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원격제어 및 음성인식 겸용 모바일 로봇 제어시스템 설계
조유기(Yoo Ki Cho),조창제(Chang Jae Cho),김억곤(Ec Gon Kim),한성현(Sung Hyun Han) 한국생산제조학회 2011 한국생산제조시스템학회 학술발표대회 논문집 Vol.2011 No.4
This paper presents the design of intelligent mobile robot control system using remote control & speech recognition. The proposed mobile robot control system is composed of four separated module, which are main control module, speech recognition module. In main control module with fuzzy logic, was applied to the proposed intelligent control system. In order to improve the non-linear characteristic which depend on an user's weigh and variable environment, encoder attached to the servo motors was used for feedback control. The proposed system is tested control of the mobile robot and the performance of a mobile robot using remote control & voice command is also evaluated.
정석태(Seoktae Chung),장성국(Sung-Kuk Jang),조창제(Chang-je Cho),구재광(Jae-Kwang Koo) 한국자동차공학회 1995 한국자동차공학회 춘 추계 학술대회 논문집 Vol.1995 No.11_1
This paper describes the concept design, finite element analysis. and runner & gate design for die casting involved in the development of lightweight Mg seatframe. The major goals are to achieve weight reduction and cost down with Mg seatframe compared to a current production steel frame. Mg seat frame concept was designed by considering the mechanical properties of Mg AM60B diecasting and the optimal design was made by conducting structural analysis with FEM to meet the seat requirement. As a result. 70% mass reduction and 10% cost down were possible through alternative materials and enhanced design in seat frame.<br/>
이우송(Woo-Song Lee),Le Xuan Thu,한성현(Sung-Hyun Han),조창제(Chang-jae Cho) 한국기계가공학회 2007 한국기계가공학회 춘추계학술대회 논문집 Vol.2007 No.-
The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.
심병균(Byoung-Kyun Shim),Nguyen Huu Cong,김준홍(Jun-Hong Kim),조창제(Chang-Jae Cho),한성현(Sung-Hyun Han) 한국생산제조학회 2009 한국생산제조시스템학회 학술발표대회 논문집 Vol.2009 No.5
This paper achieves a research about avoidance of obstacles avoidance based on ultrasonic sensor. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic systems modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonic sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory automation.
한성현(Sung-Hyn Han),김윤구(Wn-goo Kim),안종국(Jong-Kug An),조창제(Chang-jae Cho) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
Developed shape awareness technology and vision technology for slant in this research, and including external form state of lens for the performance verification, developed so that can be good, achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel unit though measuring is possible 1 pixel as 3.7㎛×3.7㎛(0.1369×10?⁴㎟) the accuracy to 10?⁴㎜ minutely measuring is possible performance verification and trust ability through an experiment prove.
이우송(Woo-Song Lee),Nguyen Van Quyet,오세봉(Se-Bong Oh),조창제(Chang-Jae Cho),한성현(Sung-Hyun Han) 한국생산제조학회 2009 한국생산제조시스템학회 학술발표대회 논문집 Vol.2009 No.5
The purpose of this research is to develop the character recognition technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens or electronic parts for the performance verification, this development can achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest I pixel unit though measuring is possible I pixel as 37 ㎛×37 ㎛ (0.1369×10-4㎟) the accuracy to l.5× 10-4㎜ minutely measuring is possible performance verification and trust ability through an experiment prove.
오세봉(Se-Bong Oh),Nguyen Huu Cong,김준홍(Jun-Hong Kim),조창제(Chang-Jae Cho),한성현(Sung-Hyun Han) 한국생산제조학회 2008 한국생산제조시스템학회 학술발표대회 논문집 Vol.2008 No.10
This paper achieves a research about avoidance of obstacles avoidance based on ultrasonic sensor. The performance of the proposed obstacle avoidance robot controller in order to determine the exact dynamic systems modeling system that uncertainty is difficult for nomadic controlled robot direction angle by ultrasonic sensors throughout controlled performance tests. In additionally, this study is an in different ways than the self-driving simulator in the development of ultrasonic sensors and unmanned remote control techniques used by the self-driving robot controlled driving through an unmanned remote controlled unmanned realize the performance of factory automation.
황원준(Won Jun Hwang),심병균(Byoung kyun Shim),조창제(Chang Jae Cho),한성현(Sung Hyun Han) 한국생산제조학회 2011 한국생산제조시스템학회 학술발표대회 논문집 Vol.2011 No.4
This paper is the development of industrial robot hand's and the design methods of industrial robot hand that can mimic human fingers motion. In order to overcome problems incurred during the reduction of the mobility, this study focuses on analyzing human hand structure and finger movements from an anatomical point of view. As a result, distinctive features that improve the discovered stability in constraints for range of motion in the fingers is reflected in this design concept. A 4-bar Linkage is used in robot finger structure. Lastly, there were experiments to inspect the developed robot hands performance. The developed robot hand has many potential applications and can be in many different fields.
이우송(Woo-Song Lee),Nguyen Van Quyet,오세봉(Se-Bong Oh),조창제(Chang-Jae Cho),한성현(Sung-Hyun Han) 한국생산제조학회 2008 한국생산제조시스템학회 학술발표대회 논문집 Vol.2008 No.10
The purpose of this research is to develop the character recognition technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens or electronic parts for the performance verification, this development can achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel unit though measuring is possible 1 pixel as 37㎛x37㎛ (0.1369x10-4㎟) the accuracy to 1.5x10-4㎜ minutely measuring is possible performance verification and trust ability throu호 an experiment rove.
Le Xuan Thu,오세봉(Se-Bong Oh),이우송(Woo-Song Lee),조창제(Chang-Jae Cho),박동준(Dong-Jun Park),한성현(Sung-Hyun Han) 한국생산제조학회 2007 한국생산제조시스템학회 학술발표대회 논문집 Vol.2007 No.5
In this paper, it is presented a new approach to the design of intelligent control system of a autonomous robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.