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온도변화에 따른 냉장고 발포시스템용 에어믹싱가스 농도검출기술에 관한 연구
구영목(Yeong-Mok Koo),양준석(Jun-Suk Yang),조상영(Sang-Young Jo),김민성(Min-Seong Kim),노춘수(Chun-Su Noh) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.2
This study proposes the temperature compensation algorithm using thermopile detector for non-dispersive infrared Nitrogen gas sensor. From the output voltage of thermistor that is attached onto the infrared detector, the ambient temperature was extracted. The effects of temperatures on the properties of sensor module characteristics of narrow bandpass filter, optical cavity and infrared lamp, and air mixing gas have been introduced in order to implement the temperature compensation algorithm.
900L 냉장고 진공발포시스템 유압노즐의 최적 압력제어에 관한 연구
조상영(Sang-Young Jo),김민성(Min-Seong Kim),구영목(Yeong-Mok Koo),양준석(Jun-Suk Yang),신행봉(Haeng-Bong Shin),한성현(Sung-Hyun Han) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.2
This study proposes a new approach to control the nozzle pressure of homogenizer in refrigerator foam system in the 900L class. Generally, dynamic characteristics of the hydraulic nozzle system is highly nonlinear due to uncertain parameters, and it is very difficult to control of hydraulic dynamics. Firstly, it has been performed to derive a real-time control algorithm based on the mathematical model of hydraulic cylinder, and to estimate the values of the unknown parameter in the hydraulic system. Secondly, the feedback controller was designed to implement the optimal pressure control of the hydraulic nozzle system. Finally the control performance was illustrated by simulation.
고온 환경 단조 공정자동화를 위한 6축 수직다관절 로봇의 기구학 및 동특성 해석에 관한 연구
조상영(Sang-Young Jo),김민성(Min-Seong Kim),구영목(Young-Mok Koo),원종범(Jong-Beom Won),강정석(Jeong-Seok Kang),한성현(Sung-Hyun Han) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.1
In general, articulated robot control technology is limited to the design of robot arm control systems considering each joint of the robot joint as a simple servomechanism. This method describes the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. The changes of the parameters in the controlled system are significant enough to render conventional feedback control strategies ineffective. This basic control system enables a manipulator to perform simple positioning tasks such as in the pock and place operation. However, joint controllers are severely limited in precise tracking of fast trajectories and sustaining desirable dynamic performance for variations of payload and parameter uncertainties. In many servo control applications the linear control scheme proposes unsatisfactory, therefore, a need for nonlinear techniques that increasing. for Forging process automation.
음성명령기반 26관절 보행로봇 실시간 작업동작제어에 관한 연구
조상영(Sang Young Jo),김민성(Min Sung Kim),양준석(Jun Suk Yang),구영목(Young Mok Koo),정양근(Yang Geun Jung),한성현(Sung Hyun Han) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.4
The Voice recognition is one of convenient methods to communicate between human and robots. This study proposes a speech recognition method using speech recognizers based on Hidden Markov Model (HMM) with a combination of techniques to enhance a biped robot control. In the past, Artificial Neural Networks (ANN) and Dynamic Time Wrapping (DTW) were used, however, currently they are less commonly applied to speech recognition systems. This Research confirms that the HMM, an accepted high-performance technique, can be successfully employed to model speech signals. High recognition accuracy can be obtained by using HMMs. Apart from speech modeling techniques, multiple feature extraction methods have been studied to find speech stresses caused by emotions and the environment to improve speech recognition rates. The procedure consisted of 2 parts: one is recognizing robot commands using multiple HMM recognizers, and the other is sending recognized commands to control a robot. In this paper, a practical voice recognition system which can recognize a lot of task commands is proposed. The proposed system consists of a general purpose microprocessor and a useful voice recognition processor which can recognize a limited number of voice patterns. By simulation and experiment, it was illustrated the reliability of voice recognition rates for application of the manufacturing process.
Jun-Seok Yang(양준석),Young-Mok Koo(구영목),Sang-Young Jo(조상영),Jong-Bum Won(원종범),Jong-Dae Won(원종대),Sung-Hyun Han(한성현) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4
Recently Manipulation capability is important for a robot. Interaction between a robot hand and objects can be properly controlled only is suitable sensors are available. Recently the tendency is to create robot hands more compact and high integrated sensors system, in order to increase the grasping capability and in order to reduce cabling through the finger, the palm and the arm. As a matter of fact, miniaturization and cabling harness represents a significant limitation to the design of small sized embedded sensor. Ongoing work is focusing on a flexible manipulation system, which consists of a dual flexible multi-fingered hand-arm system, and a dual active vision system.
이우송(Woo-Song Lee),구영목(Young-Mok Koo),심현석(Hyun-Seok Shim),이상훈(Sang-Hoon Lee),김동엽(Dong-Yeop Kim) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.2
The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.
제조공정자동화를 위한 다관절 아암의 정밀위치제어에 관한 연구
박인만(In-Man Park),구영목(Young-Mok Koo),조상영(Sang-Young Jo),양준석(Jun-Seok Yang) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.3
This paper presents a new approach to control the position of robot arm in workspace a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme was applied. Since parameters of the robot arm such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters was considered as a external disturbance force. To identify the known parameters, an improved robust control algorithm is directly derived from the Lyapunov’s Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using SCARA arm with four joints.