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항행 및 항법 : 레이저 센서에서 두 개의 특징점을 이용한 이동로봇의 항법
김주완 ( Joo Wan Kim ),심덕선 ( Duk Sun Shim ) 한국항행학회 2014 韓國航行學會論文誌 Vol.18 No.2
이동로봇의 주행에는 주로 바퀴 엔코더, 비전, 초음파, 레이저 센서가 많이 사용된다. 바퀴의 엔코더는 추측항법으로 시간에 따라 오차가 누적되기 때문에 단독 사용으로는 정확한 로봇의 위치를 계산할 수가 없다. 비전 센서는 풍부한 정보를 제공하지만 정보추출에 시간이 많이 소요되고, 초음파 센서는 거리정보의 정확도가 떨어지기 때문에 항행에 사용하기에는 어려움이 있다. 반면 레이저 센서는 비교적 정확한 거리정보를 제공하여 주므로 주행 센서로 사용하기 적합하다. 본 논문에서는 레이저 거리계에서 각도를 추출하는 방법을 제안하고 칼만 필터를 사용하여 레이저 거리계에서 추출한 거리 및 각도와 바퀴 엔코더에서 추출한 거리 및 각도에 대한 정합을 수행한다. 일반적으로 레이저 거리계 사용시 특징점 하나를 사용한 경우에 그 특징점이 변하거나 새로운 특징점으로 이동할 때 오차가 커질 수가 있다. 이를 보완하기 위해 이동 로봇의 주행 시 레이저 스캐너에서 두 개의 특징점들을 사용하는 방법을 사용하여 이동 로봇의 항법 성능이 향상됨을 보인다. Mobile robots use various sensors for navigation such as wheel encoder, vision sensor, sonar, and laser sensors. Dead reckoning is used with wheel encoder, resulting in the accumulation of positioning errors. For that reason wheel encoder can not be used alone. Too much information of vision sensors leads to an increase in the number of features and complexity of perception scheme. Also Sonar sensor is not suitable for positioning because of its poor accuracy. On the other hand, laser sensor provides accurate distance information relatively. In this paper we propose to extract the angular information from the distance information of laser range finder and use the Kalman filter that match the heading and distance of the laser range finder and those of wheel encoder. For laser scanner with one feature point error may increase much when the feature point is variant or jumping to a new feature point. To solve the problem, we propose to use two feature points and show that the positioning error can be reduced much.
골프 드라이버샷 동작에서 공 속도에 따른 운동학적 변인 비교
김주완(Kim, Joo-Wan),천영진(Chun, Young-Jin) 한국사회체육학회 2016 한국사회체육학회지 Vol.0 No.64
The purpose of this study was to compare three-dimensional imaegs through the analysis of the kinematic variables of the ball speed when the driver shot in competitio nof high school athletes, the analysis for this purpose. For this study, were enrolled in the eight high school athletes who participated in The 13th of Konkuk University President championship. Using a total of two camera sand one Flightscope recorded in Gunsan CC 6 hole Lake Course. Data Base through the recording had Coordinate using KWON3D 3.01. The result of this study can be summarized as follows. Had swing time in accordance with phase has appeared as a lowgroup in a ADD-TOP intervals shorter than the highgroup, in the case of BST-IMP phase showed that the lowgroup shorter than the parent group, the total swing time of this lowgroup than the highgroup It is shown to be short. Compared to a lowgroup of a highgroup head movements are seen as more significant difference between left and right when the back-swing Top statistically about the movement of the hand occurred(p<.05). This appeared to be highgroup caulking angle is lower than the lowgroup, the shoulder angle at impact was found to be greater than the lowgroup is highgroup, the difference in the angle at address and at impact angles showed that the higher greater group. Sacral angle was take the form which bowed all the backswing top, impact, in the case of highgroup showed a form similar to the upright swing impact. X-factor value of this lowgroup was higher than highgroup, the X-factor impact when the value of this lowgroup was higher than the highgroup. Angular velocity body is a lowgroup showed faster than the highgroup, the pelvis showed a higher angular velocity is faster than the lowgroup.
보도연맹원 학살과 지역사회의 지배구조 - 경남 마산지역의 사례와 인물을 중심으로 -
김주완(Kim Joo-Wan) 부산경남사학회 2005 역사와 경계 Vol.56 No.-
The most different point the US armys massacre of citizen or the Korean armys massacre of North Koreas guerrilla from the massacre event of KOOKMIN BODO YUNMEANG, is that this massacre was absolutely planned and intentionally conducted for unit members who unified and managed from government, massacre in most wide area regardless of combat or execution of tactic. Furthermore, it was shut down telling the truth by putting on the sacrifice after event.<br/> Government properly used the National security law, special law for punishment of particular prime, the implication law, anti-communism law, in order to hide the truth, and oppressed the survivors by putting them a left field ld suspicion, furthermore, they suppressed the survivors to watch out evelyly day and controlled the job and travel of them.<br/> The survivors were suppressed to think intentional lapse of memory according to the planned and structured control by government over 50years. And they oppressed the delusion of persecution they are communist.<br/> In result of that, the massacre event of BODO YUNMEANG is still slowly being solved by telling the truth or making the survivor union among various citizen massacre accidents.<br/> On the other hand, the assaulter who is directly and indirectly involved in massacre strengthen their social and politic power with the basement of suppressing anti-communism made by war and horror of massacre.<br/> This article, first, traced the life of Chul-young Choi, who was the charge of massacre in Gyeong-nam area and chief of Gyeong-nam police office and Young-ju Shin who was patrol manager of Gyeong-nam police office, Jong-won Kim who is the martial law commander.<br/> Chul-young Choi went up to high class of police through the basement of anti-communism activity after National Independence day, lived at his house in Ma-san till die.<br/> Young-ju Shin promoted many times and became a member of the National Assembly and faced hard time by anti-activity of the bereaved family unit at 7.29 general election right after 4.19 movement but became the member of the National Assembly again, such as enjoyed the power and honor at the same time after 5.16 rebellion.<br/> Jong-won Kim also punished 3 year in jail for the suspect of gun-shot at the citizen massacre at Shinwon-myon, Gochang-gun, but finally became free at March 1952 since it was only 8 month in a jail by Special release order of President Lee. And he became the head of police office at Chun-nam area and Security head in 1956, head of police officer school in 1958.<br/> And the police and special army in charge with massacre in Ma-san also never have responsibility for massacre event of Citizen Report union unit, excepting the punishment caused by their own sin. These special part police at the massacre, were promoted again at 3.15 movements 1960 after 10 years, and charged again with the massacre and tortures. <br/> The Anti-communists unit members worked as execution staff of BODO YUNMEANGt, were selected as a Municipal assembly man, Mayor and Member of the Assembly. And also establish their vested rights of province with obtaining various social power institutions.<br/> As of the representative, Mun-gi Son who was branch manager of civil unit at that time of massacre and BODO YUN MEANG, was elected as of Member of the Assembly in May 1952, Seok-Hyung Yoo who was chief of Korea Youth Unit, the same as half-Military organization, was elected as a Municipal assembly man in April 1952.<br/> Jong-shin Kim who was a enterprise department head of BODO YUN MEANG, Board member of Kuk-min-unit and advisor of Min-bo-dan, was elected as a Municipal assembly man and chief of Ma-san city in raw in April 1952. And he became a member of National Assembly and CEO of press and broadcasting company. Such as, he could execute not only his administrational and politic power but also the power of public press including economy area. He conducted the communism activity and nationalism