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박강일,우창준,이장명,Park, Kang-IL,Woo, Chang-Jun,Lee, Jangmyung 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.8
This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research.
박강일(Kang-IL Park),우창준(Chang-Jun Woo),이장명(Jangmyung Lee) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1
This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using the SIFT and CAMSHIFT algorithms for the hybrid visual servoing. The CAMSHIFT algorithm using stereo camera images has been used to obtain the three-dimensional position and orientation of the mobile robot. With the hybrid visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. A PID controller algorithm has adopted in this research for the control of the manipulator since the algorithm is simple to design and it does not require unnecessary complex dynamics. To demonstrate the control performance of the hybrid visual servoing, real experiments are performed using the mobile manipulator system developed for this research.
박강일(Kang-Il Park),김해중(Hae-Joong Kim),김도진(Do-Jin Kim),홍정표(Jung-Pyo Hong) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5
Recently, the research and development which the main component of hybrid vehicle is underway. So, improving the efficiency of electric motors is important. In this paper, the efficiency according to the ratio of out diameter and stack length is studied analytically. To verify proposed method, the analytic results are compared to the characteristic results which are calculated from equivalent circuit.
ZnO 투명 전도막의 전기적 특성에 미치는 Al<sub>2</sub>O<sub>3</sub> 의 도핑 농도 및 방전전력의 효과
박민우,박강일,김병섭,이세종,곽동주,Park Min-Woo,Park Kang-Il,Kim Byung-Sub,Lee Se-Jong,Kwak Dong-Joo 한국재료학회 2004 한국재료학회지 Vol.14 No.5
Transparent ZnO:Al conductor films for the optoelectronic devices were deposited by using the capacitively coupled DC magnetron sputtering method. The effect of Al doping concentration and discharge power on the electrical and optical properties of the films was studied. The film resistivity of $8.5${\times}$10^{-4}$ $\Omega$-cm was obtained at the discharge power of 40 W with the ZnO target doped with 2 wt% $Al_2$$_O3$. The transmittance of the 840 nm thick film was 91.7% in the visible waves. Increasing doping concentration of 3 wt% $Al_2$$O_3$ in ZnO target results in significant decrease of film resistivity, which may be due to the formation of $Al_2$$O_3$ particles in the as-deposited ZnO:Al film and the reduced ZnO grain sizes. Increasing DC power from 40 to 60 W increases deposition rate by more than 50%, but can induce high defect density in the film, resulting in higher film resistivity.
원통형 타겟 타입 Pulsed DC Magnetron Sputtering에서 두께 변화에 따른 Al-doped ZnO 박막의 특성 변화
신범기,이태일,박강일,안경준,명재민,Shin, Beom-Ki,Lee, Tae-Il,Park, Kang-Il,Ahn, Kyoung-Jun,Myoung, Jae-Min 한국재료학회 2010 한국재료학회지 Vol.20 No.1
Various thicknesses of Al-doped ZnO (AZO) films were deposited on glass substrate using pulsed dc magnetron sputtering with a cylindrical target designed for large-area high-speed deposition. The structural, electrical, and optical properties of the films of various thicknesses were characterized. All deposited AZO films have (0002) preferred orientation with the c-axis perpendicular to the substrate. Crystal quality and surface morphology of the films changed according to the film thickness. The samples with higher surface roughness exhibited lower Hall mobility. Analysis of the measured data of the optical band gap and the carrier concentration revealed that there were no changes for all the film thicknesses. The optical transmittances were more than 85% regardless of film thickness within the visible wavelength region. The lowest resistivity, $4.13\times10^{-4}\Omega{\cdot}cm^{-1}$ was found in 750 nm films with an electron mobility $(\mu)$ of $10.6 cm^2V^{-1} s^{-1}$ and a carrier concentration (n) of $1.42\times10^{21} cm^{-3}$.