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김태경(Tae-Kyung Kim),국태용(Tae-Yong Kuc),박종구(Jong-Koo Park),김용석(Yong-Serk Kim) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.6
This paper proposes a geomagnetic map based localization method for indoor robot system. Geomagnetic field is distorted by reinforced concreate or metal objects in indoor environment. The distortion provides a unique feature that can be utilized in localization. The measured magnetic data set is translated and encoded into unique posture data set in the magnetic map. An Extended Kalman Filter embedded motion prediction model for mobile robot is combined with the generated world map to solve SLAM problem. An experiment has been carried out to test the proposed approach.
한예람(Ye-Ram Han),국태용(Tae-Yong Kuc),박종구(Jong-Koo Park),김용석(Yong-Serk Kim) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.6
This paper presents a hybrid map based localization algorithm for navigation of indoor mobile robot. The hybrid map combines image features of ceiling vision and grid map from LRF data to provide invariant landmarks for robust localization. By tessellating hybrid map with respect to invariant landmarks positioning precision and map searching have been improved up to the grid scale of hybrid map. Computer simulation and experiment results are given to demonstrate the effectiveness of the proposed approach with a differential drive mobile robot.
이준희(Jun-Hee Lee),국태용(Tae-Yong Kuc),박종구(Jong-Koo Park),고낙용(Nak-Yong Ko),문용선(Young-Seon Moon) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.6
An adaptive backstepping controller is presented for robust control of AUV(Autonomous Underwater Vehicle). To cope with model uncertainty of robot due to hydrodynamic parameters not exactly known, a parameter adaptation algorithm is derived and implemented in the controller. By combining an inner loop of PLL velocity control with a nonlinear dynamics backstepping control, the controller achieves agile robotic motion. Simulation results demonstrate the effectiveness of the proposed control method.
로봇을 활용한 배전 활선공법 기술분석 및 적용 타당성 연구
양선제(Seon-Je Yang),국태용(Tae-Yong Kuc),박춘식(Choon-Sik Park),서인용(In-Yong Seo) 대한전기학회 2018 전기학회논문지 Vol.67 No.9
This paper analyzes robotic technology developed for live-line electricity distribution and its applicability to domestic environment. In doing so, available robotic systems developed for the live-line work are thoroughly investigated and compared in terms of from robotic functionality to economic feasibility. To assess the technology readiness for domestic live-line robot, the rubber gloves based direct live-line engineering methods have been also analyzed and mapped into robotic technology requisites. The results are expected as a fundamental data to help with solving the safety and economics issues when considering development and introduction of compact live-line robot for complex domestic electricity distribution environment.