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수중 항법을 위한 ROS 기반 시뮬레이터를 이용한 센서 데이터 수집
김하선,김아란,강창호,김선영 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.4
Simultaneous localization and mapping (SLAM) is a navigation technology used in scenarios where the surrounding environment is unknown. Although SLAM technology is highly advanced in atmospheric environments, it is not highly effective in underwater environments because of various constraints. In addition, experiments in underwater environments involve higher risks and costs compared with other environments. Therefore, in this paper, a simulator-based data collection method was proposed to reduce risks and costs for effective experimentation. By using the proposed method, sensor data can be acquired by adding and generating paths to control the movement of underwater robots depending on research purposes. In addition, collected data can be saved in various formats to facilitate data processing. Moreover, an experiment was conducted to verify that SLAM can be performed using the data collected.
표적 탐지 및 식별 성능 향상을 위한 레이더 측정치 분석
김하선,김아란,강창호,김선영 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.3
Using artificial intelligence, radar measurements can improve the performance of target detection and identification methods. Testing data was generated from existing radar data, high-resolution range profile, and inverse synthetic aperture radar images. Radarcross section was chosen as the main parameter because it has been widely studied and its parameters are well known. To ensure thequality of the training dataset, we used simulation tools to determine which parameters had the greatest effect on the generated data. Missile models with different shapes were applied during simulations to confirm the possibility of detection and identification whensuitable parameters were applied. .