Systematic Isotropy Analysis of Caster Wheeled Mobile Robot with Steering Link Offset Different from Wheel Radius

김성복 한국융합신호처리학회 2006 융합신호처리학회 논문지 (JISPS) Vol.15 No.1

This paper presents the systematic isotropy analysis of a fully actuated caster wheeled omnidirectional mobile robot (COMR) with the steering link offset different from the wheel radius, which can be considered as the generalization of the previous analysis. First, with the characteristic length introduced, the kinematic model of a COMR is obtained based on the orthogonal decomposition of the wheel velocities. Second, the necessary and sufficient conditions for the isotropy of a COMR are derived and examined to categorize three different groups, each of which can be dealt with in a similar way. Third, for each group, the isotropy conditions are further explored so as to identify four different sets of all possible isotropic configurations. Fourth, for each set, the expressions of the isotropic characteristic length required for the isotropy of a COMR are elaborated.

[해외통신_폴란드에서 만난 북한] 우리의 또 다른 이름

김성복 샘터사 2012 월간 샘터 Vol.513 No.-

중첩 초음파 센서 링의 복합 환경 장애물 탐지

김성복,김현빈 제어로봇시스템학회 2011 제어로봇시스템학회 각 지부별 자료집 Vol.2011 No.7

중첩 초음파 센서 링의 장애물 탐지 성능 평가 지표

김성복,김현빈 제어로봇시스템학회 2011 제어로봇시스템학회 각 지부별 자료집 Vol.2011 No.12

This paper presents three different types of performance evaluation indices of obstacle detection for an overlapped ultrasonic sensor ring. Due to beam overlap, the entire sensing zone of each ultrasonic sensor can be divided into three smaller sensing subzones, which leads to significant reduction of positional uncertainty in obstacle detection. First, the positional uncertainty in obstacle detection is expressed in terms of the area of a sensing subzone, and type 1 performance index is then defined as the area ratio of side and center sensing subzones. Second, based on the area of a sensing subzone, type 2 performance index is defined taking into account the size of the entire range of obstacle detection as well as the degree of the positional uncertainty in obstacle detection. Third, the positional uncertainty in obstacle detection is now expressed in terms of the length of the uncertainty arc spanning a sensing subzone, and type 3 performance index is then defined as the average value of the uncertainty arc lengths over the entire range of obstacle detection.

Capability Comparison among Three Different Designs of Optical Mouse based Mobile Robot Traveling Simulator

김성복,이찬혁,김석기 제어로봇시스템학회 2015 제어로봇시스템학회 각 지부별 자료집 Vol.2015 No.12

This paper presents three different designs of mobile traveling simulator using optical mice and their comparison in simulation capability. The mobile robot traveling simulator makes a traveling surface sample to rotate relative to stationary optical mice. Taking structural simplicity and user convenience into account, three different designs of mobile robot traveling simulator are proposed. With the proposed three designs, 1 to 3 DO traveling simulation of a mobile robot can be made. Simulation results are given to demonstrate that 2 DOF mobile robot traveling simulator is capable of achieving near complete traveling simulation of a mobile robot.

광 마우스 기반 주행 표면 특성 추출 장치의 실험 결과

김성복,김현빈,임근형,김형진 제어로봇시스템학회 2013 제어로봇시스템학회 각 지부별 자료집 Vol.2013 No.12

This paper presents the experimental results for two different types of traveling surface samples using the optical mouse based traveling surface characteristics extraction equipment of our own design. One key to put into practice the optical mouse based mobile robot velocity estimation technique is the investigation of the changing patterns of the optical mouse velocity measurements according to a given traveling surface. In this paper, the traveling surface characteristics extraction equipment is proposed, in which a traveling surface sample is rotating with respect to an array of stationary optical mice, instead of a mobile robot equipped with optical mice traveling over a given surface. First, the conceptual design of the proposed traveling surface characteristics extraction equipment is explained, along with its prototype built in our lab. Then, for both wood and marvel traveling surface samples, the statistical parameters of the optical mouse velocity measurements are extracted, using our extraction equipment prototype.

