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백인혁(Inhyuk Baek),신규식(Kyoosik Shin),이승찬(Seungchan Lee),이재찬(Jaechan Lee),한용훈(Yonghoon Han) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
Capstone design greatly improved engineering students’ design skill. However undergraduate capstone-design still has many aspects to be improved. One of the demerits are the way of organizing team members of the undergraduate capstone-design projects. Since most of all the members are from same department, the projects topics are about technology development. Therefore these kind of projects are some distance from real product development projects. The real product development should provide many methodologies with the team members. This paper explains what are the main factors to make these projects successful and its effects on education.
일반화된 보로노이 다이어그램을 이용한 논홀로노믹 모바일 로봇의 자율 주행
소명뢰(Minglei Shao),신동익(Dongik Shin),신규식(Kyoosik Shin) 한국생산제조학회 2015 한국생산제조학회지 Vol.24 No.1
This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.
김영운(Youngoon Kim),황순웅(Soonwoong Hwang),김현국(Hyeonguk Kim),신규식(Kyoosik Shin),한창수(Changsoo Han) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
Recently many researchers have been studying new methods to improve the energy efficiencies of existing products for solving energy problems. In the field of robotics, the efficiencies of industrial robots are to be increased since many industrial robots are being used in the manufacturing field. This study proposes a design methodology of industrial robot for increasing energy efficiency. This methodology are composed of two methods. One is deciding optimal link mass based on joint torque optimization and the other is designing robust link using topology optimization to overcome reaction forces when it perform the specified task.