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문종우,김종수 공주대학교 생산기술연구소 2001 生産技術論叢 Vol.10 No.-
Motion controls have the problems due to the non-holonomic constraints of WRMs. This paper proposes the independent controller of velocity for tracking the paths and uses the MRAC theory to pursue the convergence of tracking error to 0. Also, to show the validation of the proposed algorithm, the simulation for stability of control system and convergence of tracking error is performed.
文鍾寓,金鍾守,朴世承 조선대학교 전자정보통신연구소 2000 電子情報通信硏究所論文誌 Vol.3 No.1
본 논문에서는 4륜 2 자유도 구륜이동로보트의 기구학 및 동역학적 모델링과 경로 추적을 다루었다. 구륜이동로보트의 기구학 모델을 이용하여 구륜이동로보트의 가제어성을 살펴본다. 동역학 모델의 유도를 위해 순간 일치 좌표계, 힘/토크의 전파와 중첩 그리고 Newton의 평형법칙을 이용한다. 모델링 불확실성으로 인한 오차의 보상을 위해 제어기를 도입한다. 또한 모의실험을 통해 본 논문의 유효성을 입증한다. In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o f Controllability of wheeled-mobile robots is revealed by using the kinematic model Instantaneously coincident coordinate system, force/torque propagation and superposition, and Newton's equilibrium law are used to induce the dynamic model The controller is introduced to compensate for error owing to modeling uncertainty And simulation results prove that method proposed by this paper is efficient
문종우 한국기후변화학회 2023 한국기후변화학회지 Vol.14 No.5
Demand-side approaches become an important pillar for energy analysis, and their roles for achieving climate targets have been increasingly emphasized globally. Particularly, Korea is one of the countries experiencing a rapid transition of demographic and household structures, and accordingly, the current and future energy demand could be significantly affected. As per the importance of the understanding the energy demand characteristics, this study contributes to understanding the electricity consumption of households by analyzing how the various household characteristics can be used to understand the household’s electricity consumption with household-level survey and machine learning techniques. This study utilizes the Household Energy Standing Survey published in 2022 and selects key household, housing, and appliance ownership and usage characteristics from the entire dataset. Afterward, the study applies Support Vector Machine, Random Forest, and Decision Tree classifiers to classify the household’s monthly electricity consumption. The results suggest that the Random Forest classifier provides slightly better performances in general compared to the other models. Moreover, the feature importance suggests that the housing characteristics, such as the size of housing, and appliance usage information, and some household characteristics, such as the number of household members and household income, are relatively important features for classification. Although the study finds some evidence of the importance of household and behavioral information in understanding the household’s electricity consumption, the study also identifies the limitation of the survey dataset in extracting the behavioral information.
MRAC를 이용한 2 자유도 구륜 이동로보트의 경로추적
문종우,김원규,박종국 경희대학교 자연과학종합연구원 1997 자연과학논문집 Vol.3 No.-
본 논문은 2 자유도 구륜 이동로보트의 기구학 모델과 기준모델 적응제어기 설계를 다루었다. 구륜 속도와 본체 속도를 계산하기 위하여 정기구학(forward kinematics)과 역기구학(inverse kinematics)를 유도하였으며, 제어변수의 수와 제어입력의 수가 동일하게 되도록 제어변수를 극좌표로 변환하였다. 구륜 이동로보트의 경로추적을 위한 제어기를 제안하였으며, 제어기 매개변수는 기준모델 적응제어(reference-model adaptive control, MRAC)에 기초한 적응법칙(adaptation law)에 의해 매 단계마다 갱신된다. 설계된 적응제어기를 분석하고, 제어 시스템의 안정성과 수렴성을 증명한다. 제어시스템의 유효성을 입증하기위해 모의실험을 수행하고, 그 결과를 제시한다. This paper presents the kinematic model and the design of a model-reference adaptive controller for wheeled-mobile robots(WMRs) with 2 d.0.f. We derive the forward kinematics and the inverse kinematics to calculate the wheel-velocity and body-velocity. The controlled variables are represented in the polar coordinate so that the number of the controlled variable can be reduced to the same number as the control input. A controller is proposed for path tracking, and then controller parameters are modified by adaptation law based on reference-model adaptive control(MRAC) each step. The adaptive controller is analyzed, and its stability and convergence are proved. Simulation is conducted to prove efficiency of the control system and the results are showed.
구륜이동로봇의 모델링과 Time-Scaling 기법을 이용한 경로추적
문종우,김종수,박세승 조선대학교 전자정보통신연구소 2003 電子情報通信硏究所論文誌 Vol.6 No.1
In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d o f having the limited drive-torques Controllability of wheeled-mobile robots is revealed by using the kinematic model Instantaneously coincident coordinate cystem, force/torque propagation and Newton s equilibrium law are used to induce the dynamic model When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.
구륜이동로보트의 기구학적 보정과 모터 제어기의 가속도 제약을 고려한 속도 궤적의 설계
文鍾寓,白祥煜,朴世承 朝鮮大學校 電子情報通信硏究所 2003 電子情報通信硏究所論文誌 Vol.6 No.2
This paper presents the kinematic correction method for wheeled-mobile robots with 2 d.o.f. and a design of the velocity trajectory for wheeled-mobile robots' line-travelling. We derive the relative wheel-weight and the absolute wheel-weight to correct radius of both wheels. And we use the curvature angle to correct displacement of wheel base. We show that wheeled-mobile robots can't move along the straight-line perfectly and prove that it is attributed to the acceleration constraint of motor controllers and the velocity trajectory have to get a change of velocity in order that wheeled-mobile robots may converge to the straight line. To prove justification and efficiency of methods proposed in this paper, we experiment on the wheeled-mobile robots with 2 d.o.f. and discuss results.
문종우,정용욱,김원규,박종국 慶熙大學校 1994 論文集 Vol.23 No.-
In this paper a systematic method for the kinematic modeling of a wheeled mobile robot is presented. This type of methodology is useful to analyze, design, simulate and control any kind of rolling robots. Using the four-wheeled 2-DOF mobile robot as an example, we then analyze the kinematic modeling and through the dead-reckoning updata algorithm, real-time control of WMR position is possible.