그리드지도의 방향확률을 이용한 직선선분의 추출

강승균,임종환,강철웅 제주대학교 공과대학 첨단기술연구소 2003 尖端技術硏究所論文集 Vol.14 No.1

The paper presents an efficient method for extracting the line segments in a local map of a robot's surroundings. The local map is composed of 2-D grids that have both the occupancy and orientation probabilities from sonar information. To find the shape of an object in a local map from orientation information, the orientations are clustered into several groups according to their values. The line segment is ,then, extracted from the clusters based on Hough transform. The proposed technique is illustrated by experiments in an indoor environment.

자동 이착륙 시스템을 갖춘 모형 헬리콥터 시스템

강철웅,임종환 제주대학교 공과대학 첨단기술연구소 2002 尖端技術硏究所論文集 Vol.13 No.1

In this paper, we introduce an autonomous flying for takeoff and landing a model helicopter with a vision system. A feature of the helicopter is that automatic flying for takeoff and landing is realized by a vision system. Owing to this vision system, the model helicopter is able to takeoff and landing without any human assistance. The vision system is composed of a CCD camera mounted on the helicopter and an image processor on the ground. We first introduce the configuration of the helicopter system, which has a vision sensor, a clinometer and an azimuth sensor. To determine the 3-D position and posture of helicopter, a technique of image recognition using a monocular image is used. Finally we give an experiment result which we obtained in takeoff and landing test with our vision system. This result shows the effectiveness of the vision system in the model helicopter

RC 서보모튤을 이용한 식사지원 로봇

강철웅,임종환 제주대학교 공과대학 첨단기술연구소 2002 尖端技術硏究所論文集 Vol.13 No.1

We succeeded to build a cost effective assistance robotic arm with a compact and lightweight body. The robotics arm has three joints, and the tip of robotic arm to install tools consists of a closed link mechanism, which consisted of two actuators and several links. The robotic arm has been mad possible by the use of actuators typically used in radio-control servo-modules. The controller of the robotic arm consist of a single chip PIC only. The robotic arm has a friendly user interface, as the operators are aged and disabled in most cases. The operator can manipulate the robotic arm by voice commands of or pressing a push button. The robotic arm has been successfully portotyped and tested on an elderly patient to assist with eating. the results of field test were satisfactory.

자율이동로봇을 위한 직선선분 기반 지도 작성

강승균,임종환,강철웅 제주대학교 공과대학 첨단기술연구소 2004 尖端技術硏究所論文集 Vol.15 No.1

The paper presents an efficient method of extracting line segment in a local map of robot's surroundings. The local map is composed of 2-D grids that have both the occupancy and orientation probabilities based on the bayesian map building model. The local map is continuously updated while the robot explorers its unknown environment and the orientations of all grids in the local map are clustered into several groups according to their values. The line segments are then extracted from the clusters based on least square methods. A merging method that reconstructs lines and corners is developed to build a topological map. The proposed technique is illustrated by experiments in an indoor environment.

社會文化 變動에 따른 都市住居의 空間構造 變容에 관한 硏究 : 광주광역시 광산구 우산동 주공 연립주택을 중심으로 Centering on the tenement house supplied by korea national housing corporation in Woosan-dong

朴綱澈,金永弼,金在雄 朝鮮大學校 建設技術硏究所 1999 建設技術硏究 Vol.19 No.2

This study is to identify the remodeling types urban housing pertaining to the sociocultural change. The variable determining remodeling of housing were measured in sample area of woosan-dong through an investigation of residential floor plan types. The total residential remodeling rate of area was over 90% in last 17 years, which showed an average remodeling rate of 40% in every 10 years. The main remodeling type revealed 69% of expansion addition type in sample area. In data analysis, it revealed that the six variables, such as, number of family members, number of households, total income, education, number of rooms, and designated living space per family affected residential remodeling types significantly. These six variables could largely be divided into three, family life cycle, standard of living, and residential space. Thus it seems that interaction among these variables may affect the residential remodeling type significantly.

GPS측량에 의한 차량주행지도작성

최철웅,장용구,강인준 釜山大學校 都市問題硏究所 1996 都市硏究報 Vol.4 No.-

In Pusan city, more and more efficient car management is needed for insufficience of accomdating road abilitys. GPS being a global navigation and positioning system works under any kind of weather and no visibility requirement in addition to highly accurate three dimensional positioning information, so tremendous impact from GPS has occureed. Using the position and time data of GPS, we can analyze the velocity of car and utilize GPS data for monitoring statistics and traffic capability of the road. Because of storing capacity the position of car GPS data, we can analyze the navigation path of car. Therefore we will effectively use road resource by GPS data. In this study, we developed programs that could monitor the map of car-navigation, analyze distribution of velocity and traffic management by GPS.

