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김한솔(Han-Sol Kim),이경준(Kyung-Jun Lee),정동연(Dong-Yean Jung),이연형(Yeon-Hyeong Lee),박재현(Jea-Hyun Park),김갑순(Gab-Soon Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1
This paper describes the design for a defective product inspection device for the curved glass used in smart-phone. Cameras are used as inspection devices to find cracks in LCDs (Liquid Crystal Displays), PDPs (Plasma Display Panels), etc. The devices used to inspect the curved glass used in smart-phone consist of a camera, two back-light apparatus, an inspection apparatus main body, and an image processing program. Camera image calibration was performed to smooth an image taken with the camera, and as a result, the average error was less than 0.12 pixels. And the image of a smart-phone"s curved glass taken with the camera was processed using the produced program. As a result, the program could correctly extract the cracks on the curved glass. Thus, it is thought that the designed inspection device can successful detect cracks in curved tempered glass.
이미지 프로세싱 기반 철근콘크리트 구조물의 균열진단 로봇 개발에 관한 연구
김한솔 ( Kim Han-sol ),장종민 ( Jang Jong-min ),김영관 ( Kim Yeung-kwan ),이한승 ( Lee Han-seung ) 한국건축시공학회 2022 한국건축시공학회 학술발표대회 논문집 Vol.22 No.1
Cracks may occur in reinforced concrete (RC) structures due to various physical and chemical factors, and the growth of cracks causes deterioration of the structure's performance. It is important to prevent the expansion of cracks through periodic diagnosis of cracks in structures. In order to enable free crack exploration even in a narrow space, a construction robot using a Mecanum wheel that can move up, down, left and right and rotate in place was designed. High-quality crack images were periodically collected through the camera, and the image fragments stored during the exploration were combined into a single photo after the exploration was completed. The robot detected cracks with a width of 0.2 mm or more on the concrete probe surface with an accuracy of about 90% or more.
김한솔 ( Han Sol Kim ),김경택 ( Kyung Taek Kim ),조규섭 ( Gu Serb Cho ),강황진 ( Hwang Jin Kang ),김교한 ( Kyo Han Kim ),김원용 ( Won Yong Kim ) 대한금속재료학회 ( 구 대한금속학회 ) 2009 재료마당 Vol.22 No.2
생체재료용 Ti 합금에 관한 연구는 Ti-Nb계 합금의 저탄성계수와 초탄성·형상기억특성 향상에 초점을 두고 일본과 우리나라에서 활발히 진행되어 왔다. 이들의 연구결과를 종합해 보면, 저탄성계수와 초탄성·형상기억특성 향상은 모두 β상의 상안정성과 집합조직에 크게 영향을 받는다고 할 수 있다. 현재까지 Ti-Nb계 합금의 탄성계수가 상용의 Ti합금에 비해 월등히 낮은 값을 보이지만 아직까지 인체 뼈에 비해 높은 값을 가지고 있으며, 또한 초탄성·형상기억특성은 Nitinol합금에 비해 절반 정도에 불과하여, 앞으로도 탄성계수 저감과 초탄성·형상기억특성 향상에 대해 개발할 여지가 많이 남아있다. 이와 같은 기계적 특성과 함께 생체골의 동작 특성을 고려한 피로특성 또한 연구개발이 필수적으로 동반되어야 할 부분으로 많은 연구자들의 연구수행을 기대하여 본다. 마지막으로 연구개발 수행합금의 in-vitro 및 in-vivo 시험과 같은 생체적합성에 대한 연구 및 임상분야의 연구도 지속적으로 수행되어야 할 것이다.
IoT센서를 이용한 고로슬래그 혼입 콘크리트의 압축강도 예측 시스템 개발에 관한 기초 연구
김한솔 ( Kim Han-sol ),장종민 ( Jang Jong-min ),민태범 ( Min Tae-beom ),이한승 ( Lee Han-seung ) 한국건축시공학회 2020 한국건축시공학회 학술발표대회 논문집 Vol.20 No.1
The change of temperature and humidity in early-age concrete has a great influence on the durability of the structure. In this study, a reliable wireless sensor network system and a concrete embedded type Compressive strength prediction sensor were designed using the Arduino platform. The accuracy of the compressive strength prediction sensor was verified through a mock-up experiment, and it was confirmed that the experiment had sufficient accuracy to be used in the field environment.
다리 환자를 위한 보행보조로봇의 종아리 링크 3축 힘센서 개발
김한솔 ( Han-sol Kim ),김갑순 ( Gab-soon Kim ) 한국센서학회 2017 센서학회지 Vol.26 No.2
This paper describes the design and fabrication of a three-axis force sensor with parallel plate beams (PPSs) for measuring the calf force while a patient with a walking assist robot is walking. Current walking assist robots can`t measure the weight of the patient`s leg and the robot`s leg which required for robot control. So, the three-axis force sensor in the calf link is designed and manufactured, it is composed of a Fx force sensor, a Fy force sensor and a Fz force sensor. The three-axis force sensor was designed using by FEM(Finite Element Method), and fabricated using strain-gages. The characteristics experiment of the three-axis force sensor was carried out respectively. The test results indicated that the repeatability error and the non-linearity error of three-axis force sensor was less than 0.04% respectively. Therefore, the fabricated three-axis force sensor in the calf link can be used to measure the patient`s calf force in the walking assist robot.
김한솔,박진배,주영훈,Kim, Han Sol,Park, Jin Bae,Joo, Young Hoon 대한전기학회 2017 전기학회논문지 Vol.66 No.1
In this paper, we propose a method of designing the sampled-data tracking controller for nonlinear systems expressed by the Takagi-Sugeno (T-S) fuzzy model. A sufficient condition that asymptotically stabilizes the state error between the linear reference model and the T-S fuzzy model is derived in terms of linear matrix inequalities. To this end, error dynamics are constructed, and the exact discretization method and the Lyapunov stability theory are employed in this paper. Finally, we validate the proposed method through the simulation example.
김한솔(Han Sol Kim),주영훈(Young Hoon Joo) 대한전기학회 2019 전기학회논문지 Vol.68 No.7
This paper deals with the fault tolerant control design problem for a Takagi-Sugeno (T-S) fuzzy system. The exact discretization approach is employed to derive the linear matrix inequality (LMI)-based stability condition of the system in which the continuous-time and discrete-time state variables are mixed due to the sampled-data controller feeding back the sampled state vector. Moreover, it is assumed that the controller includes an uncertain fault matrix that varies in time. Therefore, the time-varying fault matrix appears in the stability condition, which complicates the analysis. To handle this problem, the fault matrix is decomposed into both time dependent and independent terms using its upper and lower bounds. And then, the resulting stability condition is constructed to only depend on the time independent terms of the fault matrix. Finally, the proposed sampled-data fault tolerant controller design method is validated through the simulation example.