http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
우수호,황인준,이순걸,원인식 사단법인 미래융합기술연구학회 2020 아시아태평양융합연구교류논문지 Vol.6 No.3
In this paper, we propose an obstacle identification system and a corresponding algorithm for object motion tracking. The object motion tracking device detects only ships rather than all objects so it can be applied to unmanned surface vehicles’ operation in marine environments. When an obstacle is detected, the object motion tracking device identifies and tracks it in real-time according to its movement. Objects are recognized using the Fast-RCNN algorithm, and their positions are measured through the transformation of an image coordinate system. A gimbal control method for a camera using only the image center and distance information of objects without using the camera's focus and zoom function was proposed. The control of the gimbal were made using serial communication based on the video system control architecture protocol, and object tracking was performed by placing the detected object toward the center of the image frame. The object tracking performance of the proposed object identification system has been verified using images in a limited environment.
Development of a Simple Efficient Controller to Improve Response of MR Fluid Brakes
황인준,우수호,이순걸,원인식 사단법인 미래융합기술연구학회 2020 아시아태평양융합연구교류논문지 Vol.6 No.3
In this paper, a simple efficient controller was developed to improve torque response characteristics of MR fluid brakes over time. Due to the nature of MR fluid brakes with different characteristics depending on the applied current, conventional voltage application methods are difficult to use when linear control of residual magnetic and brake torque is required. The proposed controller is intended to be used to propose a method for adjusting the signals of Enable_VH, MR_on, and Fast_off over time to increase the rate in the rise and fall of torque over generation torque control and time through voltage control applied to MR fluid brakes. Arduino Uno is used as the control board for the control and current sensors and torque sensors were used to check torque response characteristics. The control program used LabView to measure the current and torque applied to the MR fluid brakes. Experimental and comparative analyses were carried out using the controller proposed in this paper and the rated voltage was applied to determine the effect of the simple efficient controller on torque generation of MR fluid brake. Based on the results of the Rise Time and Fall Time of the MR fluid brakes, the efficiency of the proposed controller and comparative analysis of the response characteristics of the MR fluid brakes according to the input current could be verified.
로봇용 복합 유성기어 감속기 개발과 동력계를 이용한 성능평가
이재홍,홍준기,우수호,이순걸 한국정밀공학회 2024 한국정밀공학회지 Vol.41 No.3
Gearboxes used in the drivetrain of intelligent robots are key mechanical components that play a significant role indetermining the performance of modern robotic systems. Gearboxes employing the planetary gear mechanism, knownto achieve a wide range of reduction ratios while remaining relatively cost-effective, have recently been adopted inrobot drivetrains. In this paper, we utilize domestic technology to fabricate a gearbox using a compound planetarygear mechanism and conduct an evaluation of eight performance aspects of the developed gearbox through thefabrication of a dynamometer and a jig. The dynamometer comprised of the gearbox, input motor, input-output torquesensors, and a powder brake. By driving the input motor and applying braking force with the powder brake, wecompare input torque sensor values with output torque sensor values to derive results. A test jig is created,consisting of an input motor, gearbox, and encoder sensor, for the measurement of inverse operation characteristicsand backlash. By conducting a performance evaluation of the developed high-strength, high-reduction-ratio compactplanetary gearbox, we validate the potential of the testing system and extend the scope of domestic gearboxtechnology development.