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동적 우선순위 할당 기법을 이용한 ISO 11783 통신의 실시간성 향상
이상화(Sang-wha Lee),김유성(Yoo-Sung Kim),이승걸(SeungGol Lee),박재현(Jaehyun Park) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.8
The international standard, ISO-11783, was designed for the communication within an agriculture machinery. Even if it is based on the CAN (Control Area Network) protocol, its extended features which include point-to-point communication and large data transmission support show different network performance from the standard CAN. This paper proposes a dynamic priority allocation method to improve the real-time performance of ISO-11783. Computer simulation shows reduction of the deadline-missed cases and community latency via proposed algorithm.
위치패턴 기반 하이브리드 실내 측위를 위한 위치 인식 오류 보정 알고리즘
김상훈(Sanghoon Kim),이승걸(Seunggol Lee),김유성(Yoo-sung Kim),박재현(Jaehyun Park) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.2
Recent increasing demand on the indoor localization requires more advanced and hybrid technology. This paper proposes an application of the hybrid indoor localization method based on a position-coded pattern that can be used with other existing indoor localization techniques such as vision, beacon, or landmark technique. To reduce the pattern-recognition error rate, the error detection and correction algorithm was applied based on Hamming code. The indoor localization experiments based on the proposed algorithm were performed by using a QCIF-grade CMOS sensor and a position-coded pattern with an area of 1.7x1.7mm2. The experiments have shown that the position recognition error ratio was less than 0.9 % with 0.4 mm localization accuracy. The results suggest that the proposed method could be feasibly applied for the localization of the indoor mobile service robots