TRIZ 활성화를 위한 HIDEA Algorithm 도입

김성복,송용원,박완복,이광호,허재현 사단법인 한국융합기술연구학회 2023 아시아태평양융합연구교류논문지 Vol.9 No.9

겐리히 알츠슐러(Genrich Altshuller)는 복잡한 문제를 해결하기위하여 ARIZ 85C라는 TRIZ 알고리즘을 만들었다. ARIZ 알고리즘은 TRIZ문제해결을 위해 대표적으로 사용되고, 초기에 문제가 정립되지 않아 모호하고, 사용할 수 있는 자원도 매우 제한적일때, 문제의 초점을 정의하고 다양한 자원을 확인한 후 최소자원으로 시행착오를 줄여 문제를 해결할 수 있다는 장점이 있다. 이러한 TRIZ 알고리즘은 다양한 장점이 있지만 제조 현장의 엔지니어가 이해하기 어렵고, 적용하기까지 많은 경험과 시간이 소요된다는 단점이 있다. 이로 인해 제조 현장은 TRIZ의 활용이 저조하다. 본 논문은 제조 현장에서 TRIZ의 활용도를 높이기 위해서 엔지니어의 활용도가 높은 문제해결 알고리즘인 QC Story와 융합한 HIDEA 알고리즘을 개발했다. HIDEA 알고리즘은 기존 TRIZ의 정성적인 문장 위주의 표현을 정량적인 데이터와 그래프를 융합함으로써 과학적이고 통계적인 결과가 뒷받침되는 장점이 있다. 특히 QC Story를 기반으로 문제 해결을 전개함으로써 제조 현장의 엔지니어에게 익숙하게 접근할 수 있기 때문에 TRIZ의 활성화에 기여할 수 있다. HIDEA 알고리즘을 이용해서 문제해결을 진행한 과제는 전국품질분임조 경진대회에서 2회에 걸쳐서 대통령상을 수상함으로써 그 효과를 검증 받았다. Genrich Altshuller created a TRIZ algorithm called ARIZ 85C to solve complex problems. The ARIZ algorithm is typically used to solve TRIZ problems, defining the focus of the problem and checking various resources when the problem is not initially established, is ambiguous, and the available resources are very limited. The advantage is that the problem can then be solved using minimal resources and reducing trial and error. Although such TRIZ algorithms have various advantages, they have the disadvantage that they are difficult for engineers at manufacturing sites to understand and require a lot of experience and time to apply. As a result, the utilization of TRIZ at manufacturing sites is low. In this paper, in order to increase the utilization of TRIZ at manufacturing sites, we developed the HIDEA algorithm that is integrated with QC Story, a problem-solving algorithm that is often used by engineers. The HIDEA algorithm has the advantage of supporting scientific and statistical results by fusing existing TRIZ qualitative text-based expressions with quantitative data and graphs. In particular, by developing problem solving based on QC Story, it is possible to use an approach that is familiar to engineers at manufacturing sites, which can contribute to the revitalization of TRIZ. The effectiveness of the problems solved using the HIDEA algorithm was verified by winning the President's Award twice at the National Quality Appointment Group Management Conference.

Si₃N₄로 Pattern된 GaAs 기판위에 Ultrahigh Vacuum Chemical Vapor Deposition법에 의한 GaAs와 InGaAs의 선택 에피택시 성장

김성복,노정래,박성주,이일항 한국진공학회 1994 한국진공학회 학술발표회초록집 Vol.- No.-

Growth of high quality AlGaN template through dislocation control for UV-LD application

김성복,배성범,고영호,임영안,남은수 한국진공학회 2015 한국진공학회 학술발표회초록집 Vol.2015 No.2

이태리 오페라의 사적 고찰 : 17~18C 17~18세기

김성복 진주교육대학교 1979 論文集 Vol.19 No.1

Generally, Opera was generated as a residual product of Renaissance. Of course, before then there was such a mystery drama, a miracle play, passion in a church, but it was only a religious drama rather than opera. It was not expression of emotion which can express the human relation. At any rate, because Christ was the focus of a religious drama, it can't be regarded as the beginning of opera. We have to think that opera must have a form of Renaissance at all events. Musical activity stressed on Camerata was spreader gradually at Firenze, Italy. And it was extended to Venezia, Napoli, Roma, and was developed with its every local Characteristics. After Monteverdi, development of Orchestra and dramatic effect was developed greatly. At all extents, Italian opera of 17-l8c had primary importance of the element of Vocal music, and a little dramatic effect. But it brought about development Bel-Canto which is the moat brilliant in the art of Vocal music. As a historical view, the opera conglomerated with music and drama had the support of the general public at this period, and 17-l8c was the moat splendid period of opera. We can understand that 17-l8c was the most improtant period of the history of opera through many works, and this period decided the direction of opera of next generation.