Mobile Robot Localization with Gyroscope and Constrained Kalman Filter

명현,최기완,방석원,이형기 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.3

The odometry information used in mobile robot localization can contain a significant number of errors when robot experiences slippage. To offset the presence of these errors, the use of a low-cost gyroscope in conjunction with Kalman filtering methods has been considered by many researchers. However, results from conventional Kalman filtering methods that use a gyroscope with odometry can unfeasible because the parameters are estimated regardless of the physical constraints of the robot. In this paper, a novel constrained Kalman filtering method is proposed that estimates the parameters un-der the physical constraints using a general constrained optimization technique. The state observability is improved by additional state variables and the accuracy is also improved through the use of a non-approximated Kalman filter design. Experimental results show that the proposed method effectively offsets the localization error while yielding feasible parameter estimation.

Survey on robotics and automation technologies for civil infrastructure

명현,Yang Wang,Shih-Chung Jessy Kang,XiaoQi Chen 국제구조공학회 2014 Smart Structures and Systems, An International Jou Vol.13 No.6

Over the past several decades, substantial amounts of sensors and sensing systems have beendeveloped for civil infrastructure systems. This special issue focuses on state-of-the-art robotics andautomation technologies, including construction automation, robotics, instrumentation, monitoring,inspection, control, and rehabilitation for civil infrastructure. The issue also covers construction informaticssupporting sensing, analysis and design activities needed to operate smart and sustainable civil infrastructure. Examples include robotic systems applied to civil infrastructure and equipped with various sensingtechnologies, such as optical sensors, laser sensors, wireless sensors, multi-sensor fusion, etc. This specialissue is published in an effort to disseminate current advances of various robotics and automationtechnologies for civil infrastructure and built environment.

하천의 생태적 복원을 위한 식생학적 진단 - 남한강을 중심으로 -

명현,권상준,김창환,Myung, Hyun,Kwon, Sang-Zoon,Kim, Chang-Hwan 한국조경학회 2002 韓國造景學會誌 Vol.30 No.5

This study was designed to present a river model with the aim of restoring the ecosystem and improving the landscape along the urban rivers on the basin of the Namhanl river, a core life channel for the National Capital regin. The revelation of botanical status, transition trend and correlation of plants might lead to providing the urban river restoration projects and ecological river formation projects with basic data for a model of ideal aquatic ecology and landscape. The outcomes of this study could be summed up as follows: 1. The plant communities of river flora found on the basin of the Namhan river could be categorized largely into 39 plant communities 2. Most diverse plants were distributed in the rivers lower reaches such as Unsim-ri where the protected zone of Paldang reservoir for city water borders the body of Jodae swamp where natural streams flow nearby. 3. One of the greatest threats to the biomass of the River Namhan is that the communities of such invasive alien plants as Panicum dichotomiflorum and Ambrosia artemisiifolia var. elatior dominate most parts of the area, a fact that has resulted in a reduced variety of plants and will, sooner or later, be likely to cause an ecological imbalance in the hitherto healthy Aquatic plant life. It is highly advisable to gradually diversify the species of trees and to return the plants bark to their original state since, besides the naturalized plants, plantations afforested with Erigeron canadensis and Erigeron annuus stocks in buckwheat field, Robinia Pseudo-accacia in riverside forest, Pinus rigida in terrestrial forest on the river basin and Larix leptolepis are anticipated to act as interceptors of normal migrations of the fluvial and terrestrial ecosystems. Finally, it seems also desirable to continue to explore the relationship between fluvial and terrestrial ecologies with the purpose of building up a model of natural streams in urban areas based on the surveyed factors for plant life, soil and landscape and, moreover, on the forecasting for overall influences derived from the rotation upon the ecosystem.

