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이동로봇의 전역 경로계획을 위한 Self-organizing Feature Map
차영엽(Young-Youp Cha),정세미(Se-Mi Jeong) Korean Society for Precision Engineering 2006 한국정밀공학회지 Vol.23 No.3
A global path planning method using self-organizing feature map which is a method among a number of neural network is presented. The self-organizing feature map uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are moved toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors of 1-dimensional string and 2-dimensional mesh, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are moved toward the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.
스트링과 수정된 SOFM을 이용한 이동로봇의 전역 경로계획
차영엽(Young-Youp Cha) Korean Society for Precision Engineering 2008 한국정밀공학회지 Vol.25 No.4
The self-organizing feature map(SOFM) among a number of neural network uses a randomized small valued initial weight vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are moved toward the input vector. On the other hand, the modified method in this research uses a predetermined initial weight vectors of the 1-dimensional string, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward the opposite direction of input vector. According to simulation results one can conclude that the method using string and the modified neural network is useful tool to mobile robot for the global path planning.
포토 마이크로 센서를 이용한 볼나사 구동 리니어 스테이지의 위치결정 실험
차영엽(Young-Youp Cha) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.4
High precision machining technology has become one of the most important parts in the development of a precision machine. Such a machine requires high precision positioning as well as high speed on a large workspace. For machining systems having high precision positioning with a long stroke, it is necessary to examine the repeatability of the reference position decision. Though ball-screw driven linear stages equipped with linear scale have high precision feed drivers and a long stroke, they have some limitations for reference position decisions if they have not been equipped with an accurate home sensor. This study is performed to experimentally examine the repeatability for home position decision of a photo micro sensor as a home switch of a ball-screw driven linear stage by using a capacitance probe.
이동로봇의 전역경로계획을 위한 단경로 String에서 당기기와 밀어내기 SOFM을 이용한 방법의 비교
차영엽(Young-Youp Cha) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
In this research uses a predetermined initial weight vectors of 1-dimensional string, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are moved toward or reverse the input vector. According to simulation results one can conclude that the modified neural network is useful tool for the global path planning problem of a mobile robot.
전역경로계획을 위한 단경로 스트링에서 당기기와 밀어내기 SOFM을 이용한 방법의 비교
차영엽(Young-Youp Cha),김곤우(Gon-Woo Kim) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.4
This paper provides a comparison of global path planning method in single string by using pulled and pushed SOFM (Self-Organizing Feature Map) which is a method among a number of neural network. The self-organizing feature map uses a randomized small valued initial-weight-vectors, selects the neuron whose weight vector best matches input as the winning neuron, and trains the weight vectors such that neurons within the activity bubble are move toward the input vector. On the other hand, the modified SOFM method in this research uses a predetermined initial weight vectors of the one dimensional string, gives the systematic input vector whose position best matches obstacles, and trains the weight vectors such that neurons within the activity bubble are move toward or reverse the input vector, by using a pulled- or a pushed-SOFM. According to simulation results one can conclude that the modified neural networks in single string are useful tool for the global path planning problem of a mobile robot. In comparison of the number of iteration for converging to the solution, the pushed-SOFM is more useful than the pulled-SOFM in global path planning for mobile robot.
차영엽(Young-Youp Cha),윤권하(Kwon-Ha Yoon) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.5
This paper describes the design, simulation, development, and experiment of a six degree-of-freedom micropositioning parallel manipulator. A movable stage was supported with six links, each of which extends with a dc-servo micropositioning actuator. In case of parallel manipulator, while the solution of the inverse kinematics is easily found by the vectors of the links which are composed of the joint coordinates in base and platform, but forward kinematic is not easily solved because of the nonlinearity and complexity of the parallel manipulator’s kinematic output equation with the multi-solutions. The movable range of the prototype was ±25mm in the x- and y-directions and ±12.5mm in the z-direction. The minimum incremental motion of the prototype was 1㎛ in the x- and y-directions and 0.5㎛ in the z-direction. The repeatability of the prototype was ±2㎛ in the x- and y-directions and ±l㎛ in the z-direction. The motion performance was also evaluated by not only the computer simulation of CAD model but also the experiment using a capacitive sensor system.
차영엽(Young-Youp Cha),엄상호(Sang-Ho Eom) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.3
This study was performed to development a dental three-dimensional laser scanning system and measure the accuracy of new adjustable lower dental impression trays. Multiple impressional laser scanning system and measure the accuracy of new adjustable lower dental impression trays. Multiple impressions of a resin master model were made with custom, stock and new adjustable trays and vinyl polysiloxane impression material. The lower master model and resulting cast were compared using an dental scanning system. Each 3D image was superimposed onto the lower master image and analyzed with custome software. Multiple measurements of the lower master model and casts were analyzed to determine the accuracy of tray types.