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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.
주성현(Sung-Hyeon Joo),양선제(Seon-Je Yang),국태용(Tae-Yong Kuc),박종구(Jong-Koo Park),김용석(Yong-Serk Kim),고낙용(Nak-Yong Ko),문용선(Yong-Seon Moon) 한국해양공학회 2018 韓國海洋工學會誌 Vol.32 No.2
In this paper, we propose an adaptive backstepping controller to control the exact position and orientation of a remotely operated underwater vehicle with parametric model uncertainty. To further improve the angular velocity control precision of each thruster, a phase locked loop (PLL) controller has been added to the backstepping controller. A comparison of two backstepping controllers with and without the PLL control loop has been performed using simulations and experiments. The test results showed that the tracking performance could be improved by using the PLL control loop in the proposed adaptive backstepping controller.
이희준(Hee-Jun Lee),양선제(Seon-Je Yang),국태용(Tae-Yong Kuc),박종구(Jong-Koo Park),고낙용(Nak-Yong Ko),문용선(Young-Seon Moon) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.6
This paper proposes an adaptive backstepping controller for robust control of ROV(Remotely Operated 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. The mobility of robot is further boosted by combining an inner loop of PLL velocity control with a nonlinear dynamics backstepping control, which achieves agile robotic motion. Simulation results are given to prove the effectiveness of the proposed control method with a real ROV model, Diamond ROV of Redone co.
임지민(Ji-Min Lilm),양선제(Seon-Je Yang),국태용(Tae-Yong Kuc),박종구(Jong-Koo Park),고낙용(Nak-Yong Ko),문용선(Young-Seon Moon) 대한전자공학회 2016 대한전자공학회 학술대회 Vol.2016 No.6
In this paper, we propose a simple and effective path following controller for USV(Unmanned Surface Vehicle). The proposed controller consists of path planner, coordinator, velocity profile generator, and velocity-thruster converter. Simulation results demonstrate the effectiveness of the proposed path following controller