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무인 이동체를 위한 LiDAR 오차 모델링 및 가혹 환경 시뮬레이터 개발
김학주,김용훈,김영민,강산희,권영서,송진우 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.9
Unmanned aerial vehicles (UAVs) have received attention as aircrafts that can perform missions on behalf of humans in vulnerable environments, such as for military purposes. Therefore, research on navigation systems, one of the underlying technologies for realizing UAVs, is actively being conducted. However, in an access-vulnerable environment, a global navigation satellite system alone is insufficient for autonomous driving and for ensuring stability. Accordingly, auxiliary sensors have been used as a navigation solution in many studies; for precise navigation using LiDAR, stability and accuracy are verified in relation to the performance analysis of the algorithm and environmental factors. However, data collection is expensive and requires a considerable amount of time, leading to operational difficulties. This problem can be resolved using a LiDAR simulator, but previously proposed simulators have limitations in terms of their development effectiveness owing to the differences between actual data. Therefore, we reviewed literature on the error analysis of the LiDAR measurement value. We integrated the LiDAR error models analyzed in previous research and synthesized and implemented the error parameters of a specific LiDAR model, Ouster OS1-32, through a simulator. .
김학주 한국미생물학회 1987 微生物과 産業 Vol.13 No.3
현재 국내에서 사용되고 있는 의약용 효소들을 치냉료영역별로 구분하여 현황및 전망을 개략적으로 기술하도록 하겠다.