• 로봇학회논문지
• /
• 제4권3호
• /
• pp.169-176
• /
• 2009

Low-cost sensors have been widely used for mobile robot navigation in recent years. However, navigation performance based on low-cost sensors is not good enough to be practically used. Among many navigation techniques, building of an accurate map is a fundamental task for service robots, and mapping with low-cost IR sensors was investigated in this research. The robot's orientation uncertainty was considered for mapping by modifying the Bayesian update formula. Then, the data association scheme was investigated to improve the quality of a built map when the robot's pose uncertainty was large. Six low-cost IR sensors mounted on the robot could not give rich data enough to align the range data by the scan matching method, so a new sample-based method was proposed for data association. The real experiments indicated that the mapping method proposed in this research was able to generate a useful map for navigation.

• 대한임베디드공학회논문지
• /
• 제19권1호
• /
• pp.27-32
• /
• 2024

Recently, there has been a growing interest in integrating physical toys into video gaming within the game content business. This paper introduces a novel method that leverages low-cost camera as an alternative to using sensor attachments to meet this rising demand. We address the limitations associated with low-cost cameras and propose an optical design tailored to the specific environment of model car recognition. We overcome the inherent limitations of low-cost cameras by proposing an optical design specifically tailored for model car recognition. This approach primarily focuses on recognizing the underside of the car and addresses the challenges associated with this particular perspective. Our method employs a transfer learning model that is specifically trained for this task. We have achieved a 100% recognition rate, highlighting the importance of collecting data under various camera exposures. This paper serves as a valuable case study for incorporating low-cost cameras into vision systems.

• International Journal of Aeronautical and Space Sciences
• /
• 제12권4호
• /
• pp.371-378
• /
• 2011

In this paper, the wavelet denoising techniques using thresholding method are applied to the low cost micro electromechanical system (MEMS)-global positioning system(GPS) integrated system. This was done to improve the navigation performance. The low cost MEMS signals can be distorted with conventional pre-filtering method such as low-pass filtering method. However, wavelet denoising techniques using thresholding method do not distort the rapidly-changing signals. They can reduce the signal noise. This paper verified the improvement of the navigation performance compared to the conventional pre-filtering by simulation and experiment.

• 전기학회논문지
• /
• 제63권3호
• /
• pp.383-388
• /
• 2014

This paper describes a wave modeling method using low-cost sensors. Wave modeling is applied to the wave monitoring system for accurate measurement of ocean wave parameters. The observation of ocean wave parameters is necessary to improve the accuracy of forecast of ocean wave condition. However, the ocean wave parameters measured by a low-cost wave monitoring system suffer from several errors. Therefore we introduce a wave modeling method to compensate the ocean wave parameters corrupted by errors. The proposed method is analyzed using experiments within controlled environment. It is verified that the accuracy of low-cost wave monitoring system can be increased by the proposed method.

• 한국산업융합학회 논문집
• /
• 제24권1호
• /
• pp.69-77
• /
• 2021

The widely used low-cost design methodology for IoT devices is very popular. In such a networked device, memory is composed of flash memory, SRAM, DRAM, etc., and because it processes a large amount of data, memory design is an important factor for system performance. Therefore, each device selects optimized design factors such as function, performance and cost according to market demand. The design of a memory architecture available for low-cost IoT devices is very limited with the configuration of SRAM, flash memory, and DRAM. In order to process as much data as possible in the same space, an architecture that supports parallel processing units is usually provided. Such parallel architecture is a design method that provides high performance at low cost. However, it needs precise software techniques for instruction and data mapping on the parallel architecture. This paper proposes an instruction/data mapping method to support optimized parallel processing performance. The proposed method optimizes system performance by actively using hardware and software parallelism.

