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우힘찬,손형곤,이승훈,주문갑 대한임베디드공학회 2018 대한임베디드공학회논문지 Vol.13 No.1
In this paper, we describe an sound tracking mobile robot suitable for areas where GPS is not available. Sound sensors are attached to four sides of the robot in order to locate the person in a danger, and the robot is supposed to move to the yelling person. The traveling distance of the mobile robot is calculated by the encoder attached to the wheel of the mobile robot. The moving direction of the mobile robot is measured by a gyro sensor on the robot. When the person in danger pushes a button of the mobile robot, the mobile robot transmits the trajectory data to a designated server.
주문갑,우힘찬,손형곤,Joo, Moon-Gab,Woo, Him-Chan,Son, Hyeong-Gon 대한임베디드공학회 2017 대한임베디드공학회논문지 Vol.12 No.5
A reduced order observer is developed for depth control of a hybrid underwater glider which combines the good aspects of a conventional autonomous underwater vehicle and a underwater glider. State variables include the center of gravity of the robot and the weight of the buoyancy bag, which can not be directly measured. By using the mathematical model and available information such as directional velocities, accelerations, and attitudes, we developed a Luenberger's reduced order observer to estimate the center of gravity and the buoyancy weight. By simulations using Matlab/Simulink, the efficiency of the proposed observer is shown, where a LQR controller using full state variables is adopted as a depth controller.
손형곤,주문갑,우힘찬,강무성,설재훈 대한임베디드공학회 2017 대한임베디드공학회논문지 Vol.12 No.6
As the number of sensors in a ship has increased, studies have been actively conducted to efficiently manage a large amount of data. Sensors in a ship follow the NMEA (National Marine Electronics Association) data format. In particular, NMEA0183 standardized as IEC 61162-1 and NMEA2000 standardized as IEC 61162-3 are widely used. NMEA0183 is a protocol based on serial communication and NMEA2000 is a protocol based on CAN (Controller Area Network) communication. We implemented a gateway that receives data from NMEA0183 sensors and NMEA2000 sensors and then transmits them to the server on TCP/IP network. By using the NMEA2000 0183/2000 gateway to receive the sensor data and manage it through the ship's preventive maintenance system, the sensor data can be utilized efficiently and promptly. This management can reduce crew’s daily tasks and reduce the number of accidents.