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수중 구조물 검사로봇의 기구학적 관계를 이용한 확장 칼만 필터 기반의 위치추정
허영진(Young-Jin Heo),이기현(Gi-Hyeon Lee),김진현(Jinhyun Kim) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.4
In this paper, we research the localization problem of the crawler-type inspection robot for underwater structure which travels an outer wall of underwater structure. Since various factors of the underwater environment affect an encoder odometer, it is hard to localize robot itself using only on-board sensors. So in this research we used a depth sensor and an IMU to compensate odometer which has extreme error in the underwater environment through using Extended Kalman Filter(EKF) which is normally used in mobile robotics. To acquire valid measurements, we implemented precision sensor modeling after assuming specific situation that robot travels underwater structure. The depth sensor acquires a vertical position of robot and compensates one of the robot pose, and IMU is used to compensate a bearing. But horizontal position of robot can’t be compensated by using only on-board sensors. So we proposed a localization algorithm which makes horizontal direction error bounded by using kinematics relationship. Also we implemented computer simulations and experiments in underwater environment to verify the algorithm performance.
이동로봇을 위한 Sonar Salient 형상과 선 형상을 이용한 EKF 기반의 SLAM
허영진(Young-Jin Heo),임종환(Jong-Hwan Lim),이세진(Se-Jin Lee) Korean Society for Precision Engineering 2011 한국정밀공학회지 Vol.28 No.10
Not all line or point features capable of being extracted by sonar sensors from cluttered home environments are useful for simultaneous localization and mapping (SLAM) due to their ambiguity because it is difficult to determine the correspondence of line or point features with previously registered feature. Confused line and point features in cluttered environments leads to poor SLAM performance. We introduce a sonar feature structure suitable for a cluttered environment and the extended Kalman filter (EKF)-based SLAM scheme. The reliable line feature is expressed by its end points and engaged togather in EKF SLAM to overcome the geometric limits and maintain the map consistency. Experimental results demonstrate the validity and robustness of the proposed method.
김진현(Jinhyun Kim),허영진(Young-Jin Heo) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
Motion controller as a sub-controller to driving robot system requires the pertinent designs of the controller model and the parameters. In particular, Motion controller for the motor which is composed of a wheel of service robot is needed to precise compensation to the weight of the mechanism considering load, and it also needs speed controller that is robust to disturbance and modeling error. This paper describes a control algorithm using Disturbance OBserver(DOB) to developing nominal robust controller model for velocity tracking of wheel drive motor and compares with existing robust controller. In addition, experimental verification is performed through the actual motion control with PD controller.
수치료(水治療) 중 온천요법의 한의학적 문헌고찰 및 효능에 대한 연구
김동건,허성규,김유진,허영진,공인표,한석훈,조영호,공경환,정수현,차윤엽,Kim, Dong-Gun,Heo, Seong-Kyu,Kim, Eu-Gene,Heo, Young-Jin,Kong, In-Pyo,Han, Seok-Hun,Cho, Young-Ho,Kong, Kyung-Hwan,Jeong, Su-Hyeon,Cha, Yoon-Yeop 대한한방안이비인후피부과학회 2007 한방안이비인후피부과학회지 Vol.20 No.2
Objectives : The purpose of this study is to consider the definition, history, classification and clinical effect of balneotherapy. Methods : We researched oriental documents and recent sources of balneotherapy. Results and Conclusions : 1. Balneotherapy is medical cure method which uses physical chemistry effects of water. 2. Records of balneotherapy are seen in oriental documents such as Hwangjenaegyeong(黃帝內經), Sinnongbonchogyeong(神農本草經), Jaebyoungwonhuron(諸病源候論), Youmoonsachin(儒門事親), Bonchogangmok(本草綱目) and Donguibogam(東醫寶鑑) etc. 3. Spa can classify eleven types according to ingredient. The types were as following. Simple thermal spirng, Common salt spring, Sodium bicarbonated spring, Sulfate spring, Radioactive spring, Acid spring, Sulfur spring, Carbon dioxide spring, Iron spring, Alum spring & Sulfate-iron spring, Bicarbonatealkaline spring. 4. Physical, chemical and environmental effect of spa therapy have effectiveness on the chronic and we akness disease more than acute disease. And balneotherapy have more effectiveness on digestive disease, pulmonary disease, metabolic disease, circulatory disease, muscle skeletal disease and dermatologic disease than any other diseases.