This paper proposes a technique of indoor localization for mobile robot by so called indoor GPS and EKF. Basically the concept of indoor GPS is similar outdoor GPS, and the indoor GPS gets distances between Anchors and Tag by a ranging method of CSS and then estimates the coordinate by distances and known Anchor positions. After we performed performance test of indoor GPS system in ideal and multipath environment, we configured that the indoor GPS has internal error factors and external error factors. This paper handled a multipath problem belonging to external error factors. At first various direct physical method are introduced to fix the multipath problems, and as expected we got errors corrected considerably. And then the method of selective anchors for indoor GPS is applied. With these two level improvement of indoor GPS performance, EKF(Extended Kalman Filter) is applied to mobile robot in indoor environment. The usefulness of the proposed methods are shown by a series of experiments in a environment giving contaminated data by multipath.

In many industries, the accurate and quick checking of goods in storage is of great importance. Most today's inventory checking is based on bar code scanning, but the relative position between a bar code and an optical scanner should be maintained in close distance and proper angle for the successful scanning. This requirement makes it difficult to fully automate the inventory information/control systems. The use of RFID technology can be a solution for overcoming this problem. The mobile robot presented in this paper is equipped with an RFID tag scanning system, that automates the otherwise manual or semi-automatic inventory checking process. We designed the robot system in a quite practical approach, and the developed system is close to the commercialization stage. In our experiments, the robot could collect information of goods stacked on shelves autonomously without any failure and maintain corresponding database while it navigated predefined paths between the shelves using vision.

온라인 게임 시장의 규모가 커짐에 따라 온라인 게임의 서버 성능에 대한 중요성이 커지고 있다. 본 논문은 게임 속의 객체 상태에 대한 동기화 패킷을 줄여 서버의 성능을 높이는 방안을 제안한다. 제안하는 방식은 게임 속의 각 객체의 이동 범위에 대한 예측과 못가는 지역에 대한 처리를 통하여 지형간의 경계이동 횟수가 감소될 수 있도록 지형을 재구성 할 수 있는 해결책을 제공한다. 성능평가는 제안하는 지형분할방식이 기존방법에 비해 동기화 패킷에 대한 처리량이 줄어드는 것을 보여준다.

자연하천은 사행을 보이며 만곡부 외측에 웅덩이 그리고 만곡과 만곡을 연결하는 직선 유로에 여울이 형성된다. 웅덩이는 수심이 깊으며 유속이 느리고, 여울은 수심이 비교적 얕고 유속이 빠른 특징이 있다. 사행유로를 따라 자연적으로 발달하는 웅덩이-여울 연속구조에 근래들어 관심이 집중되는 이유는 이러한 하천형태학적 구조가 생물학적인 다양성을 증가시키기 때문이다. 본 연구에서는 금강의 지류인 갑천 상류구간을 대상으로 웅덩이-여울 연속구조에서 하상토의 입도특성을

저항성원이 다른 7개이 근동질 저항성 계통과 감수성 품종인 Toyonishiki에서 X. oryzae pv. oryzae의 증식과 이동에 관한 시험을 실시하였다. 접종 10일 후, NIL의 접종부위 잎의 세균밀도는 약 105~106cfu/cm2 이었으나 감수성 품종인 Toyonishiki에서는 약 107cfu/cm2 로 높게 나타났다. 이와 같이 감수성 품종에서의 세균 수는 급속히 증가하였으나 NIL에서는 점차적으로 증식하였다. IRBB 103과 Toyonishiki는 접종 25일 후에 접종부위로부터 20cm 위쪽에서 세균이 검출되었으나 다른 NIL에서는 검출되지 않았다. 이와같이 Xa1, Xa4, xa5, Xa7 저항성 유전자는 세균의 이동을 크게 억제하였다.

본 연구에서는 X선 조사에 의해 생성된 전하의 이동현상을 조사하기 위해 비행시간 측정방법을 이용하였다. 이 측 정기술은 일반적으로 디지털 X선 영상 변환물질의 전하 트랩 및 수송현상에 유용한 방법이다. 비행시간 측정법을 이용 하여 a-Se 광도전체의 전하 수송자의 과도시간 및 이동속도를 측정하였다. 시편제작을 위해 열증착법을 이용하여 유 리기판위에 400 ㎛ 두께의 a-Se 필름을 제작하였다. 측정결과, 전자와 정공의 과도시간은 10 V/㎛의 전기장에서 각각 229.17 ㎲ 와 8.73 ㎲ 였으며, 이동속도는 각각 0.00174 ㎠/V․s, 0.04584 ㎠/V․s 였다. 측정결과, 전자와 정공의 이 동 속도의 측정값에 다소 큰 차이를 보였으며, 이 결과로부터 전하수송 및 트랩 기전을 분석하는데 이용하였다.