Incremental displacement estimation of structures using paired structured light

명현,Haemin Jeon,Jae-Uk Shin 국제구조공학회 2012 Smart Structures and Systems, An International Jou Vol.9 No.3

As civil structures are exposed to various external loads, it is essential to assess the structural condition, especially the structural displacement, in every moment. Therefore, a visually servoed paired structured light system was proposed in the previous study. The proposed system is composed of two screens facing with each other, each with a camera, a screen, and one or two lasers controlled by a 2-DOF manipulator. The 6-DOF displacement can be calculated from the positions of three projected laser beams and the rotation angles of the manipulators. In the estimation process, one of well-known iterative methods such as Newton-Raphson or extended Kalman filter (EKF) was used for each measurement. Although the proposed system with the aforementioned algorithms estimates the displacement with high accuracy, it takes relatively long computation time. Therefore, an incremental displacement estimation (IDE) algorithm which updates the previously estimated displacement based on the difference between the previous and the current observed data is newly proposed. To validate the performance of the proposed algorithm, simulations and experiments are performed. The results show that the proposed algorithm significantly reduces the computation time with the same level of accuracy compared to the EKF with multiple iterations.

화성시 복합복지타운 건립공사 조경설계

명현,서남규 전북대학교 부설 휴양및경관계획연구소 2008 휴양및경관연구 (J East Asian Landscape Studies) Vol.2 No.1

본 연구는 화성시 복합복지타운 건립공사에 대한 설계안으로서 인문환경 및 자연환경의 분석을 토대로 하여 진행하였으며 3가지 설계구상을 포함하고 있다. 첫째 문화+인간+공간이 소통하는 생명공간, 둘째 문화가 일상이 되는 공간, 셋째 사람이최우선인 공간을 조성하였다. 기본계획에서는 치유정원, 재활치료원, 놀이치료원을 도입하였고 교류 및 연대를 위한 공간,체험 및 운동공간을 조성하여 공간의 이용을 극대화 하였다. The purpose of this paper is to design a multi-social service town in Hwaseong City. The site is located in 130, Neung Dong, Hwaseong City and has an area of 13,233.70㎡. For this, site analysis was preformed using data obtained from social and natural materials in Hwaseong city in this region. The result of this study can be summarized as follows. The spatial concept of this project was developed by expressing, a human “Green plan” or “culture” to provide a nature-friendly area that emphasizes local culture. This one is Green plan combine to all parks, two; culture combine to all parks, three; human combine to all parks. The design consists of three themes: Healing Garden, Rehabilitation Garden, and Pleasure Garden. These themes are consecutively placed along the main area and diverse designs for special effects are used.

영상 및 지자계를 이용한 실내 측위 기술 동향

명현,이승목,오택준,김형진,정종대 한국통신학회 2015 정보와 통신 Vol.32 No.8

개인용 스마트 기기와 같은 첨단 기기의 사용이 보편화되고, 이에 따른 각종 서비스가 증가하고 있는 추세이다. 사용자 개인에 맞는 서비스를 제공하기 위해서는 사용자의 실내 측위 기술이 핵심적이다. 본 고에서는 여러 측위 기술 중에서도 로봇 공학분야에서 활발히 연구되고 있는 영상 센서와 지자계 센서를 활용한 실내 측위 기술에 대해서 소개하고자 한다. 이미 스마트폰에 탑재되어 있는 일반적인 모노 카메라와 지자계 측정 센서를 이용한 방식 외에, 최근 깊이 정보가 측정 가능한 카메라도 스마트폰용으로 개발되고 있으므로, 이러한 진보된 센서를 이용한 기술에 대해서도 소개하고자 한다. 이 기술들은 현재는 실내용 서비스 로봇에 적용 가능한 형태로 많이 개발되고 있지만, 향후에는 사용자의 실내 측위로도 많이 응용될 것이라 생각된다.

