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승용 잔디 깎이 자율 주행을 위한 경로 생성 및 추종 제어 알고리즘 개발 및 적용
임미림(Mirim Lim),김성훈(Seonghun Kim),김황근(Hwangeun Kim),강대준(Daejun Kang) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.11
Recently, as the demand for unmanned and IT agricultural machinery increases, the development of autonomous lawn mowers has been actively conducted. However, since the prior robotic autonomous lawn mower works randomly without working path in work space, it has low efficiency for the large work space. In addition, for the localization, other autonomous agricultural machineries mostly have adopted Differential Global Positioning System(DGPS), which is largely expensive to commercialize. In this paper, we propose the autonomous driving algorithm through localization in work space using radar sensor which is relatively inexpensive. For localization of an autonomous lawn mower, an origin in the work space is set using the range and angle data of the landmarks which are installed on both sides of the workspace. And then, the position of an autonomous lawn mower with respect to the origin is estimated using relative range and angle between a mower and a landmark. The landmarks which are used to localization are identified through assigning track ID via radar sensor data of landmarks. Base on above localization method, working path is generated and control input for path following is calculated. It also includes a landmark tracking algorithm considering possibility to change the track ID of the radar sensor data. In experiment, the proposed method shows 95.23% working speed performance and 86.07% path following error (RMSE)compared with manual driving.
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다공성 폴리(ε-카프로락톤)/실리카 복합체의 제조 및 특성평가
손시원(Siwon Son),최지은(Ji-Eun Choi),조훈(Hun Cho),강대준(DaeJun Kang),이득용(Deuk Yong Lee),김진태(Jin-Tae Kim),장주웅(Ju-Woong Jang) 한국고분자학회 2015 폴리머 Vol.39 No.2
졸-젤법을 이용한 전기방사법과 캐스팅법으로 폴리(ε-카프로락톤)(PCL) 나노섬유와 PCL/실리카 막을 각각 제조하였다. 용매에 N,N-dimethylformamide(DMF)를 혼합한 경우 부드럽고 연속적인 PCL 나노섬유가 제조되었다. PCL 기지상에 tetraethyl orthosilicate(TEOS) 농도가 0에서 40 vol%로 증가함에 따라 PCL/silica의 강도는 12에서 8MPa로 감소하였지만, 7주까지 phosphate buffered saline solution(PBS) 침지에 따른 강도값의 변화는 없었다. 실리카 첨가에 따른 인장강도의 감소는 기공도의 증가에 기인하였다. PCL/실리카 막의 결정구조는 사방정계로 실리카 농도가 0에서 40 vol%로 증가함에 따라 crystallite 크기는 57에서 18 nm로 감소하였다. 세포독성 실험결과, PCL/실리카는 시편의 수축 및 변형이 없고, 검체 주위에서 변색이나 L-929 세포의 이상이 관찰되지 않는 무독성이었다. Poly(ε-caprolactone) (PCL) nanofibers and PCL/silica membranes were synthesized by sol-gel derived electrospinning and casting, respectively. Smooth PCL nanofibers were obtained from the precursor containing N,Ndimethylformamide (DMF). PCL/silica membranes were prepared by varying the tetraethyl orthosilicate (TEOS) contents from 0 to 40 vol% to investigate the effect of silica addition on mechanical properties and cytotoxicity of the membranes. Although the strength of the membranes decreased from 12 to 8 MPa with increasing the silica content, the strength remained almost constant 7 weeks after dipping in phosphate buffered saline solution (PBS). The strength reduction was attributed to the presence of a patterned surface pores and micro-pores present in the walls between pores. The crystal structure of the membranes was orthorhombic and the crystallite size decreased from 57 to 18 nm with increasing the silica content. From the agar overlay test, the PCL/silica membranes exhibited neither deformation and discoloration nor lysis of L-929 fibroblast cells.
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