서지주요정보
움직이는 여러 물체의 평면 자세 측정을 위한 초음파 센서 시스템의 설계 및 제작 : 로봇 축구에의 적용 = Two dimensional pose measuring system for several moving objects using ultrasonic sensors : application to robot soccer
서명 / 저자 움직이는 여러 물체의 평면 자세 측정을 위한 초음파 센서 시스템의 설계 및 제작 : 로봇 축구에의 적용 = Two dimensional pose measuring system for several moving objects using ultrasonic sensors : application to robot soccer / 홍석관.
저자명 홍석관 ; Hong, Suk-Kwan
발행사항 [대전 : 한국과학기술원, 2001].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8011708

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 01063

휴대폰 전송

도서상태

이용가능

대출가능

반납예정일

초록정보

Vision system is generally used in robot soccer to measure the robot position and orientation. In this paper, as the replaceable method we propose the 2D pose measuring system using ultrasonic sensors. In the proposed system, there are two ultrasonic transmitters and photo diodes on the robot. Ultrasonic receivers and IR LEDs are located at the robot soccer stadium. The position of transmitter is calculated by measuring the distance between transmitter and receivers. From positions of two transmitters on the robot, center position and rotation angle of the robot are calculated. Since ultrasonic sensor has the limitation of measurable range, for expanding measurable range multiple sensors are needed. By attaching the reflector in front of the transmitter and spreading the ultrasonic wave in the omni-direction, in spite of using only one transmitter it is possible th detect the ultrasonic wave at any position. It is important to make the wireless sychronizatioin of tramsmitting and receiving parts and recognize the identification of each robot in there being multiple robots. For this purpose, the pulse trains generated from the signal generator are emitted to all the robots through the IR LEDs. After all the robots receiver these pulses, each robot selects the pulses corresponding to the given order and respond to only these. Ultrasonic waves are emitted from robots sequentially, and we can calculated positions of each robot seqentially.

서지기타정보

서지기타정보
청구기호 {MME 01063
형태사항 vii, 54 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Suk-Kwan Hong
지도교수의 한글표기 : 곽윤근
지도교수의 영문표기 : Yoon-Keun Kwak
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학전공,
서지주기 참고문헌 : p. 53-54
주제 초음파 센서 시스템
무선 동기화
반사판
순차적인 자세 측정
ultrasonic sensor system
wireless synchronization
reflector
sequential pose measurement
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