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M-Space를 이용한 자동 주차를 위한 주차경로 생성
김달형,정우진 한국로봇학회 2008 로봇학회 논문지 Vol.3 No.1
Automatic parking assist system is one of the key technologies of the future automobiles. Control problem of a car-like vehicle is not easy due to the nonholonomic constraints. In this paper, a practical solution for planning a car-parking path is proposed according to the proposed motion space (M-space) approach. The M-space is the extension of the conventional configuration space(C-space). A collision-free, nonholonomic feasible path can be directly computed by the M-space conversion and a back-propagation of reachable regions from the goal. the proposed planning scheme provide not a single solution, but also a candidate solution set, therefore, optimization of the parking path can beeasily carried out with respect to performance criteria such as safety, maneuvering, and so on. Presented simulation results clearly show that the proposed scheme provides various practical solutions.
떼를 지은 세라티아 마르체센스의 전기주성(電氣走性)을 이용한 마이크로 구조물의 제어에 관한 실험적 연구
곽영헌(Young-Hun Kwak),김달형(Dalhyung Kim),김지훈(Jihoon Kim),김지영(Jiyoung Kim),김기로(Kiro Kim),김민준(Min-Jun Kim),변도영(Doyoung Byun) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
Serratia marcescens are rod-shaped bacterium, human pathogen, and flagellate bacteria. We have investigated micro-actuator based on SU-8 structures by S. marcescens in microfluidics system. Microstructures fabricated using conventional micro-fabrication techniques are blotted on the swarm plate, which leaves a bacterial monolayer on the surface of the microstructure. We have investigated microstructures powered by S. marcescens to determine how cell orientation on the microstructure surface relates to the swarming patterns as well as how the orientation is affected by external stimulus. From this result, we will help to enhanced direction control of bacteria such as micro-assembly and micro-manipulation.