $R_2$= 1.31 $M_{*}$으로, 거리를 216pc으로 산출하였다. 우리가 구한 거리는 Rucinski ＆ Duerbeck(1997)의 관계식 $M_{v}$ = $M_{v}$(log P, B-V)으로부터 계산한 거리(204pc)와 잘 일치하는 반면, Hipparcos 삼각시차에 의한 거리(131$\pm$40pc)보다 멀다. 그 차이는 Hipparcos 시차의 비교적 큰 오차 때문에 생긴 것일 수 있다. 수 있다.

• 한국터널지하공간학회 논문집
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• 제9권3호
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• pp.229-240
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• 2007

터널 및 지하공간 시공 중 일상계측에서의 계측관리 효율성 및 고급의 내공변위 분석을 위해 3차원 광파기, 선단앵커정착형 타겟부착장치, 절대변위 계측관리 프로그램으로 구성된 3차원 절대변위 계측시스템을 구축하였다. 본 연구를 통해 3차원 절대변위 계측에 필요한 광파기의 종류와 사양을 제시하였고, 기존 타겟부착장치의 문제점을 개선한 선단앵커정착형 타겟부착장치에 대한 성능시험을 수행하여 우수한 시준거리와 측정정밀도를 확인하였다. 또한 절대변위 계측관리 프로그램에 대한 현장성능시험을 수행하여 얻어진 경향선/영향선 등 다양한 분석방법을 활용하여 막장전방의 연약대 존재 예측이 가능하였고, TSP탐사결과와 비교하여 정확성을 확인하였다.

• 대한인간공학회지
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• 제10권1호
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• pp.11-22
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• 1991

This paper aims to examine experimentally the difference of subjectively measured degree of depth between two dimensional (2D) and three dimensional (3D) images. For this paper, two experiments were conducted; in the first experiment, the subjects were asked to estimate the distance between two objects presented with different depths, while in the second experiment, the subjects' role was to rank three objects in the order of distance from the screen. In both experiments, the objects were presented either in 2D or 3D images. The results of the experiments show that the use of 3D images can induce more accurate and more stable estimates of distance than the use of 2D images. However, it is also noted that the absolute degree of depth is not the unique criteria utilized by the subjects for the distinction of small differences of depth.