무인잠수정의 3-D 위치 계측시스템 개발

김희철,임종환,강철웅 제주대학교 공과대학 첨단기술연구소 2003 尖端技術硏究所論文集 Vol.14 No.2

This paper presents a 3-D localization method of an autonomous underwater vehicle(AUV). Conventional methods of localization, such as LBL or SBL, require additional beacon systems, which reduces the flexibility and availability of the AUV. We use a digital compass, a pressure sensor, a clinometer and ultrasonic sensors for localization From the orientation and velocity information, a priori position of the AUV is estimated based on the dead reckoning method Based on the extended Kalman filter algorithm, a posteriori position of the AUV is, then, estimated by using the distance between the AUV and a mother ship on the surface of the water together with the depth information from the pressure sensor. Simulation results show the possibility of practical application of the method to the autonomous navigation of the AUV.

人工衛星 映像解析에 의한 綠地自然度 分類技法

곽재하,강인준,최철웅 釜山大學校生産技術硏究所 1995 生産技術硏究所論文集 Vol.49 No.-

본 연구는 인공위성 "landsat-5"호를 이용하여 영상분류하는 데 있어 지금까지 특정한 밴드만을 사용하는 기존의 방법을 개선하여 7밴드 모두를 사용하였다. 각 밴드별의 밝기값은 ISODATA 분류방식을 이용하여 획득하였으며 각 영상에서 획득한 자료는 그리드 해석방법으로 해석하기위하여 그리드 형태로 변환하였다. 이과정에서 각 밴드별 밝기값은 통계학적 정확한 분석방법으로 역산출하여 재분류를 하였다. 또 본 연구는 칼라항공사진을 이용하여 검정을 하였으며 기존의 arctangent, ratio, ND, TVI방법과 비교 연구를 병행하였다. Authors analyzed the 7 bands of Lands at TM data rather than use of a certain specific band according to their divergence of band to classify the satellite image data. The range of brightness values in minimum and maximum were detected by ISODATA unsupervised classification. Each detected Image datum are transformed into grid file to analysis the extracted values by grid analysis method. Reclassification performed using extracted values of each classes by their statistic accuracy analysis. Authors can accesses the accuracy of classification values using the color airphoto(scale 1:10,000). Classification method are arctangent, ratio, ND and TVI to compare with this classification techniques.

확장칼만필터 기반 무인잠수정 항법의 성능평가

임종환,강철웅 제주대학교 공과대학 첨단기술연구소 2004 尖端技術硏究所論文集 Vol.15 No.2

This paper presents extended Kalman filter based navigation performances of an autonomous underwater vehicle(AUV). The system is composed of a mother ship (small unmanned marine prober) on the surface of the water and an unmanned underwater vehicle in the water. The mother ship is equipped with a digital compass and a GPS for position information, and extended Kalman filter is used for position estimation. For the localization of the AUV, we used only non-inertial sensors such as a digital compass, a pressure sensor, a clinometer and ultrasonic sensors. From the orientation and velocity information, a priori position of the AUV is estimated by applying the dead reckoning method. A posteriori position of the AUV is, then, updated by using the distance between the AUV and a mother ship on the surface of the water together with the depth information from the pressure sensor. The performances of the navigation system has been estimated in various situations through sets of simulations.

그리드 연관성을 이용한 지능로봇용 환경 지도 형상의 신뢰성 향상에 관한 연구

임종환,이세진,강철웅 제주대학교 공과대학 첨단기술연구소 2005 尖端技術硏究所論文集 Vol.16 No.2

This paper addresses a new feature map building method that can minimizes the appearance of phantom features by using only sparse sonar data. The approach is composed of extraction of features and building a probability grid map using only the footprint of sparse sonar data, estimation of position uncertainty of the feature, and evaluation of the reliable features. A virtual circle association frame model has been developed, which associates two sonar footprints into a virtual circle frame. Using this model, geometric primitives such as line, point, or arc features are separately extracted. While extracting the feature, a grid map is also built using the orientation probability approach. Position uncertainty of each extracted feature is, then, estimated by considering both the position uncertainty of the robot and the measurement uncertainty of the sonar sensor. Finally, the reliable features among all extracted ones are evaluated from grid association method. The proposed methods have been tested in a real home environment with a mobile robot.