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서갑호(Kap-Ho Seo),윤성조(Sung-Jo Yun),박정우(Jeong Woo Park),박성호(Sungho Park),김대희(Dae-Hee Kim),손동섭(Dong-Seop Sohn),서진호(Jin-Ho Suh) 한국생산제조학회 2016 한국생산제조학회지 Vol.25 No.6
Disturbance/vibration reduction is critical in many applications using machine vision. The off-focusing or blurring error caused by vibration degrades the machine performance. In line with this, real-time disturbance estimation and avoidance are proposed in this study instead of going with a more familiar approach, such as the vibration absorber. The instantaneous motion caused by the disturbance is sensed by an attitude heading reference system module. A periodic vibration modeling is conducted to provide a better performance. The algorithm for vibration avoidance is described according to the vibration modeling. The vibration occurrence function is also proposed, and its parameters are determined using the genetic algorithm. The proposed algorithm is experimentally tested for its effectiveness in the vision inspection system.
홍성호(Sung-Ho Hong),이재열(Jae-Youl Lee),신동호(Dong Ho Shin),함제훈(Jehun Hahm),서갑호(Kap-Ho Seo),서진호(Jin-Ho Suh) Korean Society for Precision Engineering 2022 한국정밀공학회지 Vol.39 No.5
Drone stations are increasingly being applied to enhance the mission capabilities of drones. The drone’s station landing occurs in a limited space. A relative position communication signal between the drone and the station is required. Strong, precise control over communication signal interference is required. In this paper, we describe a filter processing method for position signal processing. In consideration of the anchor position and installation angle of the UWB module of the drone station, nine performance test cases were proposed. As a result of the performance test, high position accuracy output was confirmed when considering the result of minimizing signal shading and beam pattern direction with excellent reception sensitivity. A performance test was conducted using the developed drone station, and the landing performance was confirmed with a precision of within 20 cm.
김상호(Sang Ho Kim),이재열(Jae Youl Lee),홍성호(Sung-Ho Hong),함제훈(Jehun Hahm),서갑호(Kap-Ho Seo),서진호(Jin-Ho Suh),정영식(Young Sik Joung),정세훈(Se Hoon Jeung) Korean Society for Precision Engineering 2021 한국정밀공학회지 Vol.38 No.11
An elevating drone station is very useful when lifting and lowering the battery charging station for safe installation, maintenance, and energy efficiency of a drone operation. When drone station modules rise above the average roof level of neighboring structures they may receive a strong wind force; thus, understanding the physical phenomena of both the structures and fluid is important to understand the structures reaction to the wind force. However, most studies in the field of drone stations did not perform a structural safety evaluation under wind loadings. Therefore, in this paper, we carried out a fluid-structure interaction analysis to verify the design of the lifting-and-lowering-type drone station.
김상호(Sang Ho Kim),이재열(Jae Youl Lee),홍성호(Sung-Ho Hong),함제훈(Jehun Hahm),서갑호(Kap-Ho Seo),서진호(Jin-Ho Suh),정영식(Young Sik Joung) Korean Society for Precision Engineering 2021 한국정밀공학회지 Vol.38 No.10
The lifting-and-lowering type drone station is very useful when lifting and lowering the battery charging station for safe installation, maintenance, and energy efficiency of drone operation. Therefore, understanding the coupling motion between cable and pulley is important for evaluating characteristics like safety and dynamic stability of the lifting-and-lowering type drone station. Although multibody dynamics (MBD) is widely used for numerically analyzing the dynamic behavior of interconnected bodies, attempts to analyze the coupling motion between cable and pulley have been made only recently, within the last decade. Therefore, this paper attempts to develop the MBD model for the lifting-and-lowering type drone station, including cables, pulleys, and winches using MotionSolve (Altair). The results of the winch torque obtained analytically and numerically were compared to verify the effectiveness of the proposed MBD model.
영구자석 비선형 자기특성을 고려한 회전자 타입에 따른 모터 특성 분석
박민로(Min-Ro Park),서갑호(Kap-Ho Seo),황성우(Sung-Woo Hwang),임명섭(Myung-Seop Lim) 한국자기학회 2021 韓國磁氣學會誌 Vol.31 No.3
The permanent magnet is an important component that determines the performance and cost of a synchronous motor. Also, the characteristic of the permanent magnet is a major factor in determining the performance of the electric motor. Therefore, to improve the performance of the permanent magnet synchronous motor and reduce the material cost, the permanent magnets having various characteristics are being developed. However, the magnetic properties of permanent magnets have nonlinearity. Therefore, this paper proposes a method to calculate the operating point of a permanent magnet by considering not only the nonlinear magnetic properties of the electrical steel sheet but also the nonlinear properties of the permanent magnet and analyze the characteristics of the electric motor based on this proposed method. Through this, the characteristics of the permanent magnet synchronous motor are analyzed according to the rotor type and the design direction for each type is suggested.
승마 로봇 시뮬레이터 HRB-1을 위한 말의 보행 및 부조의 구현
박용석(Yongsik Park),서갑호(Kap-Ho Seo),오승섭(Seungsub Oh),박성호(Sung Ho Park),서진호(Jin-Ho Suh) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.3
Horse riding is widely recognized as a valuable form of education, exercise and therapy. But, the injuries observed in horse riding range from very minor injuries to fatalities. In order to reduce these injuries, the effective horseback riding simulator is required. In this paper, we proposed the implementation method of horse gait and riding aids for horseback riding robot simulator HRB-1. For implementation of horse gait to robot simulator, we gathered and modified real motion data of horse. We obtained two main frequencies of each gait by frequency analysis, and then simple sinusoidal functions are acquired by genetic algorithm. In addition, we developed riding aids system including hands, leg, and seat aids. With the help of a developed robotic system, beginners can learn the skill of real horse riding without the risk of injury.
Research Trends on Disaster Response Robots
Maolin Jin(김무림),Kap-Ho Seo(서갑호),Jin-Ho Suh(서진호) Korean Society for Precision Engineering 2019 한국정밀공학회지 Vol.36 No.4
With increasing demand for disaster response robots, many governments projects have been launched to ensure safety for citizens. This paper reviews government policies and research trends on disaster response robots. To give a birds eye view on disaster response robots, we first reviewed foreign technologies. We then introduced recent technologies developed in Korea and some ongoing researches on disaster response robots.