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FPD 결함검사를 위 한 Vision Inspection System 설계에 관한 연구
박성재(Sung-Jea Park),김민수(Min-Su Kim)),김준식(Joon-Seek Kim),주효남(Hyo Nam Joo) 호서대학교 공업기술연구소 2005 공업기술연구 논문집 Vol.24 No.1
A system is designed and developed to acquire accurate images and to detect cell defects of Flat Panel Displays. Detailed analysis and experiments are performed to design and select the lighting, optical and camera sub-system as well as mechanical motion and position control sub-system. Sample images are acquired using the developed system and the processed result shows the good performance in detecting simple cell defects.
박성재(Soung-Jea Park),신승묵(Seung-Mok Shin),이채규(Chae-Gue Lee),김상봉(Sang-Bong Kim) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.4
In this paper, we concern for development of precise measuement system for civil structure by using<br/> one chip microprocessor based on communication system. The datalogger is developed by using<br/> 80C196KC microprocessor. It has RF communication modul and data acquisition function for several<br/> kinds of sensors such as load cell, tilt-meter, strain gauge, tension meter, themocouple and so on. The<br/> data is acquisited by datalogger is sent to a main server which is located at central monitoring office.<br/> The server has a function suppervising several data points located at civil structures, it analyzes the<br/> data and shows the data graphically. The effectiveness of the developed system is proven through<br/> experimental results by an application for the bridge of Nakdong river edge in Busan, Korea.
윤석민(SUK-MIN YOON),여태경(TAE-KYEONG YEU),박성재(SOUNG-JEA PARK),김진호(JIN-HO KIM),홍섭(SUP HONG),김상봉(SANG-BONG KIM) 대한조선학회 2011 대한조선학회 학술대회자료집 Vol.2011 No.6
In the earlier studies on multi-robot system, multi-robot is more advantageous than one robot in terms of efficiency, flexibility, robustness, cost, etc. So, this paper considers an application of multi-robot system to mining system for improvement of mining production. The mining path is composed of two section, straight and turning. The straight section needs to the formation keeping and the path tracking for mining operation. And the turning section needs the flexible turning. Thus, two sections need an individually control method to effectively collect the nodules by multi-miner. The turning section is concentrically considered in the domain of an efficient turning time and a minimum turning section. In this paper, the efficiency of new strategy is verified through numerical simulation.
Follow the Carrot과 Pure Pursuit 경로추종방법의 성능분석을 위한 시뮬레이션 연구
윤석민(SUK-MIN YOON),여태경(TAE-KYEONG YEU),박성재(SOUNG-JEA PARK),홍섭(SUP HONG),김상봉(SANG-BONG KIM) 한국해양환경·에너지학회 2012 한국해양환경·에너지학회 학술대회논문집 Vol.2012 No.5
This paper considers about the path tracking approach cf 4-wheel skid steering mobile robot. The "Follow the carrot" md the "Pure pursuit" belong to the geometric path tracking method. Two methods are classified by selection methods of a look paint and control inputs. The follow the carrot is a path tracking method to reduce the distance and heading errors between the look point and the current position of mobile robot In the pure pursuit method, the mobile robot follows the path using the radius cf a circle passing through both the look point and the current position. The lock distance parameter is used simulation of two path tracking method far an analysis of advantages and disadvantages. From the result cf simulation, the pure pursuit has better tracking ability than the follow the carrot because of control inputs without rapid change.
LOS 알고리듬과 미지 입력 관측기에 기초한 선도-추종 대형 제어
윤석민(Suk-Min Yoon),여태경(Tae-Kyeong Yeu),박성재(Seong-Jea Park),홍섭(Sup Hong),김상봉(Sang-Bong Kim) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.3
This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.
Follow the Carrot과 Pure Pursuit 경로추종 방법의 성능분석을 위한 시뮬레이션 연구
윤석민(SUK-MIN YOON),여태경(TAE-KYEONG YEU),박성재(SOUNG-JEA PARK),홍섭(SUP HONG),김상봉(SANG-BONG KIM) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
This paper considers about the path tracking approach of 4-wheel skid steering mobile robot. The 'Follow the carrot' and the 'Pure pursuit' belong to the geometric path tracking method. Two methods are classified by selection methods of a look point and control inputs. The follow the carrot is a path tracking method to reduce the distance and heading errors between the look point and the current position of mobile robot. In the pure pursuit method, the mobile robot follows the path using the radius of a circle passing through both the look point and the current position. The look distance parameter is used simulation of two path tracking method for an analysis of advantages and disadvantages. From the result of simulation, the pure pursuit has better tracking ability than the follow the carrot because of control inputs without rapid change.
근해역 시험집광기용 통합운용 프로그램 및 시뮬레이터 개발
이도경(Do-Kyoung Lee),윤석민(Suk-Min Yoon),박성재(Soung-Jea Park),여태경(Tae-Kyeong Yeu),홍섭(Sup Hong),김학경(Hak-Kyeong Kim),김상봉(Sang-Bong Kim) 한국해양공학회 2009 韓國海洋工學會誌 Vol.23 No.4
This paper presents development results of integrated operating program and its simulator for an inshore test miner. The inshore test miner drives on the seabed and collects manganese nodules. For operating the test miner, integrated operating program (IOP) is needed for remote control and monitor of the miner in real-time. However, it is hard to develop the practical IOP for the test miner system. because the system is big, expensive, and unique. So a simulator was developed as a test substitute in order to save time and to reduce cost. Using test results of the simulator, the IOP of the test miner was developed. The developed IOP consists of remote program, host program, monitoring program and database program The operating program was developed using PXI and Labview of MI. The experimental results are presented to show the applicability of the developed program.