Passive RFID를 이용한 이동 로봇의 장애물 회피 알고리듬

지용관(Yong-Kwan Ji),박장현(Jahng-Hyon Park) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11

In this paper, an obstacle avoidance algorithm is proposed using RFID tags in indoor environments. Firstly, the stochastic sensor model of RFID is derived and the design factors including the maximum identifiable distance, the identification direction and the read success rate are obtained through experiments. The obstacle avoidance algorithm is developed with consideration of those factors for a variety of RFID antenna configurations and different indoor environments. The algorithm is tested by computer simulations and implemented on a mobile robot.

축구동호인들의 동호회 활동 참여 인식 연구

지용관 ( Yong Kwan Ji ),홍명보 ( Myung Bo Hong ),최희동 ( Hee Dong Choi ) 고려대학교 스포츠과학연구소 2010 스포츠科學論叢 Vol.16 No.-

본 연구는 축구동호회 참여자들이 인식하는 관여 수준과 참여만족 실태를 분석하고, 이에 따른 향후 활동 지속과의 상호관련성을 규명하여 축구 동호회 활성화를 위한 스포츠소비 행동의 이해를 도모하는데 그 목적이 있다. 이를 위해 서울 소재의 축구동호회 회원으로 정식 등록된 동호회 회원들을 대상으로 총 450부의 설문지를 연구 분석을 위해 사용하였다. 수집된 자료를 기초로 동호회 행동변수로 집단을 분류하기 위해 계층적 군집분석을 통한 k-평균 군집분석을 사용하였고, 참여만족도 차이 검증을 위해 독립 표본 t-test를 이용하였다. 또한, 참여만족이 동호회 활동 지속에 미치는 영향을 규명하기 위해 상관관계분석과 다중회귀분석을 사용하여 다음과 같은 결과를 도출하였다. 첫째, 행동변수에 따른 축구동호인 집단 분류는 두 집단 간 차이가 존재하였다. 둘째, 행동변수에 따른 동호회 집단별 관여도 인식과 참여만족에 있어서는 유의한 차이가 없는 것으로 나타났다. 셋째, 집단별 동호회 참여만족이 지속이용에 미치는 영향은 집단1의 경우 심리적 안정 요인만 유의한 영향을 미치는 것으로 나타났고, 집단2의 경우 모든 요인에서 지속이용에 영향을 미치는 것으로 나타났다. The purpose of this study was to analyze the recognition level of involvement and participation satisfaction of soccer dub participants and to investigate the interrelationship between participation satisfaction and participation involved in the future to pursue understanding of sport-consuming activities through vitalizing soccer dub. To achieve this study``s purpose questionnaires were answered by 450 people who were officially registered members of soccer dub in Seoul. Based on the collected data, used K-means clustering through Hierarchical basis for categorizing groups through action variables and independent-sample t-test for verifying differences of participation satisfaction were used. Additionally, to investigate the impact of participation satisfaction on continuing participation club activity, of correlation analysis and multiple-regression were used. I found the following results: First, there is a difference between two groups of soccer club participants dependent on action variables. Second, there is no significant difference between the awareness of participation and participation satisfaction Finally, in terms of the impact on future club-activity participation by participation satisfaction among two groups, only the psychological stability factor held significance for groupl. However, for group2, all factors affected future club-activity participation.

얇은 사각형 판 저장 구조물에 대한 동특성해석

지용관(Ji Yong Kwan),김민규(Kim Min Gyu),장상균(Chang Sang Gyoon),이대희(Lee Dae Hee) 한국소음진동공학회 2015 한국소음진동공학회 학술대회논문집 Vol.2015 No.4

The thin rectangular plate storage structure which temporarily stores fuel assembly or control element assembly is connected by bolting between clamping plates and embedment plates on the wall. The fuel assembly is vertically rested on the bar plate located in the bottom of structure. Also the reinforcing plates embracing thin rectangular plate storage structure are installed to support the lateral loads. The three sides of reinforcing plates are fixed and the remaining one side is free. The finite element model using ANSYS Workbench is made from three dimensional design model using Pro/Engineer to generate the analysis model similar to the storage structure for accurate modal analysis. The embedment plates of structure are fixed as a boundary condition of the analysis model. To evaluate the dynamic characteristics of this structure due to storage of the fuel assembly, two cases of modal analysis with and without consideration for fuel assembly are performed. To evaluate structural integrity for seismic loads, the modal analysis is required prior to dynamic response analysis reflecting the accurate dynamic characteristics of structure. Therefore, the modal analysis for this structure using 3 dimensional finite element model considering the real and actual boundary condition and geometric configuration is performed in this paper.

