http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
영상탐색기를 이용한 로봇 자기위치 추정 및 랑데부 유도
배선호(Sun-Ho Bae),조준연(Jun-Yeon Cho),최시내(Si-Nae Choi),한혜진(Hye-Jin Han),문한빛(Han-Bit Moon),이다연(Da-Yeon Lee),나원상(Won-Sang Ra) 대한전기학회 2010 대한전기학회 학술대회 논문집 Vol.2010 No.7
In this paper, self-localization and rendezvous guidance schemes using image seeker and gyro sensor are proposed for non-holonomic robot applications. To effectively avoid the divergence of robot pose calculated by the odometry, image seeker and low-cost gyro are adopted as auxiliary sensors for improved robot localization. The image sensor is designed to detect landmark with known position based on color marker algorithm. Robot self-localization can be achieved by applying the extended Kalman filter algorithm for the nonlinear motion model and intermittent measurement model. Using the estimated pose information, a horizontal rendezvous guidance law is developed for controlling the robot position to the specific position. The usefulness of the proposed methods are verified through experiments.
AMI 적용 스마트 미터 기능향상을 위한 개별부하 상세 데이터 무선 취득장치 개발
성병철(Byung Chul Sung),배선호(Sun-Ho Bae),박우재(Woo-Jae Park),전승욱(Seung Wook Jeon),박정욱(Jung-Wook Park) 대한전기학회 2011 전기학회논문지 Vol.60 No.10
Advanced Metering Infrastructure (AMI) is one of the important components to form a smart-gird, which is an advanced power system by combining the power system with the communication systems. This AMI makes it possible to exchange information between operators and consumers for the efficient and reliable operation of the power system through a smart meter or a In-Home Display. However, according to the increase of the demanded information such as the power quality, the accurate load-profile, and the billing data to help customers manage their power consumption, it is necessary to gather more accurate analytical data from each house appliances and transfer it to the smart meter for synthesizing the information and controlling each loads. In this paper, the development of the wireless data acquisition device for the individual load data metering, which is connected with the smart meter for advanced functions, is proposed. AVR, a kind of microcontroller, and Bluetooth are used and integrated into the proposed the wireless data acquisition device to transmit the detailed power data (voltage and current) to the smart meter. To verify the effectiveness of the proposed system, a hardware experiment is carried out including the confirmation of the possibility for providing the more various information by applying analysis algorithms to the obtained data. Also, the application structure of the wireless data acquisition device to gather the data from the various house appliances is presented.