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이동 로봇의 실내 환경 인식을 위한 초음파 센서 자료 분석
고낙용,임병현,김성철 조선대학교 전자정보통신연구소 2003 電子情報通信硏究所論文誌 Vol.6 No.1
For autonomous navigation of a mobile robot using landmarks, it is essential to recognize the location and configuration of surrounding objects To recognize the environment, sensors such a s ultrasonic sensors laser range finder. CCD camera, and so on have been used Among the sensors, ultrasonic sensors(sonar) are unexpensive and easy to use However, the data from untrasonic sensors inherently include noisy information In this paper we analyze the sonar data and propose a method to reduce some of the noisy information to recognize features of indoor environment. It is supposed that the environments consist of features of planes, edges, and -corners For the analysis, sonar data of plane, edge, and corner are accumulated for known models The data are filtered to eliminate some noise using the Kalman filter algorithm Then, the data for each feature are compared with model data to extract the characteristics of each feature. We demonstrate the applicability of the proposed method using the sonar data obtained form a sonar transducer rotating and scanning the range information around indoor environment
리눅스를 이용한 로봇 제어용 실시간 운영 소프트웨어 설계
고낙용,노현창 조선대학교 에너지.자원신기술연구소 2001 에너지·자원신기술연구소 논문지 Vol.23 No.1
This paper presents a method for designing a real-time operation software for autonomous mobile robot control systems. Operation softwares for most of mobile robots were developed for its o m use. Sometimes, the operation software was developed based on MS-DOS or real-time kernel However, US-DOS has many restrictions for use as a robot operation system. Though some of operation softwares are based on the real-time kernels of UNIX 01- Windows NT. they were inadequate for use with mobile robots. So, in this paper, we focus on building an operation software real-time kernel based on Linux. The software modules of Task Management, Memory Management, Intertask Communication, and Synchronization are redesigned using POSIX/ANSI-C Library to make the kernel compatible with Linux standard platform. To show the efficiency of the paper, it was applied to run Nomad Super Scout II avoiding obstacles detected by sonar sensor array.
고낙용,임병현 조선대학교 전자정보통신연구소 2002 電子情報通信硏究所論文誌 Vol.5 No.2
In this paper, we propose a pose estimation method using local map acquired from 2d laser range sensor information. The proposed method uses extended Kalman filter. The state equation is a navigation system equation of Nomad Super Scout Ⅱ. The measurement equation is a map-based measurement equation using a SICK PLS 101-112 sensor. We describe a map consisting of geometric features such as plane, edge, and corner. For pose estimation we scan external environments by laser rage sensor. And then these data are fed to Kalman filter to estimate the pose( position and orientation) of a mobile robot. The proposed method enables very fast simultaneous map building and pose estimation.
고낙용,최한수,김광진,임병현 조선대학교 에너지.자원신기술연구소 2004 에너지·자원신기술연구소 논문지 Vol.26 No.1
We propose driving method of Ultraviolet sensor for fire alarms using pulse width modulation that is used to fire detector. Ultraviolet sensor is UV Tron using gas multiplication effect to current discharge and photoelectric effect of metal. To have high sensibility and to gain proper output voltage. it should have highly responsive performance. This research designed a driving circuit with UV sensors and proposed a method for false alarm reduction. The result shows the prevention and extinction of fire technique degree, certificated operation of detector.
김영동,고낙용,김아현,강원찬,정헌 조선대학교 에너지.자원신기술연구소 2003 에너지·자원신기술연구소 논문지 Vol.25 No.1
Accurate acquisition of surface geometries such as machined surfaces, biological surfaces, and deformed parts have been very important technique in scientific study an engineering, expecially for system design, manufacturing and inspection. Two camera method keeps accuracy more than double than mechanical method. In this paper, we describe the processes surface data of teeth for automatic processing, transformation that changes to coping data of possible numeric data form, and processed inlay teeth. As the result of the inlay manufacture, which can process with high resolution, therefore we construct the automatic processing system that depends on manual.
PLSI 위상차 제어기에 의한 초음파 모터의 점탄성 특성
김동옥,김원배,성도생,고낙용,최한수,김영동 조선대학교 생산기술연구소 1996 生産技術硏究 Vol.18 No.1
As an actuator for direct drive(DD) manipulator. the travelling-wave type ultrasonic motor(USM) has many excellent performances and good advantages over conventional servo motors such as compact size, light weight, silent motion, low rotation-speed, high torque, low magnetic noise, high speed response, flexible free forms, large holding torque and so on. So it has been expected to be used as servo motor. This paper presents a design method of USM controller to adjust the phase difference of USM power using PLSI (Programmable Large Scale Intersration). we can control the elastic coefficient and the viscous coefficient of the USM by adjusting the phase difference of the motor power. By controlling the elasticity and viscosity, a robot can work in compliance with external environment. To use the result, we will be able to control the robot to reach its goal with compliance motion. It remains for further research to develop the impedance control of USM and to make cooperative robots.
Local Collision Avoidance of Multiple Robots Using Avoidability Measure and Relative Distance
Nak Yong Ko,Dong Jin Seo,Koung Suk Kim 대한기계학회 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.1
This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.<br/>
A Robot Motion Planning Method for Time-Varying obstacle avoidance
Nak Yong Ko,Bum Hee Lee,Myoung Sam Ko 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
An analytic solution approach to the time-varying obstacle avoidance problem is pursued. We formulate the problem in robot joint space(JS), and introduce the view-time concept to deal with the time-varying obstacles. The view-time is a set of continuous times in which a time-varying obstacle is viewed and approximated by an equivalent stationary obstacle. The equivalent stationary obstacle is transformed into the JS obstacle. In JS, the path and trajectory avoiding the JS obstacle is planned.