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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.
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.
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.
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.
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.
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.