자장가의 지역적 분포에 따른 음악적 특징 연구

명현 한국민요학회 2005 한국민요학 Vol.16 No.-

다수의 모바일하버를 위한 네비게이션 시스템 설계

명현,신익수,김건엽,이태환,방유석,정종대,김동훈 제어로봇시스템학회 2009 제어로봇시스템학회 각 지부별 자료집 Vol.2009 No.12

This paper deals with the design of navigation system for autonomous docking of multiple mobile harbors (MHs) to container ship or land. To this end, the location and heading angle of MHs are obtained using GPS and IMU sensors, after which wave filtering techniques to minimize the disturbances in sensor information. A new hybrid path planning method that enables multiple MHs navigate safely without colliding with each other. In this initial stage of path planning, 3D optimal path planning algorithm in configuration-time space is performed. When the MHs navigate using those generated paths, the decentralized and delayed path planning method is performed in real-time by predicting the collision expected regions. This path planning method is new in that it hybrids centralized and decentralized path planning. To demonstrate the feasibility of this method, some simulations were performed using MSS (Marine Simulation System) in Simulink and Matlab.

국립국악원 국악아카이브의 현황과 과제

명현 국립무형유산원 2017 무형유산 Vol.- No.2

It is time to present public information and provide a foundation for the integration of cultureand art at the government level. In addition, demand for mobile use is rapidly increasing,and services that link information and knowledge are being provided as information andcommunication technologies progress. The Gugak Archive, which celebrates its 10th anniversary this year, formalizes the collection andorganization of internal and external records, digitalization and online service, securing a stablefoundation for its operation. Additionally, it is time to actively prepare and implement measuresthat reflect changes in policies and systems related to archives, social culture, and informationand communication technology environments. Therefore, The Gugak Archive is required to establish policies and practices which will provideeasy access to our users for valuable and professional content and information. In order toachieve this, a strategic plan and execution for producing and collecting records should beestablished, as well as a strategy for how to best utilize the holdings of the archive. The contentutilization results and the performance of the collection strategy should be established in areciprocal relationship to provide for optimum circulation. Each archive, including The Gugak Archive, should be able to provide standards and toolsto support the archival work of individuals and organizations. Each archive should have thesecured status as an “archival hub” which combines “knowledge, resources, and networks”which supports both building its own database and its shared use. 국가차원에서 공공정보를 개방하고 문화예술정보를 통합 제공하기 위한 기반이 마련되는 시기이다. 또한모바일 이용수요가 급격히 증가하고, 정보통신기술의 진보와 함께 기록물과 지식을 연계한 서비스가 제공되고 있다. 올해로 설립 10주년을 맞는 국악아카이브는 대내외 자료의 수집과 정리, 디지털화, 온라인 서비스 업무를정형화하고 운영의 안정적 기반을 확보하고 있다. 한편으로는 아카이브와 관련한 정책과 제도, 사회문화,정보통신기술 환경의 변화를 반영한 시책을 적극적으로 마련하고 추진해야 할 시점에 있기도 하다. 그래서이용자에게 쉽고 유익하며 깊이 있게 자료와 정보를 제공하기 위한 정책적 선택과 실천이 국악아카이브에요구된다. 따라서, 전략적으로 자료를 생산하고 수집하기 위한 기획과 실행구조를 마련해야 한다. 그리고 보유 콘텐츠를 어떻게 활용할 것인가에 대한 활용전략이 수립되어야 한다. 또한 콘텐츠 활용 결과는 수집 전략에 반영되고, 수집 전략의 성과는 활용에 반영되어 유기적으로 선순환되어야 한다. 국악아카이브를 비롯한 각각의 아카이브는 개인이나 단체의 아카이빙(archiving)을 지원하기 위한 표준과도구를 적극적으로 마련하고 제공할 수 있어야 한다. 그리고 자체콘텐츠와 DB를 충실히 구축하고, 이를공유하고자 하는 의지와 노력을 기울일 때 ‘지식·자원·네트워크’가 결합된 아카이브 허브(hub)로서 위상을확보할 수 있다.

비전 및 IMU 융합 기반 대형 구조물 6자유도 변위 측정 기법

명현,전해민,김영재 한국소음진동공학회 2014 소음 진동 Vol.24 No.4