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박용운(Yongwoon Park),강윤식(Younsik Kang),백인철(Inchul Hak),박규철(Kyuchul Park),박준성(Junsung Park) 한국자동차공학회 2000 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Recently, some of the passenger vehicles use the navigation system which have the map on the background with related informations for the driver. Similar system has been used in the combat vehicles to enhance the combat readiness and information sharing for the crews. This research presents the Information Processing and Display System(IPDS) which has been developed for the validation of combat vehicle adaptation. Most of the contents cover the function of the map display with related<br/> information with respect to the operational environment, symbol, navigation and position, and information and data communications.
보완 골격 알고리듬을 이용한 구난로봇의 자체 충돌감지/회피
이원석,홍성일,박규현,강윤식,Lee, Wonsuk,Hong, Seongil,Park, Gyuhyun,Kang, Younsik 한국군사과학기술학회 2015 한국군사과학기술학회지 Vol.18 No.4
This paper handles self-collision avoidance for a rescue robot with redundant manipulators. In order to detect all available self-collisions in advance, minimum distances between arbitrary robot parts should be monitored in real-time. For the minimum distance estimation, we suggest a modified method from a previous skeleton algorithm which has less computation burden and realize collision avoidance based on a potential function using the proposed algorithm. The resultant command by collision avoidance should not disturb a given primary task, so null-space of joint solution from a CLIK is utilized for collision avoidance by a gradient projection method.