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LOS 알고리듬과 미지 입력 관측기에 기초한 선도-추종 대형 제어
윤석민(Suk-Min Yoon),여태경(Tae-Kyeong Yeu),박성재(Seong-Jea Park),홍섭(Sup Hong),김상봉(Sang-Bong Kim) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.3
This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.
윤석민(SUK-MIN YOON),여태경(TAE-KYEONG YEU),박성재(SOUNG-JEA PARK),김진호(JIN-HO KIM),홍섭(SUP HONG),김상봉(SANG-BONG KIM) 대한조선학회 2011 대한조선학회 학술대회자료집 Vol.2011 No.6
In the earlier studies on multi-robot system, multi-robot is more advantageous than one robot in terms of efficiency, flexibility, robustness, cost, etc. So, this paper considers an application of multi-robot system to mining system for improvement of mining production. The mining path is composed of two section, straight and turning. The straight section needs to the formation keeping and the path tracking for mining operation. And the turning section needs the flexible turning. Thus, two sections need an individually control method to effectively collect the nodules by multi-miner. The turning section is concentrically considered in the domain of an efficient turning time and a minimum turning section. In this paper, the efficiency of new strategy is verified through numerical simulation.
사각형 전자기 리니어 엑츄에이터의 2D 등가모델 시뮬레이션
윤석민(Suk-Min Yoon),김진호(Jin-Ho Kim),박세명(Se-Myung Park) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
The purpose of this paper is to present a 2-D equivalent finite element model of a quadratic linear electromagnetic actuator that can save space and power without an energy conversion system. A 3-D finite element analysis for the design and analysis of a quadratic linear electromagnetic actuator requires a high performance computer for time-consuming computation. Therefore, we calculate the effective coil length for the equivalent 2-D finite element model, and demonstrate the accuracy of this model by compared with 3-D full model simulation
Follow the Carrot과 Pure Pursuit 경로추종방법의 성능분석을 위한 시뮬레이션 연구
윤석민(SUK-MIN YOON),여태경(TAE-KYEONG YEU),박성재(SOUNG-JEA PARK),홍섭(SUP HONG),김상봉(SANG-BONG KIM) 한국해양환경·에너지학회 2012 한국해양환경·에너지학회 학술대회논문집 Vol.2012 No.5
This paper considers about the path tracking approach cf 4-wheel skid steering mobile robot. The "Follow the carrot" md the "Pure pursuit" belong to the geometric path tracking method. Two methods are classified by selection methods of a look paint and control inputs. The follow the carrot is a path tracking method to reduce the distance and heading errors between the look point and the current position of mobile robot In the pure pursuit method, the mobile robot follows the path using the radius cf a circle passing through both the look point and the current position. The lock distance parameter is used simulation of two path tracking method far an analysis of advantages and disadvantages. From the result cf simulation, the pure pursuit has better tracking ability than the follow the carrot because of control inputs without rapid change.
초음파 위치 센서를 이용한 차량 로봇의 경로 추종에 관한 연구
윤석민(Suk Min Yoon),여태경(Tae Kyeong Yeu),박성재(Soung Jea Park),홍섭(Sup Hong),김상봉(Sang Bong Kim) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental.
Follow the Carrot과 Pure Pursuit 경로추종 방법의 성능분석을 위한 시뮬레이션 연구
윤석민(SUK-MIN YOON),여태경(TAE-KYEONG YEU),박성재(SOUNG-JEA PARK),홍섭(SUP HONG),김상봉(SANG-BONG KIM) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
This paper considers about the path tracking approach of 4-wheel skid steering mobile robot. The 'Follow the carrot' and the 'Pure pursuit' belong to the geometric path tracking method. Two methods are classified by selection methods of a look point and control inputs. The follow the carrot is a path tracking method to reduce the distance and heading errors between the look point and the current position of mobile robot. In the pure pursuit method, the mobile robot follows the path using the radius of a circle passing through both the look point and the current position. The look distance parameter is used simulation of two path tracking method for an analysis of advantages and disadvantages. From the result of simulation, the pure pursuit has better tracking ability than the follow the carrot because of control inputs without rapid change.
윤석민(Suk Min Yoon),이성환(Seong-Whan Lee),권용래(Yong Rae Kwon) 한국정보과학회 1991 한국정보과학회 학술발표논문집 Vol.18 No.1
본 연구에서는 사용자가 자유로이 쓴 수식을 온라인으로 입력 받아 숫자와 기호를 인식하고, 인식된 숫자와 기호의 조합이 나타내는 수식을 해석하여 그 계산 결과값을 받아볼 수 있게 하는 시스템을 구현 하였다. 이를 위하여 2차원 BNF, 해석 기준점 및 수식 해석 범위 등의 새로운 개념이 도입되었으며, 수식에 나타나는 숫자 및 기호 등의 인식과 이들의 상호 연관 관계를 재귀적으로 해석하는 알고리즘을 고안하였다. 온라인으로 입력되는 다양한 형태의 수식들에 대한 인식 실험을 통하여 제안된 재귀적 해석에 의한 수식 인식 알고리즘이 효과적임을 알 수 있었다.
임상연구 : 반폐쇄식 회로를 이용한 폐쇄회로 마취 시 신선가스 유량이 호흡일에 미치는 영향
유해선 ( Hae Sun You ),서령선 ( Young Sun Seo ),신혜원 ( Hye Won Shin ),이혜원 ( Hye Won Lee ),임혜자 ( Hae Ja Lim ),장성호 ( Seong Ho Chang ),윤석민 ( Suk Min Yoon ) 대한마취과학회 2006 Korean Journal of Anesthesiology Vol.50 No.5
Backgound: The effect of anesthetic techniques, such as closed circuit anesthesia (CCA) using semiclosed circuit system and semiclosed circuit anesthesia (SCCA), on the work of breathing has not been studied yet in detail. This study was purposed to compare the work of breathing according to anesthetic technique (CCA, SCCA). Methods: Thirty patients were assigned to receive either SCCA group or CCA group (n = 15). Anesthesia was induced with propofol 2 mg/kg with 2% lidocaine 1 ml. Two percents isoflurane with O2 and N2O 2 L/min were given for 10 min to patients initially to wash in functional residual capacity and the breathing circuits. In SCCA group, anesthesia was maintained with 2% isoflurane in O2 2 L/min and N2O 2 L/min throughout the surgery. In CCA group, O2 was reduced to 200 ml/min and N2O to 100 ml/min with isoflurane vaporizer setting adjusted to 4% for anesthesia maintenance. When the operation was ended, the vaporizer setting of isoflurane deceased to zero and then O2 was increased to 4 L/min for the arousal of the patient. We measured the inspiratory/expiratory concentration of isoflurane, end-tidal CO2, the hemodynamic parameters, the change of airway pressure, the work of breathing, and compliance at anesthetic induction and emergence in both groups. Results: There were no significant differences in the inspiratory/expiratory concentrations of isoflurane, the hemodynamic parameters, end-tidal CO2, airway pressure, the work of breathing and compliance between the groups. Conclusions: CCA using semiclosed circuit system does not increase the work of breathing compared to SCCA. (Korean J Anesthesiol 2006; 50: 495~500)