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모바일로봇의 정밀 실내주행을 위한 개선된 ORB-SLAM 알고리즘
옥용진,강호선,이장명 한국로봇학회 2020 로봇학회 논문지 Vol.15 No.3
In this paper, we propose a modified ORB-SLAM (Oriented FAST and Rotated BRIEF Simultaneous Localization And Mapping) for precise indoor navigation of a mobile robot. The exact posture and position estimation by the ORB-SLAM is not possible all the times for the indoor navigation of a mobile robot when there are not enough features in the environment. To overcome this shortcoming, additional IMU (Inertial Measurement Unit) and encoder sensors were installed and utilized to calibrate the ORB-SLAM. By fusing the global information acquired by the SLAM and the dynamic local location information of the IMU and the encoder sensors, the mobile robot can be obtained the precise navigation information in the indoor environment with few feature points. The superiority of the modified ORB-SLAM was verified to compared with the conventional algorithm by the real experiments of a mobile robot navigation in a corridor environment.
권용진(Y. J. Kwon),김선재(S. J. Kim),박경락(K. R. Park),옥유관(Y. K. Ok) 한국마린엔지니어링학회 2006 한국마린엔지니어링학회 학술대회 논문집 Vol.2006 No.-
본 논문은 기존 Reamer Bolt 사용시 발생하는 여러가지 문제점을 해결하고 고가의 수입품을 대체하기 위한 유압식 커플링 볼트의 국산화를 소개하였다.
CNN 기반 주행 중인 차량 간 상대속도 추정 알고리즘
강호선(Ho-sun Kang),옥용진(Yong-jin Ock),이장명(Jang-Myung Lee) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.1
In this paper, we proposed an estimation algorithm of the relative velocity between two driving vehicles based on CNN(Convolutional Neural Network), as the perception of the surrounding environment around an autonomous car, such as distance and speed of other vehicles, is important. The proposed algorithm estimated the velocity of a target vehicle by using a stereo camera without any other sensors. A stereo camera is a sensor that acquires simultaneously RGB images and depth maps, and it is widely used for autonomous vehicles to obtain various information. The developed CNN-based semantic segmentation model with high speed and accuracy was used to recognize the target vehicle, detecting the shape of the target object and omitting background information around it. Due to this effect, the distance between the autonomous vehicle and target vehicle is more accurately estimated. The relative speed between each vehicle was estimated using the distance and time difference between frames. The performance of the proposed algorithm was compared with conventional methods and it was confirmed that the speed of the target vehicle was more accurately estimated using only the stereo camera.
보문 : 북방종개 Cobitis pacifica (Pisces: Cobitidae)의 배 발생과 초기생활사
이완옥 ( Wan Ok Lee ),김경환 ( Kyeong Hwan Kim ),백재민 ( Jae Min Baek ),강용진 ( Young Jin Kang ),전형주 ( Hyoung Zoo Jeon ),김치홍 ( Chi Hong Kim ) 한국하천호수학회(구 한국육수학회) 2011 생태와 환경 Vol.44 No.1
We investigated developmental stages of embryo and early life history of the Korean indigenous fish, the northern loach, Cobitis pacifica in 2009 in order to understand fundamental knowledges for conservation of this species. Eggs were obtained after hormones injections(LHRH-a, HCG) and were artificially fertilized by the dry method. The embryo was spherical, separative demersal, faint white, and averaged 1.09±0.04mm (n=20) in diameter. The hatching of the embryo took place in about 48 hours after fertilization under water temperature of 21.0~24.0℃ and the newly hatched larvae averaged 2.87±0.05mm (n=20) in total length (TL). Four days after hatching, the larvae grew up to 6.86±0.10mm (n=10) in TL and york sac absorption, mouth and anus opening were shown. Fourteen days after hatching, most of fin-rays appeared at 10.71±0.34mm (n=10) in TL and color spots on the body surface were attained. Twenty six days after hatching, the larvae grew up to 14.88±0.45mm (n=10) in TL, and all their fin-rays were formed. Therefore, according to current study regarding the morphological development of Cobitis pacidica, the conversion from larval to juvenile stages occurred at 26 days after hatching. Eighty days after hatching, the larvae were 33.3±1.25mm (n=10), and their body shape and color pattern were similar to adult fish. In this study, embryonic development and early life history of the northern loach, Cobitis pacifica show morphological characteristics of Cobitidae family. We expected that our results can be used as an fundamental knowledges for restoration study of indigenous fish species.
권예슬,원용진,송혜경,이현정,이완옥 한국동물분류학회 2012 Animal Systematics, Evolution and Diversity Vol.28 No.4
Plecoglossus altivelis (ayu) is an amphidromous fish widely distributed in Northeastern Asia from the East China Sea to the northern Japanese coastal waters, encompassing the Korean Peninsula within its range. The shore lines of northeastern region in Asia have severely fluctuated following glaciations in the Quaternary. In the present study, we investigate the population genetic structure and historical demographic change of P. altivelis at a population level in East Asia. Analysis of molecular variance (AMOVA) based on 244 mitochondrial control region DNA sequences clearly showed that as the sampling scope extended to a larger geographic area, genetic differentiation began to become significant, particularly among Northeastern populations. A series of hierarchical AMOVA could detect the genetic relationship of three closely located islands between Korea and Japan that might have been tightly connected by the regional Tsushima current. Neutrality and mismatch distribution analyses revealed a strong signature of a recent population expansion of P. altivelis in East Asia, estimated at 126 to 391 thousand years ago during the late Pleistocene. Therefore it suggests that the present population of P. altivelis traces back to its approximate demographic change long before the last glacial maximum. This contrasts our a priori expectation that the most recent glacial event might have the most crucial effect on the present day demography of marine organisms through bottleneck and subsequent increase of effective population size in this region.