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인간-로봇 협업기술을 이용한 천장 유리 설치 자동화 로봇의 개발 및 성능평가
길명수(Myung-Su Gil),류병갑(Byung-Gab Ryu),리성걸(ChengJie Li),강민성(Min-Sung Kang),한창수(Chang-Soo Han) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
During the installation of heavy ceiling glasses on construction sites. the operator is exposed to dangerous environment and moreover the construction material are more likely to be damaged because of external force. In this study Ceiling Glass Installation Robot System is developed which will ensure operator's safety and will decrease the time of working process. To install the ceiling glass on construction sites. process design is drawn section wise and verified from the result of simulation. Also the robot is applied to construction sites and each section results are verified. The results show the improvement in the economical efficiency and safety. These results are also compared with the existing methods for comparison and analysis purpose.
이동하는 차량 네트워크에서 멀티캐스팅 지원의 통합 HIP-PMIPv6 핸드오프 기법의 성능분석
길명수,이승현,정종필,Gil, Myung-Soo,Lee, Seung-Hyun,Jeong, Jong-Pil 한국정보처리학회 2011 정보처리학회논문지 C : 정보통신,정보보안 Vol.18 No.6
본 논문에서 제안한 이동성 관리 기법은 PMIPv6(Proxy Mobile IPv6) 네트워크에서 HIP(Host Identity Protocol)과 멀티캐스팅을 기반으로 하며, 사용자는 서로 다른 관리 도메인간의 핸드오프가 허용된다. 이 기법의 주요 장점은 감소하는 시그널링 오버헤드와 패킷 손실을 가지는 두 가지 타입 노드의 도메인간 핸드오프를 가능하게 하는 것이다. 다시 말해서 이 기법은 네트워크 기반 이동성 지원기법인 멀티캐스팅 지원의 PMIPv6와 호스트 기반 이동성 지원방식인 HIP간의 상호작용을 가능하게 한다. 성능평가는 이 기법이 다른 전역적 이동성 관리 프로토콜과 비교하여 핸드오프 지연과 패킷 손실 측면에서 향상된다는 것을 입증한다. Our proposed mobility management scheme is based on Multicasting and HIP(Host Identity Protocol) in PMIPv6(Proxy Mobile IPv6) Networks, and allows users to handoff within and across different administrative domains. The main advantage of our scheme is to enable the inter-domain handoff of both types of nodes with a reduced signalling overhead and packet losses. Specifically, the scheme enables the interworking between host-based and network-based mobility support, by means of the interaction between PMIPv6 with Multicasting and HIP. Performance evaluations demonstrate that our scheme improves the handoff latency and packet losses compared to other global mobility management protocols.
Built-in guide 타입 다중 로봇의 고층 빌딩 외벽 청소를 위한 센서 기반 운동 계획 알고리즘
이승훈(Seunghoon Lee),김동형(Dong-Hyung Kim),강민성(Min-Sung Kang),길명수(Myung-Soo Gil),김영수(YoungSoo Kim),백성훈(SungHoon Back),한창수(Chang-Soo Han) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.5
With the increasing number of high-rise and large-scale buildings, modem buildings are becoming intelligent, and are incurring high construction costs and requiring careful maintenance. Maintenance works for high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. The resulting accidents may produce very high social and economic losses. To address this problem, herein, this paper proposes robotic building maintenance system using multi-robot concept, in specific, cleaning a building facade which is directly subjected to minimize human labor; that improves the process efficiency and economic feasibility. The sensor for detecting contamination of building’s outer-wall glass is proposed; Kalman filter was used for estimating robots" status with the contamination of the window glass. Task allocation of the sensor based multi-robots for an effective way of task execution is introduced and the feasibility was verified through the simulations.