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무인수송체 시스템용 TOF 방식 이차원 라이다 센서 개발
김민규,박용운,원문철,Kim, MinGyu,Park, YongWoon,Won, Mooncheol 한국군사과학기술학회 2016 한국군사과학기술학회지 Vol.19 No.4
A TOF type LADAR is utilized for unmanned systems(UGV, UAV, USV, etc.), precision digital elevation maps, and electronic fences. Electronical and optical signal processing techniques are melted in LADAR sensor systems. In this study important factors are examined for high reliability sensor development. By considering those factors, hardwares and softwares of a test LADAR is developed and tested, We report the practical design tips, test results, and future works for better LADAR system development.
정지 상태 추정 알고리즘과 간접 칼만 필터를 이용한 AHRS 개발
홍효성(Hyosung Hong),원문철(Mooncheol Won) 대한전기학회 2019 전기학회논문지 Vol.68 No.6
The AHRS(Attitude and Heading Reference System) estimates the attitude (roll, pitch, and yaw angles) by using sensor fusion technique from an IMU(Inertial Measurement Unit) which comprises 3-axis acceleration and angular velocity information. Compared to maritime vessels or aircraft, the ground vehicle’s attitude changes rapidly, which requires an exquisite attitude estimation algorithm. This paper suggests a sensor fusion AHRS algorithm which utilizes still-state estimation algorithm along with indirect Kalman filter for attitude estimation. Also, we applied this algorithm on AHRS hardware to evaluate its performance. We implemented three kinds of experiments to verify the suggested algorithm: lateral acceleration rejection test, 3-axis robot simulator test, and vehicle field test.
외란토크 추정 및 보상을 이용한 관성안정화 플랫폼의 제어
최경준(Kyungjun Choi),원문철(Mooncheol Won) 대한기계학회 2016 大韓機械學會論文集A Vol.40 No.1
본 논문에서는 기존의 관성안정화 플랫폼에서 보편적으로 사용됐던 PID 제어에 외란관측기를 적용하는 알고리즘 제안한다. 외란관측기 알고리즘을 적용하기 위하여 직접구동 모터로 구동되는 안정화 플랫폼 축의 관성모멘트와 축 마찰 특성을 실험적으로 구하고, 시뮬레이션과 실험결과를 비교하여 정확도를 검증하였다. 또한 차수와 상대차수가 다른 여러 가지 Q-filter 적용실험을 통하여 필터 특성에 따른 시스템의 안정성을 확인하였다. 본 논문에서 제안한 알고리즘은 6 자유도 시뮬레이터를 이용하여 차량모션 인가실험을 통해 이중 PID 제어 루프의 결과와 비교/검증하였다. In this study, we propose a control algorithm for Inertially Stabilized Platforms (ISP), which combines Disturbance Observer (DOB) with conventional proportional integral derivative (PID) control algorithm. A single axis ISP system was constructed using a direct drive motor. The joint friction was modeled as a nonlinear function of joint speed while the accuracy of the model was verified through experiments and simulation. In addition, various Q-filters, which have different orders and relative degrees of freedom (DOF), were implemented. The stability and performance of the ISP were compared through experimental study. The performance of the proposed PID-plus-DOB algorithm was compared with the experimental results of the conventional double loop PID control under artificial vehicle motion provided motion simulator with six DOF.
키넥트센서와 확장칼만필터를 이용한 이동로봇의 사람추적 및 사람과의 동반주행
박경재(Kyoung Jae Park),원문철(Mooncheol Won) 대한기계학회 2014 大韓機械學會論文集A Vol.38 No.4
본 논문에서는 키넥트센서(Kinect sensor)와 확장칼만필터(Extended Kalman Filter : EKF)를 이용하여 사람과 로봇간의 상대위치 및 각도와 상대속도를 실시간으로 추정하는 알고리즘을 제안한다. 또한, 다양한 이동모드에 따른 모바일로봇의 사람과의 근접동반이동 제어를 수행한다. HOG 및 SVM을 이용한 사람 두부 및 어깨 검출 알고리즘을 통해 사람을 검출하고, 키넥트센서의 정보를 이용해 EKF 알고 리즘을 거쳐 사람과 로봇간의 상대위치 및 속도를 추정한다. EKF 알고리즘의 결과를 이용해 실내 환경에서 사람과 같이 근접동반주행을 하기 위한 다양한 모드의 제어 실험을 수행한다. 또한, 모션캡처장비(VICON)를 이용해 알고리즘의 정확도를 검증하였다. In this paper, we propose a real-time algorithm for estimating the relative position and velocity of a person with respect to a robot using a Kinect sensor and an extended Kalman filter (EKF). Additionally, we propose an algorithm for controlling the robot in the proximity of a person in a variety of modes. The algorithm detects the head and shoulder regions of the person using a histogram of oriented gradients (HOG) and a support vector machine (SVM). The EKF algorithm estimates the relative positions and velocities of the person with respect to the robot using data acquired by a Kinect sensor. We tested the various modes of proximity movement for a human in indoor situations. The accuracy of the algorithm was verified using a motion capture system.
이종홍(Jong-Hong Lee),원문철(Mooncheol Won),서희원(Hee Won Seo),송진원(Jin-Won Song),한창수(Chang-Soo Han) Korean Society for Precision Engineering 2007 한국정밀공학회지 Vol.24 No.3
We report the suspension of individual multi-walled carbon nanotubes (MWNTs) from the bottom substrate using deep trench electrodes that were fabricated using optical lithography. During drying of the solution in dielectrophoretic assembly, the capillary force pulls the MWNT toward the bottom substrate, and it then remains as a deformed structure adhering to the bottom substrate after the solution has dried out. Small-diameter MWNTs cannot be suspended using thin electrodes with large gaps, but large-diameter MWNTs can be suspended using thicker electrodes. We present the statistical experimental results for successful suspension, as well as the feasible conditions for a MWNT suspension based on a theoretical approach.