수동 RFID Tag를 기반으로 한 이동 로봇의 경로 계획 알고리즘

지용관(Yong Kwan Ji),박장현(Jahng-Hyon Park) Korean Society for Precision Engineering 2009 한국정밀공학회지 Vol.26 No.8

In this paper, a navigation algorithm is proposed using RFID tags in indoor environments. Firstly, a stochastic sensor model of RFID is derived and the design factors including the maximum identifiable distance, the identification direction and the read success rate are obtained through experiments. The obstacle avoidance algorithm is developed with consideration of those factors for a variety of RFID antenna configurations and different indoor environments. The algorithm is tested by computer simulations and implemented on a mobile robot.

7 자유도 로봇팔 역기구학의 기하학적 해석

이호철(Ho-Chull Lee),지용관(Yong-Kwan Ji),박장현(Jahng-Hyon Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11

This paper presents geometric analysis of inverse kinematics of 7-DOF robot arm. Redundant inverse kinematics was developed usually by Pseudo Inverse Matrix method using Jacobian. But that was not only difficult to understand but also it needs more time to compute the result. The reason why Pseudo Inverse Matrix method takes much time is that it should numerically integrate velocity solution to get ultimate position value. Because it should be computed by computer machine, integration must have accumulated error due to its limit of integration time interval Δt . And also it should compute Jacobian every time when it need next position derivative. It means that calculation burden is very considerable. So here I come up with explicit and closed-form solution to get exact robot joint angle solution. Besides inverse kinematics, I fully take advantage of control theory which can help operate robot arm very smoothly within limit of motor torque. Those are LSPB, velocity feedback, and gravity compensation technique.

정적인 Passive RFID 태그를 이용한 로봇 위치인식기법

문승욱(Seung-Wuk Moon),지용관(Yong-Kwan Ji),박장현(Jahng-Hyon Park) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.11

This paper presents methods of robot localization using recent Radio Frequency Identification technology. If the absolute location and orientation of a passive tag are given in indoor environment which is installed RFID tags, a robot can estimate its location using the relationship of identified tag and robot in relative coordinate. To derive this relationship, we proposes estimation techniques using the probabilistic model of RFID reader, the direction and the maximum range of identification. And condition-processor is combined in a suitable technique depending on the situation and the trajectory of robot in the field of range. Experimental results show that the proposed methods can provide good performance and thus be used for localization.

스포츠 관여도에 따른 등산복 소비자의 구매행동 분석 연구

김진국(Jin Kook Kim),지용관(Yong Kwan Ji),강현민(Hyun Min Kang) 한국사회체육학회 2008 한국사회체육학회지 Vol.0 No.34

The purpose of this study was to provide basic information of STP strategies through analysis on consumer behaviors of outdoor sportswear based on the level of sport involvement. Using the convenient sampling method, survey data were collected from 463 respondents who participated in 4 mountains located in Seoul. With the collected data, Cross table analysis and Khai square analysis have been applied to research the differences for purchasing the outdoor sportswear and `one-way ANOVA` has been applied to research the differences in purchasing decision factors, re-purchasing intent among 3 groups. As a result, the following conclusions were drawn; First, there were significantly differences in preferring brand, information sources, purchasing place. Second, the differences of purchasing decision factors were significantly showed. Third, the difference of repurchasing intent also was significantly showed.

정적 Passive RFID 태그를 이용한 지능적인 로봇위치추정기법

문승욱(Seung-Wuk Moon),지용관(Yong-Kwan Ji),박장현(Jahng-Hyon Park) 제어로봇시스템학회 2006 제어·로봇·시스템학회 논문지 Vol.12 No.1

RFID 를 이용한 이동 로봇의 위치 추정을 위한 실내 공간에서의 태그 배치 알고리듬

김현태(Hyun-Tae Kim),지용관(Yong-Kwan Ji),박장현(Jahng-Hyon Park) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6

Recently, researches on estimating a mobile robot's position using RFID tags get attention as the RFID cost goes down. In this paper, an optimizing algorithm for arranging RFID tags in indoor environments is proposed in order to improve the position estimation and to reduce the number of the tags. Firstly, the stochastic sensor model of RFID is derived and the design factors including the maximum identifiable distance, the identification direction and the read success rate are obtained. The arrangement algorithm is developed with consideration of those factors for a variety of RFID antenna configurations and different indoor environments. The algorithm is implemented on a mobile robot and improvement in position error is experimentally demonstrated.

RFID Tags 정보와 거리센서 융합을 통한 자율주행 로봇의 물체이식능력 향상

조만재(Man-Jae Cho),지용관(Yong-Kwan Ji),박장현(Jahng-Hyon Park) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5

This paper presents an object recognition improvement of an autonomous mobile robot using sensor fusion with passive RFID tags and range sensors. Ultra-sonic sensor modules were used to aware the indoor environments. To compensate the inaccuracy of the sensing information, we propose a sensor fusion method. This solution can provide more accurate information about object position and size to the mobile robot using RFID tags. Simulation and experimental results show that the proposed methods can yield improved performance for object recognition.