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도현민(Do Hyun-Min),김용식(Kim Yong-Shik),김봉근(Kim Bong-Keun),이강(Lee Ghang),윤석헌(Yun Seok-Heon) 대한건축학회 2009 大韓建築學會論文集 : 構造系 Vol.25 No.3
Automation and robotization has been required in construction for several decades to reduce the cost and time and to increase the productivity and safety. Especially for steel construction in high-rise building, the needs for automation is emphasized because this is inherently a very dangerous and difficult job. As one procedure of automation, the equipment like robotic crane should carry steel frames from staging area to the installed spot automatically. To do this, the position and pose of steel frames should be known to robotic crane. This paper presents a recognition and localization method for steel frame materials to remedy this problem. In the proposed method, the shape model is acquired by RF-ID technology and the loading shape of steel frame materials in staging area is recognized by laser range finder (LRF) sensors. After clustering the scanned data into several objects, scan matching method is applied to recognize each object. Experimental results are included to verify the performance of the proposed method.
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도현민(Hyun Min Do),최진영(Jin Young Choi),경진호(Jin Ho Kyung) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
This paper presents a design method of the reference governor for an adaptive system with input constraints. When the input has a constraint, the input saturation might happen and thus, the controller cannot work correctly. In the case of an adaptive system, the known bound of the approximation error is required. The reference governor can improve the performance compared with the systems without the reference governor. This result is the extension of the previous one for a nonlinear system to an adaptive system which has an adaptive controller and a partially unknown dynamics to be approximated by adaptive laws in an online manner.