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- 저자 : 함제훈(Jehun Hahm) (검색결과 9 건)
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500~800 mm의 관경 대응이 가능한 고견인력 배관 로봇의 개발과 성능 검증
장민우(Minwoo Jang),정명수(Myung-Soo Jung),함제훈(Jehun Hahm),홍성호(Sung-Ho Hong),서갑호(Kap-Ho Seo),서진호(Jin-Ho Suh),이재열(Jaeyoul Lee) 한국동력기계공학회 2021 동력시스템공학회지 Vol.25 No.4
Recently, various in-pipe robots have been developed, but they are difficult to apply to the field due to their short driving distance. In order to increase the mileage of the piping robot, traction is an essential element, especially for running in pipes. In this paper, we propose a high traction piping robot capable of running mid to long distance inside pipes. The running performance of the designed piping robot was confirmed through multi-body dynamics analysis, and structural stability of the robot was reviewed through structural analysis. In addition, the performance of the manufactured robot was verified by comparing the traction force of the manufactured robot with the analysis result, and the climbing performance was confirmed through a driving test on the pipe test bed. As a result, a high-traction pipe robot can tow 400 kgf of auxiliary equipment and can move vertical and horizontal curved pipes with a diameter of 500 to 800 mm up to 45 degrees.
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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.
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위치인식 및 환경 가시화를 위한 이동 가능한 마커 위치 추정 연구
양견모(Kyon-Mo Yang),곽동기(Dong-Gi Gwak),한종부(Jong-Boo Han),함제훈(Jehun Hahm),서갑호(Kap-Ho Seo) 한국로봇학회(논문지) 2020 로봇학회 논문지 Vol.15 No.4
Indoor localization using an artificial marker plays a key role for a robot to be used in a service environment. A number of researchers have predefined the positions of markers and attached them to the positions in order to reduce the error of the localization method. However, it is practically impossible to attach a marker to the predetermined position accurately. In order to visualize the position of an object in the environment based on the marker attached to them, it is necessary to consider a change of markers position or the addition of a marker because of moving the existed object or adding a new object. In this paper, we studied the method to estimate the artificial marker’s global position for the visualization of environment. The system calculates the relative distance from a reference marker to others repeatedly to estimate the marker’s position. When the marker’s position is changed or new markers are added, our system can recognize the changed situation of the markers. To verify the proposed system, we attached 12 markers at regular intervals on the ceiling and compared the estimation result of the proposed method and the actual distance. In addition, we compared the estimation result when changing the position of an existing marker or adding a new marker.
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소프트 웨어러블 슈트용 액추에이터의 토크 전달 향상을 위한 기능적 설계 연구
이종일(Jong-Il Lee),구재완(Jaewan Koo),박민로(Min-Ro Park),함제훈(Jehun Hahm),손동섭(Dong-Seop Sohn),서갑호(Kap-Ho Seo) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.3
This paper proposes a functional design to improve the torque transmission of a wearable suit for walking assistance. The proposed functional design includes a soft actuator, lower-limb support module, and their fastening method. First, the features and functions of the soft actuator and lower-limb support module are described. In addition, according to the elasticity of the fixed band and the relative positions of the fixed band, soft actuator, and lower-limb support module, a fastening method to maximize the torque transmission performance was determined experimentally. Thus, an optimal fastening method was derived, and the functional design of a soft wearable suit applying this method was developed.
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로봇 위치 추적을 위한 QR 마커 내부 정보 기반 카메라 위치 추정 연구
양견모(Kyon-Mo Yang),곽동기(Dong-Gi Gwak),한종부(Jong-Boo Han),함제훈(Jehun Hahm),서갑호(Kap-Ho Seo) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.7
Camera pose estimation based on markers may play a key role in robot localization in an indoor environment. The representative estimation method needs to correct parameters as the marker size when they want to change markers. In addition, there is a limitation of distance to detect a marker with respect to the status of the camera and the marker size. In this paper, we studied the camera pose estimation based on the information inside QR markers. To handle the problem of setting correct the marker size, the proposed system uses the QR marker that is included the information about its size. The system detects the QR marker and uses the information to estimate a camera pose adaptively. Also, we propose the nested QR marker and the hierarchical QR marker in order to increase the perceptible range of a QR marker. The nested QR marker is implemented for a drone in which the camera can move to the center of the marker. In contrast, the hierarchical QR marker is designed for a mobile robot in which the camera moves horizontally with the floor. Experimental scenario with marker, two types of markers were tried in the lab environment to test whether or not the proposed method could estimate appropriate camera pose without changing marker size by an operator. As a result, we verified the proposed method can estimate the camera pose regardless of the change of the marker size. Also, we found that the perceptible range of the propose QR markers is longer than of the single size marker.
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정명수(Myeong-Su Jeong),이재열(Jaeyoul Lee),홍성호(Sung-Ho Hong),장민우(Minwoo Jang),신동호(Dongho Shin),함제훈(Jehun Hahm),서갑호(Kap-Ho Seo),서진호(Jin-Ho Seo) 한국로봇학회(논문지) 2021 로봇학회 논문지 Vol.16 No.3
In this paper describes the research and development of a pipe robot for pipe rehabilitation construction of old water pipes. After the water supply pipe construction, the pipe is leaking, damaged, and aging due to corrosion. Eventually, resistance to the flow of water in lower supply efficiency and contaminated water such as rusty water, finally in various consumer complaints. In order to solve this problem, rehabilitation construction robot technology is required to secure the construction quality of pipe rehabilitation construction and restore the function of the initial construction period. The developed pipe rehabilitation construction robot required a hydraulic actuator for high traction and was equipped with a small hydraulic supply device. In addition, we have developed a hydraulic cylinder and a link system that supports the pipe inner diameter to develop a single pipe robot corresponding to 500 to 800mm pipe diameter. The analysis and experimental verification of the driving performance and unit function of the developed pipe reconstruction robot are explained, and the result of the integrated performance test of the pipe reconstruction robot at the water supply pipe network site is explained.
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웨어러블 슈트의 소프트 액추에이터를 위한 공압 분배기 개발
구재완(Jaewan Koo),한종부(Jong-Boo Han),이석재(Seokjae Lee),곽동기(Dong-Gi Gwak),함제훈(Jehun Hahm),손동섭(Dong-Seop Sohn),서갑호(Kap-Ho Seo) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.7
With an aging society, research into wearable suits to support the elderly is actively being conducted. While these suits can use various driving methods, such as motors, pneumatics, and wires, many researchers prefer pneumatic-based soft actuators due to their high degree of safety and low weight. However, the use of a valve in these actuators is essential and requires high-precision control techniques and periodic replacement. To solve this problem, this paper proposes a low-cost pneumatic distributor design for pneumatic-based soft actuators. The advantage of the proposed pneumatic distributor is that it can be easily controlled by continuously adjusting the rotation speed according to the walking cycle of an elderly person. In addition, it is easy to design a pneumatic distributor suitable for the walking characteristics of the elderly, and costs can be kept low by utilizing a 3D printer for fabrication. In order to verify the final design, an experimental environment is constructed and the effectiveness of the distributer is analyzed through pneumatic measurement.
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