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유기성(Ki-Sung You),김무림(Maolin Jin) 제어로봇시스템학회 2010 제어로봇시스템학회 각 지부별 자료집 Vol.2010 No.12
This paper represents a study on the development of the conceptual design for the bicycle transmission. At first the problem of the transmission of commercial bicycles was generally known. The problem was defined as "the variable sprocket pitch diameter with respect to the tension change of chain". The proposed conceptual solutons for bicycle transmission were designed by hydrostatic technology and verified by computer simulation using AMESIM in order to resolve this problem. The transmission control simulations were carried out for evaluating control performance and robustness of the proposed approach. This simulation results showed that our continuously variable hydrostatic transmission could dramatically improve efficiency of regenerative braking and driving.
유기성(Ki-Sung You),최진태(Chin-tae Choi) 제어로봇시스템학회 2010 제어로봇시스템학회 각 지부별 자료집 Vol.2010 No.12
A service robot can identify its own position relative to landmarks, the locations of which are known in advance. The main contribution of this research is that it gives various ways of making the self-localizing error smaller by referring to special landmarks which are developed as high gain reflection material and coded array associations. In this paper, the authors propose a set of indices to evaluate the accuracy of self-localizing methods using the selective reflection landmark and infrared projector, and the indices are derived from the sensitivity enhancement using 3D distortion calibration of camera. And then, the accurarcy of self-localizing a mobile robot with landmarks based on the indices is evaluated, and a rational way to minimize to reduce the computational cost of selecting the best self-localizing method. The simulation results show a high accuracy and a good performance.
유기성(Ki-Sung You),최진태(Chin-tae Choi) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.2
A service robot can identify its own position relative to landmarks, the locations of which are known in advance. The main contribution of this research is that it gives various ways of making the self-localizing error smaller by referring to special landmarks which are developed as high gain reflection material and coded array associations. In this paper, the authors propose a set of indices to evaluate the accuracy of self-localizing methods using the selective reflection landmark and infrared projector, and the indices are derived from the sensitivity enhancement using 3D distortion calibration of camera. And then, the accurarcy of self-localizing a mobile robot with landmarks based on the indices is evaluated, and a rational way to minimize to reduce the computational cost of selecting the best self-localizing method. The simulation results show a high accuracy and a good performance.
김무림,유기성,유황열,최진태,Jin, Mao-Lin,You, Ki-Sung,Ryu, Hwang-Ryol,Choi, Chin-Tae 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.7
This paper presents the development of roll replacement robot system for wire-rod press rolls. The roll replacement robot system consist of a palletized railway truck, a 6-DOF industrial robot manipulator, a roll changing tool and a hydraulic power system. Results of simulation and pilot experiment show the roll changing task can be successfully automated using proposed robot system.
김무림(Maolin Jin),유기성(Ki-sung You),유황열(Hwang-ryol Ryu),최진태(Chintae Choi) 제어로봇시스템학회 2010 제어로봇시스템학회 각 지부별 자료집 Vol.2010 No.12
This paper presents development of oxygen cleaning lance and robot system for oxygen opening of ladle top nozzle. The oxygen cleaning lance has truss type structure to prevent oxygen pipe from deflecting, and has co-axial double-tube structure; inner tube is for transport of oxygen, and outer tube is for air cooling. An robot system for oxygen opening of ladle top nozzle is developed using proposed oxygen cleaning lance and a Kawasaki industrial robot. Simulation results show accurate position tracking performance of the proposed system, thereby demonstrating its effectiveness for the oxygen opening of Ladle top nozzle.