We presents a dynamic modeling of 4-wheel 2-DOF. WMR. The classic dynamic model utilizes a greatly simplified wheel motion representation and using of a simplified dynamic model confronts with a problem for accurate position control of wheeled mobile robot. In this paper, we treats the dynamic model for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed dynamic model is useful. We can be easily extend the proposed WMR model to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.

One of the requirements for autonomous vehicles on off-road is to move stably in unstructured environments. Such capacity of autonomous vehicles is one of the most important abilities in consideration of mobility. So, many researchers use contact and/or non-contact methods to determine a terrain whether the vehicle can move on or not. In this paper we introduce an algorithm to classify terrains using visual information(one of the non-contacting methods). As a pre-processing, a contrast enhancement technique is introduced to improve classification of terrain. Also, for conducting classification algorithm, training images are grouped according to materials of the surface, and then Bayesian classification are applied to new images to determine membership to each group. In addition to the classification, we can build Traversability map specified by friction coefficients on which autonomous vehicles can decide to go or not. Experiments are made with Load-Cell to determine real friction coefficients of various terrains.

Marionette controlling robot has a problem that generates interference in rotation and intersection, therefore, the research on the independent shifter to move freely on the stage is required. Connecting omni-directional mobile robot with marionette controlling robot can solve this problem. Omni-directional mobile robot makes itself rotate and translate in 2D plane freely. Magnetic device is used to connect the moving part with the control part of the robot to minimize the intereference generated by the movement of robot. When robot moves, it can move to all directions with the suitalbe setting of banlance power. The moment of inertia is minimized by dividing the robot to the upper and lower parts in the marionette performance stage. Rotation and interference problem of independent omni-wheel Robot can be solved by using the permanent magnet. The efficiency and safety of the marionette controlling robot is proved by the experiment.

A gradient method can provide a global optimal path in indoor environments. However, the optimal path can be often generated in narrow areas despite a sufficient wide area which lead to safe navigation. This paper presents a novel approach to path planning for safe navigation of a mobile robot. The proposed algorithm extracts empty regions using a ray-casting method and then generates temporary waypoints in wider regions in order to reach the goal fast and safely. The experimental results show that the proposed method can generate paths in the wide regions in most cases and the robot can reach the goal safely at high speeds.

고준위방사성폐기물에서 유출되어 나오는 아이오딘의 이동을 저지하기 위하여 은을 흡착시킨 벤토나이 트 블록에 NaI 용액을 흘려주었을 때 대부분의 아이오딘이 흡착되었다. 이 은이온에 의한 아이오딘의 저지 메커니즘을 상세히 조사하기 위하여 아이오딘과 접촉하기 전후의 은이 흡착된 벤토나이트의 X-ray Absorption Near Edge Structure (XANES)와 Extended X-ray Absorption Fine Structure (EXAFS) 스펙트 럼과 표준물질로서 AgO, Ag2O, AgI의 스펙트럼을 비교하였다. 그 결과, 벤토나이트에 흡착되었던 은이 떨 어져 나와 AgI 침전 클러스터를 형성함으로서 아이오딘의 이동이 지연되는 것으로 생각된다.

For indoor mobile robots, the performance of autonomous navigation is affected by a variety of factors. In this paper, we focus on the characteristics of indoor absolute positioning systems. Two commercially available sensor systems are experimentally tested under various conditions. Mobile robot navigation experiments were carried out, and the results show that resultant performance of navigation is highly dependent upon the characteristics of positioning systems. The limitations and characteristics of positioning systems are analyzed from both quantitative and qualitative point of view. On the basis of the analysis, the relationship between the positioning system characteristics and the controller design are presented.

In this paper, a wall climbing robot, called LAVAR, is developed, which is using an impeller for adhering. The adhesion mechanism of the robot consists of an impeller and two-layered suction seals which provide sufficient adhesion force for the robot body on the non smooth vertical wall and horizontal ceiling. The robot uses two driving-wheels and one ball-caster to maneuver the wall surface. A suspension mechanism is also used to overcome the obstacles on the wall surface. For its design, the whole adhering mechanism is analyzed and the control system is built up based on this analysis. The performances of the robot are experimentally verified on the vertical and horizontal flat surfaces.