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고경철(K. C. Koh),조형석(H. S. Cho) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
Real-time mobile robot controllers usually have been designed with an emphasis on control theory ignoring the importance of system integration. This Paper demonstrates that useful mobile robots require a real time controller with a wide range of capabilities in addition to control theory. These capabilties include: path-planning, position estimation, path tracking control and wheel control. An architectural framework supporting these capabilities has been designed and implemented. Using this frame work, individual modules such as a path planner, a path tracking controller, position esitmators, wheel controllers and other cruical elements have been successfully integrated into the control system for the LCAR robot which was developed as a proto-type mobile robot in our laboratory. The context of the research, the architecture, its implementation and performance results from experiments are discussed.
CAN 통신을 이용한 IPDM(intelligence power distribution module) 개발
이두길(D. K. Lee),고국원(K. W. Ko),고경철(K. C. Koh) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
In this paper, power distribution module for car relay control with Control area network is developed. This module is called Intelligent power distribution module because it has microprossor which can communicate with other electric module such as ECU and Body control module and also has self-diagonasis function. The developed IPDM module is tested on vehicle and the good performance has been achieved.