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김정년,박상성,장동식,Kim Jung-Nyun,Park Sang-Sung,Jang Dong-Sik 한국융합신호처리학회 2004 융합신호처리학회 논문지 (JISPS) Vol.5 No.4
실내 환경에서 자율이동 로봇은 방향의 전환과 움직임에 있어서 많은 제약이 따른다. 본 연구는 이런 제약을 해결하기 위하여 수평, 대각이동이 가능한 Omni-Directional Wheel을 로봇 구동부에 적용하였다. 하지만 Slip에 의해서 동력을 얻는 Omni Directional Wheel 구동방식은 Slip에 의한 오차가 발생하는 문제점이 있었다. 이 문제점을 해결하기 위해 개발된 Slip 보정 알고리즘은 하나의 타일을 지날 때마다 외곽선을 추출하고, 추출된 외곽선과 로봇의 절대방위가 이루는 각도를 비교하여 오차가 발생할 경우 로봇의 절대방위를 수정하게 한다. 또한 로봇은 보안기능과 서비스 기능을 수행한다. 보안기능은 차 영상을 이용하여 움직임을 감지한다. 서비스 기능으로는 로봇에 입력되는 영상을 일반사용자에게 다중전송 하고, 간단한 이동명령이 있다. 본 연구에서 제안한 로봇 시스템은 실제 사무실에서 사용가능한 하나의 모델이 될 수 있다. As we know that there are so many restrictions controlling the autonomous robot to turn and move in an indoor space. In this research, Ive adopted the concept ‘Omni-directional wheel’ as a driving equipment, which makes it possible for the robot to move in horizontal and diagonal directions. Most of all, we eliminated the slip error problem, which can occur when the system generates power by means of slip. In order to solve this problem, we developed a ‘slip error correction algorithm’. Following this program, whenever the robot moves in any directions, it defines its course by comparing pre-programmed direction and the current moving way, which can be decided by extracted image of floor line. Additionally, this robot also provides the limited security and service function. It detects the motion of vehicle, transmits pictures to multiple users and can be moved by simple order's. In this paper, we tried to propose a practical model which can be used in an office.
김정년 ( Jung Nyun Kim ),최정화 ( Jung Hwa Choi ),임양재 ( Yang Jae Im ),최광호 ( Kwang Ho Choi ),마채우 ( Chae Woo Ma ) 한국수산과학회 2005 한국수산과학회지 Vol.38 No.1
N/A Species composition and seasonal variation of decapod crustacean assemblage in Hampyeong Bay, Korea were examined. Sampling was monthly made by a shrimp trawl between March 2003 to February 2004. A total of 39 species of 20 families were collected. Of these, Latreutes planirostris, Palaemon gravieri, Parapenaeopsis tenella, Exopalaemon corinicauda, Charybdis japonica, Trachysalambria curvirostris and Palaemon macrodactylus were dominant species comprising 84.3% of the total number of individuals. Charybdls japonica, P. gravies, Oratosgquilla oratoria, E. carincauda, T. curvirostris, Metapenaeus joyneri and P. tenella represented 90.6% of the total biomass. While total abundance (number of individuals) was high in spring, total biomass and species richness (number of species) and diversity were high in summer. Cluster analysis, based on monthly abundance data of the 14 most common species, showed that the species were separated into three different groups. Group A composed of Leptochela gracilis. Alpheus japonicus, Crangon uritai, P. macrodactylus, E. carinicauda, P. gravieri, O. oratoria, C. japonica. which were year round residents, group B M. joyneri, T. curvirostris and P. tenella, which were abundant in summer, and group C Crangon hakodatei, Latreutes anoplonyx and L. planirostris, which were abundant in winter. Principal component analysis revealed that seasonal variation in the decapod crustacean assemblage was attributed to the abundance of temporal species such as penaeid shrimps, which were abundant in summer, due to seasonal variation of water temperature and reproductive pattern.