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마이크로컴퓨터를 이용(利用)한 엔진 성능시험(性能試?)의 자동화(自動化)에 관한 연구(硏究)(II) -모의(模擬) 부하시험(負荷試?) 시스템의 구성(構成) 및 평가(評價)-
류관희,배영환,윤기직,Ryu, K.H.,Bae, Y.H.,Yoon, K.J. 한국농업기계학회 1989 바이오시스템공학 Vol.14 No.1
This study was carried out to develop a system and methodology to simulate the engine load variation occuring during agricultural field operations for a laboratory engine test. The system consisted of an electric dynamometer, an Apple II microcomputer, and a data acquisition and control system. Several pieces of instruments were utilized to measure various engine performance data. Both engine torque and engine speed were fully controlled by a computer program. The dynamic characteristics of the system were analyzed through a series of tests and the limitations on the load simulation test were presented. The results of the study are summarized as follows: 1. Engine speed and toque were controlled by a computer program. The use of a stepping motor and reduction gears enabled engine speed be controlled within 1 rpm. 2. The natural frequency of the dynamometer-engine system was found to be around 5 Hz, at which the load simulation would be impossible because of resonance. 3. For the harmonic inputs with the frequencies above the natural frequency, the signal attenuated too much and therefore the load simulation was impossible. 4. The step response of the system showed an overshoot of 24.5 percent and the settling time for 5 percent criterion was around 3 seconds. 5. When actual field test data are utilized for load simulation, a low-pass filter should be included to attenuate the frequency components around and above the natural frequency.
과실수확(果實收穫) 로봇에 관한 연구(硏究)(II) -폐쇄회로(閉鎖回路) TV 카메라에 의한 과실(果實)의 위치검출(位置檢出)-
류관희,노상하,김영호,Ryu, K.H.,Noh, S.H.,Kim, Y.H. 한국농업기계학회 1989 바이오시스템공학 Vol.14 No.2
The most important subject in developing agricultural robots for fruit harvesting is to detect accurately the location of a fruit about the given coordinate system. This study was carried out to develop an image processing algorithm which enables finding out the three dimensional locations of a fruit. The digital image processing device consisted of an optosensor (Closed-circuit TV camera), image processing interface board (Digitizer) and microcomputer (IBM PC/AT). A stereo-image processing method using the two cameras attached to the manipulator was evaluated through experiment with apples. The accuracy and quickness of detecting the location of apples by this method was not satisfactory. The maximum errors of the detected locations by the stereo-image processing method in x-, Y-, and z- directions were 3, 4 and 4 cm, respectively. The maximum time required to get the rectangular coordinate data of a fruit was about 2 minutes.