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모델 예측 제어를 이용한 무인 차량의 장애물 회피 기법 연구
박재만(J. M. Park),윤용순(Y. S. Yoon),김현진(H. J. Kim) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
In this paper, we study the feasibility of using the model predictive control as an obstacle avoidance method on an unmanned ground vehicle. The model predictive control is formulated into a cost minimization problem, considering dynamic constraints and information on obstacles. We use the bicycle model to represent the UGV, and to give more reality to the system model, error in the limited sensing range is considered. Simulation results show that the MPC method gives satisfactory performance in terms of safe trajectory re-generation and is also robust to small sensing errors.
태양광 모듈 가장자리 학습 데이터를 위한 어노테이션 툴 개발
최태원,송영석,정헌 한국차세대컴퓨팅학회 2022 한국차세대컴퓨팅학회 학술대회 Vol.2022 No.05
본 논문은 효과적인 태양광 모듈 에지 학습 데이터를 준비하기 위한 어노테이션 도구의 개발을 설명하고자 한다. 어노테이션 도구를 사용하면 딥러닝 네트워크에서 에지 정보를 학습하기 위한 학습 데이터 준비 프로세스의 편의성을 높이고 학습 데이터의 정확도를 향상시킬 수 있다. 본 논문에서 제시한 프로그램 활용을 통해 효과적인 학습 데이터를 준비하여 딥러닝 기반 태양광 모듈의 엣지 포지션을 도출하는 연구에 도움이 될 것으로 기대된다
Surface texturing 방법에 의한 사판식 유압 피스톤펌프의 사판-피스톤슈 사이의 윤활성능향상
박태조(T. J. Park),조재창(J. C. Jo),김민정(M. J. Kim) 유공압건설기계학회 2010 유공압건설기계학회 학술대회논문집 Vol.2010 No.10
Friction reduction between sliding components is essential to improve efficiency and reliability of hydraulic systems. It is recently reported that surface texturing on bearing surfaces can reduce the friction force. In this paper, to reduce the friction force acting on slipper bearing in swash plate type axial piston pump, lubrication analysis are carried out for micro-dimpled swash plate surface. A CFD code, FLUENT, is adopted to investigate the accurate flow and pressure characteristics. The results show that the dimple depth affect on the pressure distributions highly. And regardless of pressure boundary condition, the friction force are reduced with dimple depth. Therefore the numerical method adopted and results can be use in optimal design of slipper bearing system in swash plate type axial piston pump.
J. Choi,C. M. Yim,강흥식,고인수,J. H. Park,오종석,황정연,M. G. Kim,박성주,T.-Y. Lee,Y. J. Kim,Y. W. Parc 한국물리학회 2007 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.50 No.I
The Pohang Accelerator Laboratory is going to build an X-ray free electron laser (FEL) based on self-amplified spontaneous emission (SASE). This new machine will utilize the existing 2.5-GeV injection linac to the storage ring by upgrading its energy up to 3.7 GeV or more. The target wavelength will be 3 -- 4.5 \AA, and its third harmonic 1 -- 1.5 \AA~will also be used. The project will proceed in two stages: In the first stage, a vacuum-ultra-violet (VUV) SASE machine with 385 MeV will be constructed and tested for the proof of principle. The full X-ray machine will be constructed in the next stage. This paper describes the updated deign status of both machines.
3D 가상심장을 이용한 심방세동의 complex fractionated atrial electrogram (CFAE) 분석 및 catheter ablation
박진서(J.S.Park),권순성(S.S.Kwon),김준우(J.W.Kim),이현승(H.S.Lee),지윤철(Y.C.Ji),황민기(M.K.Hwang),박희남(H.N.Pak),심은보(E.B.Shim) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
This study analyzed complex fractionated atrial electrogram (CFAE) and CFAE ablation for atrial fibrillation patient. We modeled atrial fibrillation by a 3D virtual heart. For this purpose, measurement techniques of cardiac ablation using catheter was numerically implemented by a simulation method, and FIR filtering was used to analyze electric signal pattern measured. Through these methods, CFAE values was calculated in the 3D mapping at virtual heart, and we found ablation target of atrial fibrillation patient. This study also simulated CFAE and CFAE-based ablation for 20 patients and the computed results were compared with actual clinical data.