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고낙용,문용선,배영철,Ko, Nak-Yong,Moon, Yong-Seon,Bae, Young-Chul 한국전자통신학회 2011 한국전자통신학회 논문지 Vol.6 No.2
본 논문은 "로봇 팔방 놀이"라 불리는 이동 로봇을 이용하는 로봇 놀이를 소개한다. 이 놀이에서 이동 로봇은 정방형의 격자 단위들이 모여서 이루어진 놀이판 위를 이동한다. 이 놀이는 사람이 격자로 구분되어진 놀이판 위에서 뛰어서 격자와 격자 사이를 이동하는 팔방 놀이와 유사하다. 로봇 팔방 놀이에서 각각의 격자는 가시광 통신 장치를 가지고 있다. 가시광 통신 장치는 식별 신호를 송신하고, 격자 위를 이동하는 로봇은 이 신호를 수신하여 자신의 위치를 인식한다. 놀이 참가자는 로봇 또는 다른 참여자와 얼마나 빠르게 주어진 경유 격자들을 통과하여 목적지에 도착하는지를 경쟁한다. 이 놀이는 2008년 10월 16일부터 20일 사이에 COEX에서 개최되었던 로보월드(RoboWorld) 2008에서 참가자들에 의해서 사용되어졌다. 사용자들을 대상으로 한 설문조사 결과 사용자들은 로봇의 모양이 친숙하지 않고 조작도 불편하였음에도 불구하고 놀이에서 재미를 느낀 것으로 나타났으며 로봇의 향후 활용이 늘어날 것으로 기대하고 있는 것으로 나타났다. This paper describes a game called the "robot hopscotch game" which uses mobile robots. In this game, a mobile robot moves on a board which consists of a number of square cells. This is similar to the usual hopscotch game in which a human player hops through a course on the ground. In the robot hopscotch game, each cell has a visual light communication unit. The unit sends identification signal and the robot which moves over the cell receives the signal for location recognition. In the game, a human player or a human operator competes with a robot or other human player on how accurately and fast they move to a goal location passing through the given way point cells. People played the game at the RoboWorld 2008 which was held at COEX Seoul, on 16th to 20th of October 2008. The replies to the questionnaire to the users show that users have interests on the game and expect further expansion of robot use though they are not in favor of the robot's outlook and they feel inconvenience on manipulation of the robot.
고낙용(Nak Yong Ko),송경섭(Gyeongsub Song),정석기(Seokki Jeong),이종무(Jong-Moo Lee),최현택(Hyun-Taek Choi),문용선(Yong Seon Moon) 한국해양공학회 2017 韓國海洋工學會誌 Vol.31 No.2
This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.
고낙용(Nak Yong Ko),김광진(Kwang Jin Kim),서동진(Dong Jin Seo) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
This paper proposes a method to estimate the pose of an indoor mobile robot. The method uses the information from electric compass and wheel encoder. The dead reckoning method using only the encoder information can't avoid the error due to slip, wheel diameter error, and uneven floor. So the proposed method uses electric compass to compensate the pose error obtained from the wheel encoder. The heading angle from the electric compass substitutes the dead reckoned heading angle, and is used to calibrate the dead reckoned position data. This method is tested and evaluated through simulation and experiments.
레이저 레인지 파인더를 이용한 로봇의 이동물체 추종 방법
고낙용(Nak Yong Ko),서동진(Dong Jin Seo),김광진(Kwang Jin Kim),김태균(Tae Gyun Kim) 대한전자공학회 2007 대한전자공학회 학술대회 Vol.2007 No.11
This paper presents a method for a robot to follow a moving object. The robot follows an object keeping the facing angle toward the object and the distance to the object to given value. The method consists of two methods: the detection of object position and dimension in the robot coordinate system and the calculation of translational velocity and rotational velocity to follow the object. To detect the object position and the location, range scanner data is represented histogram. Simulation and experiments using a differential drive robot and Laser range finder show that the robot follows a moving object.
고낙용(Nak-Yong Ko),서동진(Dong Jin Seo),김광진(Kwang Jin Kim),김태균(Tae Gyun Kim) 대한전자공학회 2007 대한전자공학회 학술대회 Vol.2007 No.11
This paper proposes the concept of “virtual sensor data” and its application for real time obstacle avoidance. The virtual sensor data is virtual distance which takes care of the movement of the obstacle as well as that of the robot. In practical application, the virtual sensor data is calculated from the odometry data and the range sensor data. The virtual sensor data can be used in all the methods which use distance data for collision avoidance. Since the virtual sensor data. considers the movement of the robot and the obstacle, the methods utilizing the virtual sensor data results in more smooth and safer collision-free motion.
Design, Control and Localization of Underwater Mine Disposal Robots
Yong Seon Moon(문용선),Nak Yong Ko(고낙용),Joono Sur(서주노) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.9
This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.