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김한솔(Han-Sol Kim),이경준(Kyung-Jun Lee),정동연(Dong-Yean Jung),이연형(Yeon-Hyeong Lee),김갑순(Gab-Soon Kim) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.12
This paper describes the design of a cellphone curved glass measuring device using by camera. The measuring device was composed of two camera, two backlight system, a body and so on, and the program was made for a camera calibration and noise removal, and also the program was made for height measurement of a cellphone curved glass using by subpixel algorism. And then a new technique for measuring the height of the cell phone curved glass was proposed. The characteristics test of height measurement of gage blocks and cell phone curved glasses was carried out, the error of the height measurement of gage block is less than ±0.005 and the error of the height measurement of the cell phone curved glasses is less than ±0.005. Thus it thought that the designed cellphone curved glass measuring device and the new technique for measuring the height was used to measure the height of the cellphone curved glass.
김한솔(Han-Sol Kim),김갑순(Gab-Soon Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.5
This paper describes the design of an elbow rehabilitation robot based on force measurement that enables a severe stroke patient confined to their bed to receive elbow rehabilitation exercises. The developed elbow rehabilitation robot was providewitha two-axis force/torque sensor which can detect force Fz and torque Tz, thereby allowing it to measure therotational force (Tz) exerted on the elbow and the signal force Fz which can be used as a safety device. The robot was designed and manufactured for severe stroke patients confined to bed, and the robot program was manufactured to perform flexibility elbow rehabilitation exercises. Asa result of the characteristics test of the developed rehabilitation robot, the device was safely operated while the elbow rehabilitation exercises were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.
계단모양 소속 함수 근사를 이용한 T-S 퍼지 시스템의 관측기 기반 제어기 설계
김한솔(Han Sol Kim),주영훈(Young Hoon Joo),박진배(Jin Bae Park) 한국지능시스템학회 2011 한국지능시스템학회 학술발표 논문집 Vol.21 No.1
본 논문에서는 계단모양으로 근사된 소속 함수를 이용한 Takagi-Sugeno (T-S) 퍼지 시스템의 관측기 기반 제어기 설계를 다룬다. 소속 함수를 고려한 관측기 기반 제어기 설계에서는, 일반적으로 소속 함수가 연속함수인 점으로 인해 이를 고려한 선형 행렬 부등식의 개수가 무한대가 된다. 본 논문에서는 계단모양으로 소속 함수를 근사해서 관측기 기반 제어기를 설계함으로써 앞선 문제를 해결하는 방안을 제시한다. 관측기 기반 제어기 설계에 있어 제안된 기법의 적합성을 보여주기 위하여 적절한 예시를 들어 타당성을 입증한다.