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장인수(I.S.Chang),금동교(D.K.Keum),이준웅(J.W.Lee),남궁억(E.NamGoong) 한국자동차공학회 1998 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1998 No.11_2
This paper presents a fusion algorithm of lane information obtained by the image processing and the vehicle location information detected by a radar system for CWS (collision warning system). In the algorithm, the lane information expressed on the image plane has been transformed to the 3D space in which radar data is defined. Experimental results show that the proposed fusion algorithm provides good evidences for detecting the target vehicle running in front on the same lane.<br/>
심상현,김지철,양성욱,전동익,이상철,오화석,강민영,금동교,Shim, Sanghyun,Kim, Ji-Chul,Yang, Sungwook,Cheon, Dong-Ik,Lee, Sangchul,Oh, Hwa-Suk,Kang, Min-Young,Keum, Dong-Kyo 항공우주시스템공학회 2009 항공우주시스템공학회지 Vol.3 No.1
Quad-rotor is one kind of a rotorcraft in Unmanned Aerial Vehicle (UAV), which consists of four rotors in total and fixed-pitch blades located at the four corners. This vehicle is emerging as popular platform for UAV research due to the simplicity of its construction, the ability of hovering and the vertical take-off and landing (VTOL) capability, etc. Because of those specific capabilities, this vehicle can be applied to many fields: search and rescue, mobile sensor networks, fire observation, etc. However a quad-rotor is much affected by the disturbance due to the characteristics of structure. So this vehicle needs attitude control for stabilizing. In this paper, we design the control law for automatic stabilization. The PID controller is used to control a brushless DC motor. And an accelerometer is used to measure the roll and pitch angles of a quad-rotor.
이상욱(Sang-Wook Lee),김동훈(Dong-Hoon Kim),전동익(Dong-Ik Chen),오화석(Hwa-Suk Oh),강민영(Min-young Kang),금동교(Dong-keo Keum) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
Gyro sensor is used a major device for attitude determination. Output data of gyro sensor, however, includes Errors that make an accuracy of attitude information decrease. For increasing the accuracy, information of error of gyro is needed. In this paper, gyro model was assumed linear. Error parameter (misalignment, scale factor and bias) of gyro was estimated by using test data and RLS method. The test data as angular velocity was acquired from gyro mounted on rate table and rate table that is a device offering accurate angular velocity in one axis.