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About RISS
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RISS 처음 방문 이세요?
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고객센터
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RISS 활용도 분석
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최신/인기 학술자료
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해외자료신청(E-DDS)
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RISS API 센터
http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : 문형필(Hyungpil Moon) (검색결과 18 건)
- 무료
- 기관 내 무료
- 유료
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언리얼 엔진을 이용한 다개체 주행 로봇용 시뮬레이터 개발
정홍렬(Hong-ryul Jung),박영제(Yeongje Park),문형필(Hyungpil Moon) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.11
Multi-robot system is an essential part of the research of intelligent logistics. But experiments of them in the real world require enough space and are very expensive. Therefore, simulation is necessary. Besides, it takes much time to build a virtual world for experiments of multiple robots, so it is required to have a tool for fast environment construction. This paper proposes a program structure, suitable for the simulation of a multi-agent system, and the design of the JSON file to define environments. General-purpose robotic simulators are challenging to construct large scale visually rich environments. Therefore, we implemented a simulator with the proposed structure using the Unreal Engine. The proposed simulator will aid in the study of multiple mobile robots by reducing the time to build an environment and providing photorealistic simulations.
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곡관 및 분기관이 존재하는 배관 검사용 이동 로봇 설계
한상철(SangChul Han),이건욱(KunWook Lee),문형필(Hyungpil Moon) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
Periodical inspection and monitoring on industrial structure, such as nuclear power plant, petrochemical complex, ships, bridges are very important to secure safety industrial structure. However, most of current inspection methods have been performed in dangerous or limitative a place for human. In this paper, we introduce a pipe inspection climbing robot which consists of adhension mechanism and moving mechanism for climbing at high speed and obstacle avoiding mechanism for overcoming bend-pipe or branch-pipe. We have designed a robot mechanism and performed static equilibrium conditions and dynamic simulation using Recurdyn.
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모바일 조작 작업을 위한 역접근성 기반의 효율적인 베이스 재배치 방법
정홍렬(Hong-ryul Jung),전정민(Jeongmin Jeon),프란시스코 윰블라(Francisco Yumbla),문형필(Hyungpil Moon) 한국로봇학회(논문지) 2021 로봇학회 논문지 Vol.16 No.4
This paper proposes a new method to generate inverse reachability maps that are more efficient for mobile manipulators than the previous algorithms. The base positioning is important to perform the given tasks. Using the inverse reachability method, we can know where to place the robot"s base for given tasks. For example, the robot successfully performed the task with relocation, even when the target is initially in a low manipulability area or outside the workspace. However, there are some inefficiencies in the online process of the classical inverse reachability method. We describe what inefficiencies appear in the online phase and how to change the offline process to make the online efficient. Moreover, we demonstrate that the proposed approach achieves better performance than usual inverse reachability approaches for mobile manipulation. Finally, we discuss the limitations and advantages of the proposed method.
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연속적인 시간축을 적용한 다개체 로봇의 그래프 기반 경로계획 알고리즘 설계
정홍렬(Hong-ryul Jung),황호연(Ho-yeon Hwang),박영제(Yeongje Park),문형필(Hyungpil Moon) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
In multi-robot environments, paths can overlap or deadlocks can occur. In this paper, we describe an efficient way to extend the graph-based path planning algorithm to a continuous and unbounded time axis. Some algorithms used graphs with time axes to solve problems of multi-robot environments, but there was a limit. These limits are due to the discrete representation of continuous time. We use the concept of vertex-blocks and vertex-columns to represent vertices in continuous time-space. The advantage of this method is that the upper and lower bounds of the time axis can be made infinite. In addition, it can make effective path generation by using information on when and where other robots or dynamic obstacles are planned to pass. The simulation shows that this algorithm distinguishes if it waits for a while or whether it should create a bypass path. The proposed algorithm can be applied to various path planning algorithms including time information.
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마그네틱 랜드마크의 자기장 특성을 이용한 모바일 로봇의 위치 인식 기술 개발
유원석(Won Suk You),최병준(Byung June Choi),문형필(Hyungpil Moon),구자춘(Ja Choon Koo),정완균(Wankyun Chung),최혁렬(Hyouk Ryeol Choi) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.5
본 논문에서는 마그네틱 랜드마크의 자기장 특성을 이용한 위치 인식 기술을 제안한다. 마그네틱 랜드마크를 이용한 전역 위치 인식에 관한 기존 연구는 상대 위치 인식 및 작대 위치 인식 모두 정밀하나 한정된 작은 작업 공간내에서 위치 인식이 가능하며, 모바일 로봇이 반드시 랜드마크를 인식할 수 있는 위치에 놓여있어야 한다는 한계점이 있다. 따라서 본 논문에서는 상기의 위치 인식 기술의 한계를 극복하기 위하여 임의의 시작점에서의 첫 랜드마크 탐색 문제의 해결책을 제시하고 기존의 전역 위치 인식 기술과 통합함으로써 하나의 완성된 위치 인식 기술을 개발하였다. 마지막으로 실험을 통해 이 알고리즘을 탑재한 임의의 위치에 놓여진 모바일 로봇이 절대적인 위치를 알 수 있음을 검증했다. In this paper, we present self-localization for a small mobile robot’s self-localization using characteristics of magnetic landmarks. In previous our research, it was possible to localize a mobile robot in the global manner correctly on the surface of structured environment with magnetic landmarks. Still, this localization method could be used when the robot placed on the magnetic landmark. Therefore, we integrate landmark center estimation method using coordinates of magnetic territory’s enter points, landmark center estimation method using neutral magnetic valley and global localization method into one algorithm. To validate integrated self-localization algorithm by mobile robot applied experiments. Experimental results show that the mobile robot which located on arbitrary position with no prior knowledge of it’5 own pose information can find its location in the test bed using characteristics of Magnetic Landmarks.
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