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단일 카메라와 PSD 센서를 이용한 로봇 위치추적 및 맵핑 시스템
유성구(Sunggoo Yoo),정길도(Kil To Chong) 대한전기학회 2008 대한전기학회 학술대회 논문집 Vol.2008 No.10
로봇의 현재 위치 추적은 무인 로봇 자동 항법시스템의 중요 기술로 센서 데이터로부터 로봇의 위치를 결정하고 환경맵을 구성하는 것이다. 기존 방법으로는 초음파, 레이저 등의 거리 측정 센서를 이용해 로봇의 전역 위치를 찾는 방법과 스테레오 비전을 통한 방법이 개발되었다. 거리 측정 센서만으로 로봇위치 추적 알고리즘은 계산량이 간소하고 비용이 적게 들지만 센서오차율 및 환경장애에 따른 오류가 크다. 이에 반해 스테레오 비전 시스템은 3차윈 공간영역을 정확히 측정할 수 있지만 계산량이 많아 고사양의 시스템을 요구하고 알고리즘 구현에 어려움이 있다. 따라서 본 논문에서는 단일 카메라 영상과 PSD(position sensitive device) 센서를 사용하여 로봇의 현재 위치를 추적하고 환경맵을 구성하여 자율이동이 가능한 시스템을 제안한다.
승지훈,Sunggoo Yoo,정길도 한국정밀공학회 2019 International Journal of Precision Engineering and Vol.20 No.7
We herein present system parameter estimation using the joint adaptive unscented Kalman filter and state estimation approach for a two degree-of-freedom (2-DOF) mechanical system. The unscented Kalman filter (UKF) is applied broadly in diverse engineering fields to estimate the state of the dynamic system and improve the control precision by reducing measurement noise. One aspect of parameter identification is that unmeasured parameter estimation is important in designing and maintaining the system performance with a suitable controller. This is because changes in the system parameters estimated will occur owing to external shock and deterioration in operation. State estimation has been studied thoroughly and developed widely, but not in terms of parameter estimation. Parameter estimation is important because system parameters can be altered owing to wear and tear, large disturbance, or exposure to extreme temperatures. It is difficult to disassemble and measure the parameter when it changes; hence, computational estimation is a solution. The proposed method simultaneously estimates the states as well as the parameters of custom-made 2-DOF mechanical system that is a nonlinear dynamical system. The adaptive rules in the estimation process are considered based on the moving average window method to address the effects of unexpected noise in the sensor measurements. The experimental results are analyzed to demonstrate the effectiveness of the proposed method for estimating the states and parameters. This method demonstrates better performance compared to using the joint-UKF in terms of convergence time, accuracy, and robustness to noise.
Moon, Junghoon,Yoo, Sunggoo,Lee, Jongtae 한국정보통신학회 2019 2016 INTERNATIONAL CONFERENCE Vol.11 No.1
This study attempts to fill this gap by investigating the effect of IT investment portfolios on the performance of mobile business services, as well as the moderating role of IT savvy. A survey for the IT specialists working at 123 enterprise-level companies was conducted and hierarchical regression analysis was adopted. This study illustrates that IT investment and organizational IT capabilities influence the performance of the mobile office. Our findings highlight the important role of investment mandates in facilitating mobile office performance, accordingly. This study confirms that organizational IT savvy plays a key moderating role in the relationship between investment mandates and mobile office performance. This study pulls the concept of IT investment mandates into the conceptual research framework of mobile investment. The research results indicate that the benefits gained from investment might be different and unique in the mobile context. In the light of practical view, transactional assets are most helpful when implementing the mobile office. This research also may indicate that a change by the adoption of mobile technology should be treated as much as a structural and fundamental challenge to an organization. This study is a rare research paper to explain the impact of IT investment portfolios on the mobile office performance in an academic methodology.