http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
천동훈(Dong-Hun Cheon),이재욱(Jae-Wook Lee),우성현(Seong-Hyeon Woo),최지욱(Ji-Wook Choi),강호선(Ho-Sun Kang),이장명(Jang-Myung Lee) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.3
In this paper, we propose an adaptive four-leg landing system for a quadcopter to enable stable landing on inclined surfaces or rough terrain while maintaining its attitude. A rotorcraft has a disadvantage in that it must have a flat ground for landing because the existing landing gear system is fixed and cannot be changed according to ground conditions. The proposed adaptive landing system makes it possible for a quadcopter to operate in various environments with minimal sensors. For this purpose, a four-leg landing system with two degrees of freedom having a two-link structure was manufactured. Through kinematic analysis of the landing leg, the coordinates of the joint and end-effector were identified, and an equation for horizontal control was established. When landing on the slope, the ground surface was detected using force sensors, attached at the end of each leg. Adaptive landing control was performed according to the roll and pitch values of the inertial measurement unit sensor mounted on the quadcopter. The proposed system was pre-validated in the simulation environment of Matlab Simulink. The superiority of the proposed system was verified experimentally in various environments. In an indoor environment, the effectiveness of the system was verified in a situation where it landed at a constant speed using a testbed. Finally, the system stability was verified through flying and landing of the quadcopter in an outdoor environment.
3-leg 랜딩 시스템 기반 쿼드콥터의 험지 착륙 기법
박진우,최지욱,천동훈,이승준 한국로봇학회 2022 로봇학회 논문지 Vol.17 No.4
In this paper, we propose an intelligent three-legged landing system that can maintain stability and level even on rough terrain than conventional four-legged landing systems. Conventional landing gear has the limitation that it requires flat terrain for landing. The 3-leg landing system proposed in this paper extends the usable range of the legs and reduces the weight, allowing the quadcopter to operate in various environments. To do this, kinematics determine the joint angles and coordinates of the legs of the two-link structure. Based on the angle value of the quadcopter detected via the IMU sensor, the leg control method that corrects the posture is determined. A force sensor attached to the end of the leg is used to detect contact with the ground. At the moment of contact with the ground, landing control starts according to the value of the IMU sensor. The proposed system verifies its reliability in various environments through an indoor landing test stand. Finally, in an outdoor environment, the quadcopter lands on a 20 degree incline and 20 cm rough terrain after flight. This demonstrates the stability and effectiveness of the 3-leg landing system even on rough terrain compared to the 4-leg landing system.
슈팅 게임의 현실감 개선을 위한 립모션 기반 인터페이스 구현
신인호(Inho Shin),천동훈(Donghun Cheon),박한훈(Hanhoon Park) 한국HCI학회 2016 한국HCI학회 논문지 Vol.11 No.1
본 논문은 립모션을 사용하여 사용자의 손동작을 인식함으로써 보다 현실감 있는 슈팅 게임 조작 방식을 제공한다. 슈팅 게임에서 필수적인 발사, 위치 이동, 시점 변화, 줌 인/아웃 등의 기능을 구현했으며, 사용자 평가를 통해 게임 인터페이스를 친숙하고 직관적인 손동작으로 대체함으로써, 기존 마우스/키보드 대비 조작의 용이성, 흥미, 확장성 등의 측면에서 우수함을 확인하였다. 구체적으로, 마우스/키보드를 이용한 인터페이스의 사용자 만족도(1~5)는 평균 3.02인 반면, 손동작을 이용한 인터페이스는 3.57이었다. This paper aims at providing a shooter game interface which enhances the game’s realism by recognizing user’s hand gestures using the Leap Motion. In this paper, we implemented the functions such as shooting, moving, viewpoint change, and zoom in/out, which are necessary in shooter games, and confirmed through user test that the game interface using familiar and intuitive hand gestures is superior to the conventional mouse/keyboard in terms of ease-to-manipulation, interest, extendability, and so on. Specifically, the user satisfaction index(1~5) was 3.02 on average when using the mouse/keyboard interface and 3.57 on average when using the proposed hand gesture interface.
이상민(Sang-Min Lee),천동훈(Dong Hoon Cheon),노대일(Dae-Il Noh),박진우(Jin-Woo Park),김윤지(Yoon-Ji Kim),김영기(Youngki Kim),황원주(Wonjoo Hwang),강동묵(Dongmug Kang) 한국멀티미디어학회 2024 멀티미디어학회논문지 Vol.27 No.1
The mortality rate due to chronic diseases remains high, and it is crucial to have continuous management of such diseases. While several chronic disease management projects have been undertaken, there are limited to a one-way disease management model. To address this problem, this paper proposes an online-to-offline (020) healthcare service process that can enable continuous and bi-directional management of chronic diseases. Each step of the process in which medical institutions and patients themselves can manage chronic diseases bi-directionally and continuously is outlined by dividing them into online and offline areas. Furthermore, the paper describes the business logic required to implement the 020 service, which is divided into a patient area, a medical team area, and an infrastructure area. Finally, the feasibility of the proposed service is demonstrated by presenting a risk analysis algorithm for each chronic disease for personalized health management content recommendation in the proposed business logic, and a goal achievement classification algorithm.