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 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.

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

This paper proposes a method of avoiding obstacles and tracking a moving object continuously and simultaneously by using new concepts of virtual tow point and fuzzy danger factor for differential wheeled mobile robots. Since differential wheeled mobile robot has smaller degree of freedom to control and are non-holonomic systems, there exist multiple solutions (trajectories) to control and reach a target position. The paper proposes 'fuzzy danger factor' for obstacles avoidance, 'virtual tow point' to solve non-holonomic object tracking control problem for unique solution and three kinds of fuzzy logic controller. The fuzzy logic controller is policy decision controller with fuzzy danger factor to decide which controller's result is more valuable when the mobile robot is tracking a moving object with obstacles to be avoided.

겨울철 한반도와 부근 해역은 대륙에서 발달하는 시베리아고기압과 해양에서 발달하는 알류샨저기압으로 형성되는 전형적인 서고동저형의 기압배치의 영향을 많이 받는다. 이 기압배치의 영향으로 우리나라와 주변 해역, 특히 서해에서는 강한 서풍 내지 북서풍의 계절풍과 강한 바람에 의한 높은 파랑, 폭설 등을 동반하는 악기상이 빈번히 발생한다. 이 연구에서는 겨울철에 서해에서 활동하는 국가어업지도선의 안전한 피항지를 선정하기 위하여 11년간 (1994-2004년)의 지상일기도를 분석하여 온대저기압의 주요 이동경로를 구분하였다. 그리고 온대저기압의 이동경로별로 섬들의 지형적 특성, 수심, 저질의 상대, 조류의 영향 및 어망의 분포 등을 조사하고, 그 결과를 이용하여 서해에서 활동하는 국가어업지도선의 안전한 피항지를 선정하였다.

본 논문에서는 교량상을 이동하는 차량의 차축하중을 교량의 동적거동을 계측하여 추정하는 알고리듬을 제안하였으며, 교량을 보로 모델하여 알고리듬을 적용하였다. 가속도는 교량에서 직접 계측하였으며, 변위는 가속도와 같은 위치에 부착한 변형률을 변환하여 계산하는 식을 제안하였다. 절점하중벡터는 속도별로 준비해둔 절점하중변환행렬 데이터베이스를 사용하여 구하였다. 개발된 알고리듬을 수치예제와 실내모형실험을 통해 검증하였다. 수치예제에서는 계측오차와 속도 및 위치오차가 하중식별에 미치는 영향을 분석하였다.

HPLC에 의한 미량 Ginsenoside의 분석법을 확립하고자 연구를 수행하였던 바, 그 결과를 요약하면 다음과 같다. 인삼 ginsenosid의 분석은 많이 시도되어 왔으나 주요 사포닌 및 미량 사포닌의 분석법이 정립되지 않고 있는 실정인바, 본 연구에서는 이동상 용매의 기울기 용리를 다양하게 변화를 주어 Rb1, Rb2, Rb3, Rc, Rd, Re, Rf Rg1, Rg2, Rg3, Rh1, Rh2의 총 12종의 사포닌을 양호하게 분리하는데 성공하였다. 이동상의 흐름 속도는 1.00ml/min이고 column온도는 35˚C, UV detector의 파장은 203nm로 모두 일정하게 한 결과였으며, 최적의 분석조건은 H2O와 CH3CN의 용매 조성이 82/18, 70/30, 55/45, 50/50으로 각각의 ginsenosides의 안정적인 Area 값을 얻을 수 있었고 재현성을 시도해본 결과, 반복간 편차가 적어 재현성이 매우 양호한 것으로 나타났다.

The most important thing for navigation of a mobile robot is to find the most suitable path and avoid the obstacles in the static and dynamic environment. This paper presents a method to search the optimal path in start space extended to time domain with considering a velocity and a direction of moving obstacles. A modified version of A* algorithm has been applied for path planning in this work and proposed a method of path search to avoid a collision with moving obstacle in space-tim domain with a velocity and an orientation of obstacles. The velocity and the direction for moving obstacle are assumed as linear form. The simulation result shows that a mobile robot navigates safely among moving obstacles of constant linear velocity. This work can be applied for not only a moving robot but also a legged humanoid robot and all fields where the path planning is required.

It is dangerous that an inspector overhauls defects and condition of the inner parts of an oil tanker because of many harmful gases, complex structures, and etc. However, these inspections are necessary to many oil tankers over old years. In this study, we proposed the design of mobile robot for inspection of CAS in oil tanker. The developed CAS inspection mobile robot has four modules, a measurement module of oil tanker's thickness, a corrosion inspection module, a climbing module of the surface on a wall, and a monitoring module. In order to get over at a check position, the driving control algorithm was developed. Magnetic wheels are used to move on the surface of a wall. This study constructed a communication network and the monitoring program to operate the developed mobile robot from remote sites. In order to evaluate the inspection ability, the experiments about performance of CAS inspection using the developed mobile robot have been carried out.

구조물의 동적해석은 크게 시간영역과 주파수영역해석으로 나눌 수 있다. 시간영역해석은 직접적분법과 모드중첩법 등을 사용하며 주파수영역해석은 DFT법을 적용하고 있다. 일반적으로 DFT법은 주기함수에 대한 응답을 산정할 경우 효과적인 해석방법이지만 비주기함수인 경우 정확한 해석결과를 얻을 수 없어 주기를 크게 하거나 응답을 수정하여 해의 정확성을 향상시키고 있다. 따라서 본 연구는 비주기함수인 이동하중을 받는 구조물에 대해 시간영역과 주파수영역에서 동적응답을 산정하였다. 그 결과 구조물의 자유진동주기를 크게 하거나 응답을 수정하여 DFT법을 적용한다면 주파수영역에서도 충분히 정확한 해석결과를 얻을 수 있을 것으로 판단된다

Currently, portable equipment for recycling of waste asphalt concrete (ASCON) has been used. However, any air pollution control devices are not attached in the simple portable one. Thus, a lot of air pollutants have been produced from recycling processes of waste ASCON which resulted from aging of paved roads or repavement of roads. This study deals with a preliminary result of concentration analysis of air pollutants obtained from a pilot and a real recycling processes of waste ASCON using simple portable recycling equipment. Air pollutants were taken from 4 steps of the pilot recycling process including an initial heating by liquid petroleum gas (LPG), intermediate heating and melting (H&M) process, final H&M process, and pavement processes using recycled ASCON at the recycling site. Also, air pollutants were taken front 4 steps of the real recycling processes including an initial H&M, final H&M and mixing, loading of recycled ASCON to dump trucks, and at the recycling site after leaving the loaded dump trucks for real pavement sites. The air pollutants measured in this study include volatile organic compounds (VOCs), aldehydes, particulate matter (PM: PM1, PM2.5, PM7, PM10, TSP (total suspended particulate)). The identified concentrations of VOCs increased with increasing time or degree for H&M of waste ASCON. In particular, very high concentrations of the VOCs at the status of complete melting, which is exposed to the air, of the waste ASCON just before paving tv the recycled ASCON at the recycling site. Also, considerable amount of VOCs were identified from the recycling equipment after the dump trucks leaded by recycled ASCON leaved the recycling site for the pavement sites. The relative level of formaldehyde exceeded 80% of the aldehydes Identified in the recycling processes. This is because the waste ASCON is exposed to direct flame of LPG during H&M processes. The PM concentrations measured in the winter recycling processes, such as the loading and rotation processes of waste ASCON into/in the recycling equipment for H&M, were much higher than those in the summer ones. In particular, the concentrations of coarse particles such as PM7 and PM10 during the winter recycling were very high as compared those during the summer one.