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중첩 초음파 센서 링 최적 설계 시 기하학적 고려 사항
김성복(Sungbok Kim),김현빈(Hyunbin Kim) 제어로봇시스템학회 2010 제어로봇시스템학회 각 지부별 자료집 Vol.2010 No.12
This paper presents the geometric constraints in the optimal design of an overlapped ultrasonic sensor ring. It is assumed that a set of ultrasonic sensors of the same type are arranged in a circle of nonzero radius at a regular spacing with their beams overlapped. For effective beam overlap of an overlapped ultrasonic sensor ring, it is required to guarantee non empty beam overlapping between adjacent ultrasonic sensors and also to avoid excessive beam overlapping among adjacent ultrasonic sensors. First, for a given radius of an overlapped ultrasonic sensor ring, the restriction on the number of ultrasonic sensors for effective beam overlap is analyzed. Then, for a given number of ultrasonic sensors, the restriction on the radius of an overlapped ultrasonic sensor ring is analyzed.
중첩 초음파 센서 링의 장애물 탐지 성능 지표 비교 분석
김성복(Sungbok Kim),김현빈(Hyunbin Kim) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.4
This paper presents a comparative analysis on three different types of performance indices of obstacle detection for an overlapped ultrasonic sensor ring. Due to beam overlap, the entire sensing zone of each ultrasonic sensor can be divided into three smaller sensing subzones, which leads to significant reduction of positional uncertainty in obstacle detection First, the positional uncertainly in obstacle detection is expressed in toms of the area of a sensing subzone, and type 1 performance index is then defined as the area ratio of side and colter sensing suhzones. Second, based on the area of a sensing subzone, type 2 performance index is defined taking into account the size of the entire range of obstacle detection as well as the degree of the positional uncertainty in obstacle detection. Third, the positional uncertainty in obstacle detection is now expressed in terms of the length of the uncertainty arc spanning a sensing subzone, and type 3 performance index is thai defined as the average value of the uncertainty are Lengths over the entire range of obstacle detection. Fourth, using a commercial low directivity ultrasonic sensor, the changes of three different performance indices depending on the parameter of an overlapped ultrasonic sensor ring are examined and compared.
이동로봇 속도 추정 성능 향상을 위한 광 마우스의 최적 배열
김성복(Sungbok Kim),김현빈(Hyunbin Kim) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.6
This paper presents the optimal array of optical mice for the accurate velocity estimation of a mobile robot. It is assumed that there can be some restriction on the installation of two or more optical mice at the bottom of a mobile robot. First, the velocity kinematics of a mobile robot with an array of optical mice is derived, which maps the velocity of a mobile robot to the velocities of optical mice. Second, taking into account the consistency in physical units, the uncertainty ellipsoid is obtained to represent the error characteristics of the mobile robot velocity estimation owing to noisy optical mouse measurements. Third, a simple but effective performance index is defined as the inverse of the volume of the uncertainty ellipsoid, which can be used for the optimization of the optimal optical mouse placement. Fourth, simulation results for the optimal placement of three optical mice within a given elliptical region are given.
효율적인 고차원 데이터 처리를 위한 차원 볼의 체적 집중에 대한 분석
김성복 ( Sungbok Kim ),윤형석 ( Hyungseok Yun ) 조선대학교 공학기술연구원 2019 공학기술논문지 Vol.12 No.4
This paper presents the volume concentration analysis of an n-dimensional ball (n-ball) defined in Euclidean space, near the surface and the equator, for efficient high-dimensional data processing. To quantify the volume concentration of an n-ball, two measures are defined: one measure as the volume ratio of a whole n-ball to the differential slice near the surface, and the other as the volume ratio of a whole n-ball to the differential slice near the equator. Without direct computation of the volumes of n-dimensional geometrical objects, both measures can be obtained as a function of the dimension of ball and the thickness of differential slice. According to computer simulation results for an n-ball, the surface volume concentration and the equator volume concentration show the changing patterns similar to each other, but the surface volume concentration is significantly stronger than the equator volume concentration. Finally, by interpreting the volume concentration of an n-ball as the distribution of high-dimensional data samples, a theoretical basis is provided for the planning of efficient high-dimensional data processing.
수동 RFID 기반 이동로봇 위치 추정 및 효율적 노면 태그 배치
김성복(Sungbok Kim),이상협(Sanghyup Lee) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.12
Under passive RFID environment, this paper presents a new localization of a mobile robot traversing over the floor covered with tags, which is superior to existing methods in terms of estimation performance and cost effectiveness. Basically, it is assumed that a mobile robot is traveling along a series of straight line segments, each segment at a certain constant velocity, and that the number of tags sensed by a mobile robot at each sampling instant is at most one. First, for a given line segment with known starting point, the velocity and position of a mobile robot is estimated using the spatial and temporal information acquired from the traversed tag. Some discussions are made on the validity of the basic assumptions and the localization for the initial segment with unknown starting point. Second, for a given tag distribution density, the optimal tag arrangement is considered to reduce the position estimation error as well as to make easy the tag attachment on the floor. After reviewing typical tag arrangements, the pseudorandom tag arrangement is devised inspired from the Sudoku puzzle, a number placement puzzle. Third, through experiments using our passive RFID localization system, the validity and performance of the mobile robot localization proposed in this paper is demonstrated.
여유 개수의 광 마우스를 이용한 이동로봇 주행속도 추정
김성복(Sungbok Kim),정일화(Ilhwa Jeong),이상협(Sanghyup Lee) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.4
본 논문에서는 이동로봇 바닥에 설치된 여유 개수의 광 마우스를 이용하여 주행 중인 이동로봇의 속도를 효율적으로 추정하는 방안에 대해 기술한다. 먼저, 이동로봇의 속도 벡터와 광 마우스의 속도 벡터간의 관계를 과결정 선형시스템 (Overdetermined Linear System)으로 표현한다. 다음, 과결정 시스템에 대한 최소자승 해(Least Squares Solution)로써 이동 로봇의 주행 속도를 효율적으로 추정한다. 마지막으로 시뮬레이션을 통해 제안된 이동로봇 주행 속도 추정법의 유효성을 확인한다.