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자율주행 이동로봇의 실시간 장애물 회피 및 안드로이드 인터페이스 구현
김준영,이원창 대한임베디드공학회 2014 대한임베디드공학회논문지 Vol.9 No.4
In this paper we present an real-time obstacle avoidance technique of autonomous mobile robot with steering system and implementation of user interface for mobile devices with Android platform. The direction of autonomous robot is determined by virtual force field concept, which is based on the distance information acquired from 5 ultrasonic sensors. It is converted to virtual repulsive force around the autonomous robot which is inversely proportional to the distance. The steering system with PD(proportional and derivative) controller moves the mobile robot to the determined target direction. We also use PSD(position sensitive detector) sensors to supplement ultrasonic sensors around dead angle area. The mobile robot communicates with Android mobile device and PC via Ethernet. The video information from CMOS camera mounted on the mobile robot is transmitted to Android mobile device and PC. And the user can control the mobile robot manually by transmitting commands on the user interface to it via Ethernet.
김준영,강성태 서울産業大學校 2005 논문집 Vol.54 No.3
Frozen pork cutlet is one of the most popular foods and it's consumption is increasing in Korea. Even though the consumption of frozen pork cutlet is gradually increased, only a few studies on storage quality and shelf life of commercial frozen pork cutlet were carried out. Frozen pork cutlets were stored up to six months at different storage temperatures (0, -5, -10 and -20°C). The shelf life of frozen pork cutlet during storage was predicted through the physicochemical and sensory analysis. Sensory evaluation was performed using hedonic scale method. Physicochemical analysis such as POV, TBA number, and VBN on the extracted oil from frozen pork cutlet was carried out. Among the physicochemical analysis VBN (volatile basic nitrogen) exhibited the highest correlation with sensory score. Qio value during storage were 2.27 kcal/mol. The estimated shelf life of frozen pork cutlet was 0.49 months at 0°C, 0.71 months at -5°C, 5.01 months at -10°C, 7.55 months at -15°C and 11.11 months at -20°C, respectively. The results of this study will be useful for predicting the shelf life of frozen food products.