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최형식,신희영,오지윤,이상섭,Choi, Hyeung-Sik,Shin, Hee-Young,Oh, Ji-Youn,Lee, Sang-Seop 한국전기전자재료학회 2012 전기전자재료학회논문지 Vol.25 No.10
In this paper, a temperature control for LED (light emitting diode) lamp using a cooling fan is studied. An efficient temperature control scheme for the LED lamp using the fan wind at the lowest sound noise is studied. For the study, after measurement of the minimum sound noise of the fan and related temperature of the LED lamp through tests, experiments on temperature control of the LED lamp using the fan with various size of heat sinks was performed. To reduce the fan sound noise, a method of reducing the operation time with optimal size of the heat sink was studied. Also, a control of LED lamps using RF communication was studied.
무고정 조립작업을 위한 협조로봇 매니퓰레이터의 제어에 관한 연구
최형식,Choi, Hyeung-Sik 대한기계학회 1997 大韓機械學會論文集A Vol.21 No.8
This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.
최형식 ( Hyeung Sik Choi ),김환성 ( Hwan Sung Kim ),신희영 ( Hee Young Shin ),정성훈 ( Sung Hun Jung ) 한국항행학회 2013 韓國航行學會論文誌 Vol.17 No.3
모션 및 무인 차량의 깊이 제어를 위해 스테레오 비전 분석을 하였다. 스테레오 비전에서 3차원 좌표의 깊이 정보는 스테레오 이미지 사이의 포인트를 식별한 후 삼각 측량을 통해 얻을 수 있다. 그러나 항상 몇몇 이유 때문에 삼각 측량의 오류가 발생한다. 비전 삼각 측량의 이러한 오류는 카메라의 위치와 방향에 주의하여 배열함으로써 완화 될 수 있다. 본 논문에서는 무인 차량을 위해 카메라의 최적의 위치와 방향을 결정하는 방법을 제시하였다. A stereo vision analysis was performed for motion and depth control of unmanned vehicles. In stereo vision, the depth information in three-dimensional coordinates can be obtained by triangulation after identifying points between the stereo image. However, there are always triangulation errors due to several reasons. Such errors in the vision triangulation can be alleviated by careful arrangement of the camera position and orientation. In this paper, an approach to the determination of the optimal position and orientation of camera is presented for unmanned vehicles.