충적하천의 복잡하고 다양한 이동특성을 파악하고 이해하는 것은 하천공학적으로 매우 중요하며, 본 연구에서는 저수로의 이동 및 하상저하로 인하여 취수문제가 있는 경상북도 구미시에 위치한 해평취수장 주변에 대하여 항공사진 분석을 통하여, 시간에 따른 하천의 지형변화, 저수로의 이동 특성을 조사하고 분석하였다. 저수로는 좌안에서 우안으로 이동해 가고 있으며, 저수로는 강턱유량에 대하여 복렬사주가 발달하는 특성을 보여주고 있다. 이는 하천의 경사가 급하고 하폭이

Based on object recognition technology, we present a new global localization method for robot navigation. For doing this, we model any indoor environment using the following visual cues with a stereo camera; view-based image features for object recognition and those 3D positions for object pose estimation. Also, we use the depth information at the horizontal centerline in image where optical axis passes through, which is similar to the data of the 2D laser range finder. Therefore, we can build a hybrid local node for a topological map that is composed of an indoor environment metric map and an object location map. Based on such modeling, we suggest a coarse-to-fine strategy for estimating the global localization of a mobile robot. The coarse pose is obtained by means of object recognition and SVD based least-squares fitting, and then its refined pose is estimated with a particle filtering algorithm. With real experiments, we show that the proposed method can be an effective vision-based global localization algorithm.

Recently, automatic parking assist systems are commercially available in some cars. In order to improve the reliability and the accuracy of parking control, pose uncertainty of a vehicle and some experimental issues should be solved. In this paper, following three schemes are proposed. (1) Odometry calibration scheme for the Car-Like Mobile Robot.(CLMR) (2) Accurate localization using Extended Kalman Filter(EKF) based redundant odometry fusion. (3) Trajectory tracking controller to compensate the tracking error of the CLMR. The proposed schemes are experimentally verified using a miniature Car-Like Mobile Robot. This paper shows that odometry accuracy and trajectory tracking performance can be dramatically improved by using the proposed schemes.

본 연구에서는 확산에 의해 발생하는 시멘트 방벽의 변질 과정을 반응성용질이동 모델링을 통해 장기간 동안 예측하고자 하였다. 모델링 결과 50,000년 후 시멘트의 변질은 30cm까지 진행되었다. pH는 13.0에서 11.86까지 감소하였으며 이는 알칼리 이온의 감소, 포틀랜다이트(portlandite)와 CSH (Calcium Silicale Hydrate)광물의 용해/침전반응에 의해 결정되고 있었다. 공극률 또한 portlandite와 의 용해에 의해 가장 큰 영향을 받고 있었으며 최고 약 0.3 점도 증가하였다. 우라늄의 용해도 역시 증가하고 있었으며 이는 pe의 증가에 기인하고 있었다. 본 연구 결과는 장기간의 시멘트 변질이 pH, pe, 공극률을 변화시킴으로서 핵종의 이동을 증가시킬 수 있음을 보여주고 있다.

본 연구는 저온 유통 시스템을 구축하기 위해 이동식 저온 컨테이너에서 잠열재, 내부온도의 유지특성과 운영조건별 사과의 내부 품온을 살펴보았으며, 그 결과를 요약하면 축냉식 저온유통 체계에서 다목적용 농산물 유통에 적합하도록 , , 3가지 온도대역별 잠열재를 개발하였다. 잠열재는 과 Sodium polyacrylate, 잠열재는 , , Sodium polyacrylate, 잠열재는 , , Sodium polyacrylate를 혼합하여

피라미는 국내 하천에서 서식하며 국지적인 회유를 하는 대표적인 어종이다. 피라미와 같이 작은 몸집의 국지회유성 어종은 서식처간의 이동이 생존을 위해 필수적이다. 그러나 어류 서식처간의 연결부가 배수암거(culvert)로 설치되어 있는 경우에는 평상시 빠른 유속이 발생되어 어류 이동에 많은 장애를 주고 있다. 외국에서는 배수암거의 설계유량과 유속기준이 홍수기간과 어류가 상류로 올라가는 기간별로 필요한 기능에 따라 제시되어 있어 홍수시에는 홍수소통기능, 평

We propose a navigation algorithm using image-based visual servoing utilizing a fixed camera. We define the mobile robot navigation problem as an unconstrained optimization problem to minimize the image error between the goal position and the position of a mobile robot. The residual function which is the image error between the position of a mobile robot and the goal position is generally large for this navigation problem. So, this navigation problem can be considered as the nonlinear least squares problem for the large residual case. For large residual, we propose a method to find the second-order term using the secant approximation method. The performance was evaluated using the simulation.

The paper proposes a human-following behavior of mobile robot and an intelligent space (ISpace) is used in order to achieve these goals. An ISpace is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.

This treatise`s main point is to investigate the strategies of the developmental teaching and learning which are valid in the Danso-class of elementary school. Danso has been appointed as a musical instrument to be played in the class of elementary school since the fifth process of the educational course. Although 20 years has passed since then, however, this course is still considered very difficult to follow by most of the students and teachers who should be educated at least more than two times. It is my understanding, therefore, that we should try to develop various ways of solutions that can resolve many problems in Danso course of elementary school by providing the ``universal`` orientation for teachers. The point that we pay attention to in this treatise is that I apply the tonic solfa according to the movable-do system of Kodaly partially in order to improve the unsatisfactory circumstances of the Danso class of elementary school. His method provides us with very efficient means in learning syllable names and reading musical notes in Korean traditional music. In this study, we will see the strategies of the developmental teaching and learning in the Danso-class of elementary school according to the six levels.

We propose a optimal fusion method for localization of multiple robots utilizing correlation between GPS on each robot in common workspace. Each mobile robot in group collects position data from each odometer and GPS receiver and shares the position data with other robots. Then each robot utilizes position data of other robot for obtaining more precise estimation of own position. Because GPS data errors in common workspace have a close correlation, they contribute to improve localization accuracy of all robots in group. In this paper, we simulate proposed optimal fusion method of odometer and GPS through virtual robots and position data.

본 논문에서는 웨이퍼 레벨 밀봉 실장된 수직 운동 가속도 신호를 감지할 수 있는 초소형 Z축 가속도 센싱 엘리먼트를 제작하였다. 초소형 Z축 가속도 센싱 엘리먼트는 수직 방향의 정전용량 변화를 필요로 하기 때문에 단일 기판상에 수직 단차의 형성을 가능케 하는 확장된 희생 몸체 미세 가공 기술 (Extended Sacrificial Bulk Micromachining, ESBM) 을 이용하여 제작되었다. 확장된 희생 몸체 미세 가공 기술을 이용하면 정렬오