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수중로봇 위치추정을 위한 베이시안 필터 방법의 실현과 거리 측정 특성 분석
노성우,고낙용,김태균 한국로봇학회 2014 로봇학회 논문지 Vol.9 No.1
This paper verifies the performance of Extended Kalman Filter(EKF) and MCL(Monte Carlo Localization) approach to localization of an underwater vehicle through experiments. Especially, the experiments use acoustic range sensor whose measurement accuracy and uncertainty is not yet proved. Along with localization, the experiment also discloses the uncertainty features of the range measurement such as bias and variance. The proposed localization method rejects outlier range data and the experiment shows that outlier rejection improves localization performance. It is as expected that the proposed method doesn’t yield as precise location as those methods which use high priced DVL(Doppler Velocity Log), IMU(Inertial Measurement Unit), and high accuracy range sensors. However, it is noticeable that the proposed method can achieve the accuracy which is affordable for correction of accumulated dead reckoning error, even though it uses only range data of low reliability and accuracy.
위치 추정, 충돌 회피, 동작 계획이 융합된 이동 로봇의 자율주행 기술 구현
노성우,고낙용,김태균,Noh, Sung-Woo,Ko, Nak-Yong,Kim, Tae-Gyun 한국전자통신학회 2011 한국전자통신학회 논문지 Vol.6 No.1
본 논문은 실내 이동로봇의 자율주행 방법을 적용한 결과를 기술한다. 구체적으로 지도생성, 위치추정, 장애물 회피, 경로계획에 대해서 설명한다. 기하학적 지도는 위치추정과 경로계획에 이용된다. 위치 추정을 위해서 지도 정보를 이용하여 센서 데이터를 계산하고 이를 실제 센서 데이터와 비교한다. 위치 추정에는 몬테 카를로 위치 추정 방법을 사용한다. 인공 전위계를 사용하여 장애물로부터의 척력과 목표 위치로의 인력을 구하여 장물을 피한다. 경로계획을 위해 다익스트라 알고리즘을 이용하여 로봇의 출발 위치에서 목표 위치까지의 최단거리 경로를 구한다. 이러한 방법들이 통합하여 자율 주행 방법을 실제로 구현하여 실험하였다. 실제 실험을 통하여 제안한 방법이 로봇을 안전하게 자율주행하게 함을 확인하였다. This paper presents an implementation of autonomous navigation of a mobile robot indoors. It explains methods for map building, localization, obstacle avoidance and path planning. Geometric map is used for localization and path planning. The localization method calculates sensor data based on the map for comparison with the real sensor data. Monte Carlo Localization(MCL) method is adopted for estimation of the robot position. For obstacle avoidance, an artificial potential field generates repulsive and attractive force to the robot. Dijkstra algorithm plans the shortest distance path from a start position to a goal point. The methods integrate into autonomous navigation method and implemented for indoor navigation. The experiments show that the proposed method works well for safe autonomous navigation.
실내 지도 작성을 위한 레이저 영역 센서를 사용한 선분추출
노성우,고낙용,김태균,문용선 제어로봇시스템학회 2011 제어로봇시스템학회 국내학술대회 논문집 Vol.2011 No.5
This paper presents a line extraction method for a mobile robot to build indoor map using 2D laser range finder. The line extraction method consists of preprocessing and postprocessing. The preprocessing calculates coordinates of a point which is detected by the laser range finder. The laser range finder provides direction angle and distance of the detected point. In the postprocessing, ADB(Adaptive Breakpoint Detector) algorithm extracts line segments from the coordinates of the detected points. To eliminate deviation of points from the line segment and merge similar line segments, split and merge algorithm is applied. The proposed algorithm is applied to map building using a mobile robot for verification of its performance. Since the proposed algorithm doesn’t take care of the uncertainty of robot motion as a prerequisite for the SLAM(Simultaneous Localization and Mapping), it is required to be integrated with localization method and taking the motion uncertainty of the robot motion and sensor measurement.
노성우,Rira Seo,박중권,Md. Maniruzzaman Manir,박경석,상미경,문석식,정호원 한국식물병리학회 2017 Plant Pathology Journal Vol.33 No.4
Cyclic dipeptides (CDPs) are one of the simplest compounds produced by living organisms. Plant-growth promoting rhizobacteria (PGPRs) also produce CDPs that can induce disease resistance. Bacillus vallismortis strain BS07 producing various CDPs has been evaluated as a potential biocontrol agent against multiple plant pathogens in chili pepper. However, plant signal pathway triggered by CDPs has not been fully elucidated yet. Here we introduce four CDPs, cyclo(Gly- L-Pro) previously identified from Aspergillus sp., and cyclo(L-Ala-L-Ile), cyclo(L-Ala-L-Leu), and cyclo(LLeu- L-Pro) identified from B. vallismortis BS07, which induce disease resistance in Arabidopsis against Pseudomonas syringae infection. The CDPs do not directly inhibit fungal and oomycete growth in vitro. These CDPs require PHYTOALEXIN DEFICIENT4, SALICYLIC ACID INDUCTION DEFICIENT2, and NONEXPRESSOR OF PATHOGENESIS-RELATED PROTEINS1 important for salicylic acid-dependent defense to induce resistance. On the other hand, regulators involved in jasmonate-dependent event, such as ETHYLENE RECEPTOR1, JASMONATE RESPONSE1, and JASMONATE INSENSITIVE1, are necessary to the CDP-induced resistance. Furthermore, treatment of these CDPs primes Arabidopsis plants to rapidly express PATHOGENESIS-RELATED PROTEIN4 at early infection phase. Taken together, we propose that these CDPs from PGPR strains accelerate activation of jasmonate-related signaling pathway during infection.
척수 손상 백서에서 MK801 투여가 체성감각 유발전위 및 척수 조직에 미치는 효과
노성우,김영수,윤도흠,임승철,공경엽,박성혜,이경희,Roh, Sung Woo,Kim, Young Soo,Yoon, Do Heum,Rhim, Seung Chul,Kong, Kyung Yup,Park, Sung Hye,Lee, Kyung Hee 대한신경외과학회 2000 Journal of Korean neurosurgical society Vol.29 No.9
Objectives : This study was undertaken to investigate the effect of noncompetitive NMDA receptor blocker, MK801 on motor recovery, SSEP and pathology in spinal cord injured rat. Methods : The effects of MK801 on neuronal function protection, SSEP, and pathology were measured on spinal cord injury rats which were divided into 6 groups according to dose, time of drug delivery and magnitude of injury. Spinal cord injury was made with the magnitude of 25gm-cm and 50gm-cm on 42 rats. BBB locomotor function test was performed to evaluate the motor power recovery in hindlimb for 2 weeks after injury. After motor function test was completed, SSEP was measured. Amplitude and latency of the P1, N1 peak was measured and compared between groups. Finally rats were sacrificed, and pathologic findings including measurement of area of necrotic cord were studied and compared between groups. Results : Motor recovery at 2 weeks was better in MK801 group comparing to saline control group. SSEP at 2 weeks showed no difference in N1, P1 latencies, but significantly greater amplitude in MK801 group, compared to saline control group. On light microscope, there was no specific histologic differences between experimental groups. The cystic necrotic area in coronal plane was measured and compared in each group. The necrotic area was significantly smaller in MK801 1mg/kg group(delivered after injury) than vehicle group. The necrotic area in MK801 5mg/kg group and MK801 1mg/kg group(delivered before injury) was smaller than vehicle group even though it was not statistically significant. Conclusion : From the above result, it is speculated that NMDA blocker, MK801 can improve impaired neuronal function in spinal cord injury.