• 한국지진공학회:학술대회논문집
• /
• 한국지진공학회 1999년도 춘계 학술발표회 논문집 Proceedings of EESK Conference-Spring
• /
• pp.178-185
• /
• 1999

Minimum life-cycle cost helps to evaluate cost effectiveness of base-isolated bridges under specific condition. Life-cycle cost mainly consists of the initial construction cost and the expected damage cost. Damage cost estimation needs proper model of input ground motion failure probability evaluation method and limit states definition. We model the input ground motion as spectral density function compatible with the response spectra defined at each seismicity and site condition. Spectrum analysis and crossing theory is suitable for reseating calculation of failure probabilities in the process of cost minimization. Limit states of base-isolated bridges re defined for superstructure isolator and pier respectively The method is applied to both base-isolated bridges and conventional bridges under the same conditions to investigate cost effectiveness of base isolation in low and moderate seismic region. the results show that base-isolation of bridges are more effective in low and moderate seismic region and that the site effects on the economical efficiency may not be negligible in such a region.

• 로봇학회논문지
• /
• 제17권1호
• /
• pp.58-67
• /
• 2022

In this paper, we propose an approach resolving inaccuracy of the low-cost redundant manipulator workspace with low encoder and low stiffness. When the manipulators are manufactured with low-cost encoders and low-cost links, the robots can run into workspace inaccuracy issues. Furthermore, trajectory generation based on conventional forward/inverse kinematics without taking into account inaccuracy issues will introduce the risk of end-effector fluctuations. Hence, we propose an optimization for the trajectory generation method based on the DDPG (Deep Deterministic Policy Gradient) algorithm for the low-cost redundant manipulators reaching the target position in Euclidean space. We designed the DDPG algorithm minimizing the distance along with the jacobian condition number. The training environment is selected with an error rate of randomly generated joint spaces in a simulator that implemented real-world physics, the test environment is a real robotic experiment and demonstrated our approach.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.990-994
• /
• 2003

When the low cost IMU is used, the result of the stationary self alignment is not suitable for navigation. In this paper, an in-motion alignment method is proposed to obtain an accurate initial attitude of a low cost IMU based GPS/INS integration system. To design Kalman filter for alignment, large heading error model is introduced. And then Kalman filter is designed to estimate initial attitude error as the indirect feedback filter. In order to assess performance of the alignment method, computer simulations are carried out. The simulation results show that initial attitude error rapidly reduces.

• 한국화재소방학회논문지
• /
• 제29권4호
• /
• pp.81-88
• /
• 2015

본 연구에서는 다양한 화재실험에서 광학 연기밀도 측정을 위하여 광소멸법을 이용한 저가형 장치가 개발되었다. 저가형 장치의 상대적 측정 정확도는 He-Ne 레이저, 포토디텍터 및 다양한 광학부품을 이용한 고가의 표준장치에 의해 측정된 연기밀도의 비교를 통해 평가되었다. 저가형 장치는 레이저 모듈, 포토셀 그리고 아크릴 보드로 구성되었다. 연기농도의 조절이 용이한 연기 발생장치 실험을 통해, 저가형 장치는 표준장치에 비해 ${\pm}10%$의 범위 내에서 연기밀도를 측정할 수 있음을 확인하였다. 저가 장치의 신뢰성은 또한 폴리에틸렌 화염을 이용한 실험에서도 확인되었다. 결론적으로 개발된 저가형 장치는 연기밀도 측정을 위한 간편한 설치 및 실시간 측정과 함께 고가의 표준장치를 대신하여 사용될 것으로 기대된다.

• 한국지진공학회:학술대회논문집
• /
• 한국지진공학회 2000년도 추계 학술발표회 논문집 Proceedings of EESK Conference-Fall 2000
• /
• pp.440-447
• /
• 2000

In order to evaluate the cost effectiveness of seismic isolation for bridges in low and moderate seismic region, a method of calculation minimum life-cycle cost of seismic-isolated bridges under specific acceleration level and soil condition is developed. Input ground motion is modeled as spectral density function compatible with response spectrum for combination of acceleration coefficient and site coefficient. Failure probability is calculated by spectrum analysis based on random vibration theories to simplify repetitive calculations in the minimization procedure. Ductility of piers and its effects on cost effectiveness are considered by stochastic linearization method. Cost function and cost effectiveness index are defined by taking into consideration the characteristics of seismic isolated bridges. Limit states for calculation of failure probability are defined on superstructure, isolator and pier, respectively. The results of example design and analysis show that seismic isolation is more cost-effective in low and moderate seismic region than in high seismic region.