http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Development of User-Designated-Path Driving Ground Rover for Construction Site Monitoring
Ricardo Ortiz(리카르도 도티즈),Jee Won Lee(이지원),Jonathan Boyack(조나단 보약),Jongseong Choi(최종성) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
Construction workers are more likely of suffering injuries from work than other employees from other regular activities. Consequently, developing an unmanned mobile monitoring system became a crucial task for researchers and practitioners to secure human safety as well as construction assets. To achieve constant surveillance, the mobile system needs to be operated with a detailed and pre-determined path plan. However, construction sites do not always have routes registered on maps, hindering human exclusion in such operations. This work is to develop a user-designatedpath driving ground rover on construction sites. The developed system first allows the rover to receive a user’s designated path drawn on a map and then operate by following the guided path. A sliding mode controller was designed to capture the motion of a regular vehicle whose real-time displacement and velocity were measured with RTK-GPS device equipped on the rover. This work is successfully validated with a simulation showing the controller following the path with a guided velocity.
Development of User-Designated-Path Driving Ground Rover for Construction Site Monitoring
Ricardo Ortiz(리카르도 도티즈),Jee Won Lee(이지원),Jonathan Boyack(조나단 보약),Jongseong Choi(최종성) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
Construction workers are more likely of suffering injuries from work than other employees from other regular activities. Consequently, developing an unmanned mobile monitoring system became a crucial task for researchers and practitioners to secure human safety as well as construction assets. To achieve constant surveillance, the mobile system needs to be operated with a detailed and pre-determined path plan. However, construction sites do not always have routes registered on maps, hindering human exclusion in such operations. This work is to develop a user-designatedpath driving ground rover on construction sites. The developed system first allows the rover to receive a user’s designated path drawn on a map and then operate by following the guided path. A sliding mode controller was designed to capture the motion of a regular vehicle whose real-time displacement and velocity were measured with RTK-GPS device equipped on the rover. This work is successfully validated with a simulation showing the controller following the path with a guided velocity.
Ricardo Ortiz,Satoru Shimada,Kazuhiko Sekiguchi,Qinyue Wang,Kazuhiko Sakamoto 한국대기환경학회 2013 Asian Journal of Atmospheric Environment (AJAE) Vol.7 No.3
Seven potentially harmful bifunctional carbonyls were measured in particulate and gaseous phases at a roadside site and a suburban site in an area about 30 km north-northwest from Tokyo metropolitan area in the Kanto region in Japan. For the first time, these compounds were measured in both phases with a time resolution of 2 h. We found that wind direction is an important parameter that affects the collection of these compounds near the source, and it can cover the effects of other important variables. Our results confirmed that motor vehicles and especially diesel fuelled vehicles are important sources of these compounds. Photochemical generation is also an important source of these compounds in the gaseous phase. Transportation from the urban area is also important,particularly in the aerosol phase.
Alfredo Valenzuela(알프레도 발렌주엘라),Ricardo Ortiz(리카르도 오티즈),Sambridha Bhattarai(샘브리다 버다라이),Jongseong Choi(최종성) 대한기계학회 2023 대한기계학회 춘추학술대회 Vol.2023 No.11
Unmanned ground vehicles (UGVs) offer a promising solution for reconnaissance missions by addressing labor cost, frequency, and subjectivity issues associated with manual procedures. However, dynamic environments like construction sites present challenges for UGV path planning due to constant changes. To enable autonomous monitoring, we developed a mobile app that updates local maps by overlaying images onto a mapping API (e.g., Google Maps). UGV operators can easily draw paths on the updated construction scene using tablets or smartphones, with discrete GPS data guiding the UGV’s controller. In the overlaying procedure, the Homographic relation between the image and map is automatically computed and then projected. We successfully demonstrated the capabilities of the technique utilizing satellite images. The error generation is quantitatively measured and analyzed.
Automated Pan-Tilt-Zoom Camera Control to Enable Long-Range Visual Assessment and Localization
Jee Won Lee(이지원),Chul Min Yeum(염철민),Ricardo Ortiz(리카르도 오티즈),Jongseong Choi(최종성) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
Image-based structural assessment has been actively studied and adapted in SHM and PHM fields for the last decade. Various techniques and approaches are being introduced, nevertheless, their performance highly relies on how to acquire favorable image data such as both quality and quantity. In the image acquisition process, one of the intrinsic factors to consider is a field-of-view, FOV. In a plain image, FOV decreases as magnification increases; even a slight change of angle or tilt can lead to an off-target scene. To capture an extremely magnified image for long-range visual assessment purposes, a machine-aided delicate camera control should be achieved with a pan-tilt-zoom (PTZ) motion. In this work, a point cloud-based PTZ camera controller is designed to accurately target an inspection object located further away. The system also includes an automated coordinate system transformation between pixel and world points so that camera is calibrated per its location changes. This work is validated with a lab-scale environment presenting the system operates successfully with a given target input, that is any arbitrary 3D world point.
Automated Pan-Tilt-Zoom Camera Control to Enable Long-Range Visual Assessment and Localization
Jee Won Lee(이지원),Chul Min Yeum(염철민),Ricardo Ortiz(리카르도 오티즈),Jongseong Choi(최종성) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
Image-based structural assessment has been actively studied and adapted in SHM and PHM fields for the last decade. Various techniques and approaches are being introduced, nevertheless, their performance highly relies on how to acquire favorable image data such as both quality and quantity. In the image acquisition process, one of the intrinsic factors to consider is a field-of-view, FOV. In a plain image, FOV decreases as magnification increases; even a slight change of angle or tilt can lead to an off-target scene. To capture an extremely magnified image for long-range visual assessment purposes, a machine-aided delicate camera control should be achieved with a pan-tilt-zoom (PTZ) motion. In this work, a point cloud-based PTZ camera controller is designed to accurately target an inspection object located further away. The system also includes an automated coordinate system transformation between pixel and world points so that camera is calibrated per its location changes. This work is validated with a lab-scale environment presenting the system operates successfully with a given target input, that is any arbitrary 3D world point.