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화재상황에서 적용가능한 열화상 카메라의 파노라마 촬영을 위한 동일점 추출 알고리즘
곽동기(Dong-Gi Gwak),김동환(Dong Hwan Kim) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.11
In a fire disaster in a tunnel, people should be rescued immediately using the information obtained from cameras or sensors. However, in heavy smoke from a fire, people cannot be clearly identified by a mounted CCTV, which is only effective in a clear environment. A thermal camera can be an alternative to this in smoky situations and is capable of detecting people from their emitted thermal energy. On the other hand, the thermal image camera has a smaller field of view than an ordinary camera due to its lens characteristics and temperature error, etc. In order to cover a relatively wide area, panoramic image construction needs to be implemented. In this work, a template-based similarity matching algorithm for constructing the panorama image is proposed and its performance is verified through experiments. This scheme provides guidelines for coping with difficulty in image construction, which requires an exact correspondence search for two images in cases of heavy smoke.
산업용 장비에서의 액추에이터를 제어 하기 위한 DSP에서의 Modbus통신 구현과 제어 모듈 개발
김원준(Won-Jun Kim),곽동기(Dong-Gi Gwak),김동환(Dong Hwan Kim) 대한기계학회 2017 大韓機械學會論文集A Vol.41 No.11
PLC 시스템은 자체 모듈에 의한 부분적 확장성을 지원하고 있지만, 확장을 위한 비용이 크고, 센서 및 기타 제어기들과의 언어 호환성 또한 문제가 되고 있다. 본 논문에서는 빠르게 변화하는 기술에 대처하기 위해 텍사스 인스트루먼트 사의 DSP(디지털 시그널 프로세서)를 이용하여 PLC를 대체 및 보조할 수 있는 시스템을 제안한다. 이 시스템은 기존 PLC의 기능을 통합적으로 구현하며, 범용으로 쓰이는 PLC 에 비해 속도가 빠르고, 약 50% 이상의 비용 절감이 가능하다. 또한, 모듈 형태의 24V의 범용디지털 I/O핀을 구성함으로써 선택적으로 입력과 출력의 부분적 확장을 용이하게 하였다. 일반적 산업장비의 제어를 위해 널리 사용되고 있는 모드버스 통신을 RS-485 인터페이스를 기반으로 DSP에서 구현함으로써, 장비 간 다대다 통신을 할 수 있도록 하였다. In this work, a new control module and communication system associated with DSP are proposed to overcome the limitations of the contemporary prevailing PLC-based industrial equipment controller, and the performance of the proposed system was experimentally verified. In the light of this issue, a communication conversion scheme from RS-485 to Modbus, the dominant communication protocol used by PLC, was developed and shown to yield enhanced compatibility between devices. The proposed system allows for ~50% cost reduction as well as downsizing of the industrial controllers. Furthermore, the design includes 24 V general digital I/O pins, which facilitate partial expansion of inputs and outputs. With Modbus communication implemented in DSP with the RS-485 interface, multi-to-multi communication may also be achieved.
로봇 위치 추적을 위한 QR 마커 내부 정보 기반 카메라 위치 추정 연구
양견모(Kyon-Mo Yang),곽동기(Dong-Gi Gwak),한종부(Jong-Boo Han),함제훈(Jehun Hahm),서갑호(Kap-Ho Seo) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.7
Camera pose estimation based on markers may play a key role in robot localization in an indoor environment. The representative estimation method needs to correct parameters as the marker size when they want to change markers. In addition, there is a limitation of distance to detect a marker with respect to the status of the camera and the marker size. In this paper, we studied the camera pose estimation based on the information inside QR markers. To handle the problem of setting correct the marker size, the proposed system uses the QR marker that is included the information about its size. The system detects the QR marker and uses the information to estimate a camera pose adaptively. Also, we propose the nested QR marker and the hierarchical QR marker in order to increase the perceptible range of a QR marker. The nested QR marker is implemented for a drone in which the camera can move to the center of the marker. In contrast, the hierarchical QR marker is designed for a mobile robot in which the camera moves horizontally with the floor. Experimental scenario with marker, two types of markers were tried in the lab environment to test whether or not the proposed method could estimate appropriate camera pose without changing marker size by an operator. As a result, we verified the proposed method can estimate the camera pose regardless of the change of the marker size. Also, we found that the perceptible range of the propose QR markers is longer than of the single size marker.