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강수혁(Soo Hyeok Kang),김용호(Yong Ho Kim),문병준(Byoung Joon Moon),김동한(Dong Han Kim) 대한전자공학회 2011 電子工學會論文誌 IE (Industry electronics) Vol.48 No.4
본 논문에서는 Smart Floor라는 새로운 개념의 정보공간을 제안한다. Smart Floor는 이동로봇의 경로유도에 필요한 정보를 저장하고 있는 공간으로, 이동로봇은 외부의 도움 없이 목표위치에 도달할 수 있다. 이를 위하여 RFID 태그 포장을 통하여 Smart Floor를 구현하고, UHF(Ultra High Frequency) 대역의 수동 RFID 시스템을 장착한 이동로봇을 제작하였다. Smart Floor에 저장되는 정보는 Q학습을 통해 미리 시뮬레이션 된 값으로, 임의의 시작위치에서 목표위치까지 가는데 필요한 방향값과 Q값이다. 본 연구는 Smart Floor의 구성과 정보를 이용하는 이동로봇 어플리케이션 개발에 도움을 줄 것이다. This paper proposed a new concept of information space called Smart Floor. Smart Floor is an intelligent space where a mobile robot can read and write specific information through Radio Frequency IDentification (RFID) tags which are mounted on Smart Floor to drive its goal position. RFID tag packaging technology is described for building Smart Floor. Also a mobile robot equipped passive RFID System with ultra high frequency (UHF) bandwidth has developed. The information that consists of an absolute position in the Smart Floor and desired direction saved on RFID tags is a simulated Q-value based on Q-learning algorithm. Proposed Smart Floor will be a proper method to communicate between space and robot.
XCP 다중 접속을 통한 자동화 캘리브레이션 툴의 시간지연 문제 해결 방법
강수혁(Soo-Hyeok Kang),김대우(Dae-Woo Kim),변세희(Se-Hee Byun),김성재(Sung-Jae Kim),소창영(Chang-Young So) 대한전자공학회 2018 대한전자공학회 학술대회 Vol.2018 No.6
Vehicle ECU Calibration Tool directly accesses to ECU internal variables, changes its value, and measures the operation results. However, it occurs a time delay problem when executed on Windows OS. This paper introduces a method of resolving time delay problem by XCP multiple access and suggests the system using Arduino board.
차량 배기가스 인증모드 무인주행을 위한 차속 추종 자동화 시스템 개발
강수혁(Soo-Hyeok Kang),김대우(Dae-Woo Kim),성봉진(Bong-Jin Seoug),김영학(Yeong-Hak Kim),박규도(Gyu-Do Park),김근수(Geun-Su Kim) 대한전자공학회 2020 대한전자공학회 학술대회 Vol.2020 No.8
In this paper, we propose a vehicle speed tracking automation system for autonomous driving in the vehicle emission certification mode. We controlled the acceleration by creating an acceleration voltage, and the deceleration control used a brake robot. Using this system, the exhaust gas certification mode test can be automated. The proposed system was tested through actual vehicle driving.
김동한(Donghan Kim),강수혁(Soo-Hyeok Kang),이은진(Eun-Jin Lee),고국원(Kuk Won Ko),남상엽(Sang Yep Nam) 大韓電子工學會 2009 電子工學會論文誌 IE (Industry electronics) Vol.46 No.3
본 논문에서는 Limit-cycle 항법의 안정성을 분석하고 path follwer를 제안한다. Limit-cycle 항법은 2차 비선형함수의 특징을 이용하며, 빠른 이동로봇의 움직임을 제어하기 위해 제안되어졌다. Limit-cycle의 수렴반경과 방향을 조절하여 충돌 없이 장애물을 회피하고, 목표점에 도달할 수 있다. 하지만 지금까지 Limit-cycle 항법의 안정성은 연구되어지지 않았다. 따라서 본 논문에서는 이러한 안정성을 분석하고, Limit-cycle 항법을 로봇축구에 적용하여, 시뮬레이션과 실제 실험에서 제안된 방법을 검증한다. Because the stability of obstacle avoidance ability is important for the safe operation of mobile robots, this paper deals with the analysis of dynamic stability of Limit-cycle navigation method that was proposed by authors. Limit-cycle navigation method is fast and easy to implement for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. The stability of Limit-cycle navigation method is analyzed with a linear model. To demonstrate the effectiveness and applicability, it is applied to the robot soccer. Simulations and real experiments ascertain the merits of the proposed method.
박규도(Gyu-Do Park),강수혁(Soo-Hyeok Kang) 대한전자공학회 2023 대한전자공학회 학술대회 Vol.2023 No.6
In recent years, the manufacturing and logistics industries have been utilizing artificial intelligence technology to improve productivity. Among them, predicting potential risks and detecting them in advance to prevent collisions in product shipping areas is crucial. In this paper, we developed a detection system based on a deep learning model to prevent forklift safety accidents. To this end, driving videos of forklifts were collected at the product shipping site and a model was built that recognizes forklifts, trucks, and people by learning them. Using this model, a system was implemented that sounds an alarm to the driver and pedestrian when there is a possibility of collision between the forklift or truck and the person. The detection system can be monitored in real-time with Mean AP 55.3%, 13.2 FPS with VGG16-SSD model and Mean AP 45.9%, 17.9 FPS with MobileNetV2-SSD model. This system will contribute to creating a safe working environment.
실험계획법과 성능지표 분석을 통한 차량 액추에이터의 최적 제어인자 탐색 방법
변세희(Se-Hee Byun),김대우(Dae-Woo Kim),강수혁(Soo-Hyeok Kang),김성재(Sung-Jae Kim),민경국(Kyoung-Kook Min) 대한전자공학회 2018 대한전자공학회 학술대회 Vol.2018 No.6
PID controller is commonly employed to control actuators in engine management system. It is very important to search for the optimal control parameters in PID controller. This paper introduces a search method of optimal PID control parameters by Design of Experiments(DoE) and proposed performance criterion.