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무인자율차량 적용을 위한 DGPS 기반 전역지도 작성기법
손웅희(Woong-Hee Shon),유승남(Seung-Nam Yu),김영일(Young-Il Kim),한창수(Chang-Soo Han) 한국산업융합학회 2010 한국산업융합학회 논문집 Vol.13 No.2
This study shows the path generation algorithm for an UGV (Unmanned Ground Vehicle). The developed UGV frame which has a 4-wheel driven mechanism and diesel source is applied. Proposed vehicle system in this research is aimed to military purpose. To achieve the unmanned autonomous driving, following two main issues are considered. First, behavior module for positioning and posture of vehicle system and second, cognition module to receive the information from environment are proposed and verified. To do this, rover which can acquire the positioning information from earth coordinate and IMU (Inertial Measurement Unit) which can measure the posture are combined to design the path planning algorithm.
군집 이동형 사회안전 로봇을 위한 효율적인 수색 알고리즘 개발
손웅희(Woong-Hee Shon),한창수(Chang-Soo Han),지상훈(Sang-Hoon Ji) 대한전기학회 2010 전기학회논문지 Vol.59 No.9
In this paper, we aim at providing a novel sweeping method for multi-security mobile robots. The sweeping problem of the multi-robots can be modeled as the stick pulling problem in which the swarm robots should sweep unknown terrains in order to remove sticks collaboratively. For the purpose, we define a certain map, what is called stick map. And we suggest how to make swarm robots build up and utilize the map in order to improve the productivity of collaborative removing sticks. Finally, the efficiency of our algorithm is verified with simulation experiments.
손웅희(Shon, Woong-Hee),유승남(Yu, Seung-Nam),이상호(Lee Sang-Ho),한창수(Hahn Chang-Su) 한국산학기술학회 2010 한국산학기술학회논문지 Vol.11 No.11
본 보행 로봇의 자세 제어는 일반적으로 센서 시스템을 통한 외부 환경 및 기타 정보의 인식을 통해 수행 된다. 보다 정교한 로봇의 제어를 위해서는 필연적으로 고성능 센서를 요구하게 되지만, 이들은 대부분 고가이거나 내구성 측면에서 매우 취약한 것이 사실이다. 따라서 필드로봇과 같이 야지의 환경에서 운용되는 로봇 시스템의 제 어를 위해서 이러한 센서 시스템을 다수 채용하는 것은 비현실적이며, 특히 양산시에도 큰 걸림돌로 작용할 수 있다. 이에 본 연구에서는 신경망 이론의 역전파 알고리즘에 기반을 둔 가상센서 알고리즘을 활용하여 기존의 센싱 데이터 를 추정할 수 있는 기법을 소개하고자 한다. 특히 본 논문에서는 추정된 센서 데이터의 품질을 향상 시킬 수 있는 알고리즘 측면에서의 변수 조절 및 센서 시스템과 같은 하드웨어 측면에서의 변화를 통해 성능인자에 영향을 미치는 요소를 파악함과 동시에, 본 기법의 타당성에 대한 측면을 함께 논하였다. The sensor data which is measured by Quadruped robot is utilized to recognize the physical environment or other information and to control the posture and walking of robot system. In order to control the robot precisely, high accuracy of sensor data is required, most of these sensors however, belongs to expensive and low-durable products. Moreover, these are exposed excessive load operation in a field condition if it is applied to field robot system. This issue becomes more serious one when the robot system is manufactured as a mass product. As in this context, this study suggests a virtual sensor technology to alternate or assist the main sensor system. This scheme is realized by using back-propagation algorithm of neural network theory, and the quality of estimated sensor data could be improved through the algorithmic and hardware based treatments. This study performs the various trial to identify the effective parameters which effect to the quality and reliability of estimated sensor data and tries to show the possibility of proposed methodology.
박해수,손웅희,윤용산,Park, Hae-Soo,Shon, Woong-Hee,Yoon, Yong-San 대한의용생체공학회 1989 의공학회지 Vol.10 No.3
The initial impact at foot strike is produced by a slider type mechanical model, which can be measured using a force platform to evaluate various shoes. The lower extremity and foot motion was filmed by a 16mm high speed movie camera and several points on the rear half of the shoe and those near the trochanter and the lateral epicondyle were digitized to provide the linear and angular positions and velocities during impact. With these observed kinematics, a slider type foot strike simulator composed of guide rail and sliding dummy is designed. The simulator system makes the artificial foot of the dummy with running shoe on it to follow the foot strike motion. The dummy has the relevant mass-spring-damper system modeled after McMahon's. The motion of the model is drived by the gravity force and the generated motion alone with the ground reaction forces are monitored by the same procedures afore mentioned producing the initial foot strike impact similar to the onto observed in human gait.
도로포장 구조체의 물성 추정을 위한 FWD의 설계 및 제작
황성호(Sung-Ho Hwang),손웅희(Woong-Hee Shon),최경락(Gyeong-Rak Choi) 한국자동차공학회 2002 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2002 No.5_2
Many structural evaluation procedures of road and airfield pavements use the Falling Weight Deflectometer (FWD) as a critical element of non-destructive deflection testing. FWD is a trailer mounted device that provides accurate data on pavement response to dynamic wheel loads. A dynamic load is generated by dropping a mass from a variable height onto a loading plate. The magnitude of the load and the pavement deflection are measured by a load cell and geophones. And database concerning pavement damage should be enhanced to analyze loss of thickness asphalt layer caused from the plastic deformation of pavement structure, such as cracking or rutting.<br/> The prototype FWD is developed, which consists of chassis system, hydraulic loading system, data acquisition and analysis system. This system subsequently merged to form automation management system and is then validated and updated to produce a working FWD which can actually be used in the field.<br/>
인체 자중 보상 및 로봇 경로계획법을 이용한 이동형 보행 재활 시스템 개발
유승남(Seung-Nam Yu),손웅희(Woong-Hee Shon),서승환(Seung-Whan Suh),이상호(Sang-Ho Lee),한창수(Chang-Soo Han) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.10
With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot’s body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.