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김찬영,홍다니엘,나원상 대한전기학회 2018 전기학회논문지 Vol.66 No.11
This paper investigates the autonomous ground vehicle (AGV) localization filter design problem under GNSS-denied environments. It is assumed that the given landmarks do not have unique features due to the lack of a prior knowledge on them. For such case, the AGV may have difficulties in distinguishing the position measurement of the detected landmark from those of other landmarks with the same feature, hence the conventional localization filters are not applicable. To resolve this technical issue, the localization filter design problem is formulated as a special form of the data association determining whether the detected feature is actually originated from which landmark. The measurement hypotheses generated by landmarks with the same feature are evaluated by the nearest neighbor data association scheme to reduce the computational burden. The position measurement corresponding to the landmark with the most probable hypothesis is used for localization filter. Through the experiments in real-driving condition, it is shown that the proposed method provides satisfactory localization performance in spite of using non-unique landmarks.
김찬영 대한전기학회 2005 전기학회논문지C Vol.54 No.3(C)
This research was a fundamental study for the low temperature sintering of PZTN by glass phase transient processing. To lower the sintering temperature, the glass phase processing was used. Also to improve the electrical properties, the transient processing was utilized. After characterization, the various analytic techniques, such as Archimedes method for the measuring densification, x-ray diffraction patterns for the quantitative analysis of crystalline phases were utilized. Also the dielectric constant, dissipation factor, and piezoelectric coefficients were measured to evaluate the PZTN sintered at the 950℃ and 1050℃. This was confirmed that the sinterng temperature of PZTN was reduced by 950℃ and the electrical properties were improved by the transition processing. Therefore, the glass phase transient processing can be applicable to low the sintering temperature with the dielectric and piezoelectric properties.