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심형원(Hyungwon Shim),이지홍(Jihong Lee) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.11
This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot’s body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body’s gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And, the method provides the maximum translational and rotational acceleration boundaries of body’s center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite norm-sense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.
다관절 해저로봇 크랩스터의 정밀 수중 탐사 작업을 위한 기능 시험
심형원(Hyungwon Shim),전봉환(Bong-Huan Jun),유승열(Seong-yeol Yoo) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This paper describes the recent experiments on enhanced functions for underwater walking, exploration, and work of multi-legged seabed walking robot, Crabster(CR200), which was developed for precise seabed exploration and underwater works under coastal area with strong tidal current. The experiments were conducted in ocean engineering tank of KRISO and off the Taean Ma Island in west sea of Korea. In the experiments, we tested the waypoint tracking control for autonomous walking, the hula-hoop motion control for acquisition of high quality seabed image from scanning sonar, and the workspace control for precise underwater work using manipulator. In this paper, we present the results of the experiments to verify the performance of enhanced functions for precise exploration and work using CR200 in underwater environment.
심형원(Hyungwon Shim),이지홍(Jihong Lee),김근홍(Geun-Hong Kim),서일성(Il-Sung Seo) 대한전자공학회 2007 대한전자공학회 학술대회 Vol.2007 No.11
This paper proposes for design system for monolayer FSS(Frequency Selective Surface) with various pattern. The proposed system derives optimal design parameters through theory of electromagnetic scattering on FSS, DB(Data Base) implemented from simulation data obtained from commercial tool for FSS analysis, and GA(Genetic Algorithm) for optimizing design parameters. Given characteristics specified by operators, the DB system searches the best matching FSS, and provides initial genes to GA from the searched parameters.
심형원(Hyungwon Shim),이지홍(Jihong Lee),서일성(Ilsong Se),김근홍(Geunhong Kim) 대한전자공학회 2008 電子工學會論文誌-TC (Telecommunications) Vol.45 No.-
본 논문에서는 원하는 주파수 특성을 갖는 FSS(Frequency Selective Surface)를 설계자가 원하는 주기 패턴으로 자동 설계해주는 효율적인 시스템을 제안한다. 제안된 설계 시스템은 임의의 패턴의 FSS를 해석할 수 있는 툴과 측정 및 시뮬레이션을 통해 구축된 유한한 숫자의 FSS들의 데이터베이스(DB) 및 최적 설계 파라미터를 구하기 위한 수치 해석적 도구인 유전알고리즘(GA)을 이용하여 최적화된 설계 파라미터를 구해준다. 설계 시스템에 사용된 FSS 해석 툴은 모멘트 방법을 이용하여 임의 형상의 구멍을 갖는 단층 금속판의 FSS를 해석할 수 있는 툴에 시뮬레이션 시간을 줄이기 위한 유전체가 포함된 FSS의 근사적 해석 방법을 도입한 시스템이다. 또한, DB 시스템은 설계자가 원하는 패턴의 형상과 주파수 특성이 설계 시스템에 입력되면, 설계자가 요구한 특성과 가장 유사한 패턴을 찾아 GA의 초기 개체로 설정해주어, GA로 하여금 FSS 해석 툴을 이용하여 최적화된 FSS 설계 파라미터들을 구하기 위한 연산 시간을 단축시켜준다. 본 논문에서는 다양한 패턴에 대한 시뮬레이션과 실험을 통하여 제안된 FSS 설계 시스템의 타당성을 검증하였다. This paper proposes the efficient system for automatic design of FSS(Frequency Selective Surface) with periodic pattern and frequency characteristics specified by operator. The proposed system derives optimal design parameters through tool for analysis of FSS with arbitrary pattern, DB(Data Base) implemented from limited simulation and measurement data of FSS, and GA(Genetic Algorithm) for optimizing design parameters. FSS analysis tool consists of two analysis tools. One is the simulator for analysis of monolayer FSS that using moment method, another is the tool with approximated analysis method of FSS with dielectric layer. Given pattern configuration and characteristics specified by operators, the DB system searches the best matching FSS, and provides initial genes to GA from the searched parameters, which drastically reduces running time of GA for finding the FSS design parameters. In this paper, the proposed design system is verified through simulation and measurement about FSS with various patterns.
다관절 해저 로봇 CR200의 다리 겸용 로봇 팔 설계
강한구(Hangoo Kang),심형원(Hyungwon Shim),전봉환(Bong-Huan Jun),이판묵(Pan-Mook Lee) 대한조선학회 2012 대한조선학회 학술대회자료집 Vol.2012 No.5
The KORDI has launched a new project to develop multi-legged subsea robot, named CR200, for precise proximity exploration and precise underwater work in the shallow sea under 200m depth. In this project, a six-legged underwater robot is proposed for the both of seabed walking and underwater working in the high tide and high turbidity environment. The proposed robot uses two front legs as manipulators. This paper deals with the design of robot arm combined with leg for the six-legged subsea robot. First, The kinematics structure and shapes of robot arm combined with leg are established. Second, the specific design is performed such as calculation of torque for joints and selections of motor, reduction gears, sensors, and motor controller. Finally, mechanical designs were performed using 2D and 3D CAD design tools. All of the design process will be presented in this paper
심해무인잠수정 해미래를 이용한 다중빔 음향측심기의 운용
박진영(Jin-Yeong Park),심형원(Hyungwon Shim),이판묵(Pan-Mook Lee),전봉환(Bong-Huan Jun),백혁(Hyuk Baek),김방현(Banghyun Kim),유승열(Seong-Yeol Yoo),정우영(Woo-Young Jeong) 한국해양공학회 2017 韓國海洋工學會誌 Vol.31 No.1
This paper presents the operations of a multi-beam echo sounder (MBES) installed on the deep-sea remotely operated vehicle (ROV) Hemire. Hemire explored hydrothermal vents in the Forecast volcano located near the Mariana Trench in March of in 2006. During these explorations, we acquired profiling points on the routes of the vehicle using the MBES. Information on the position, depth, and attitude of the ROV are essential to obtain higher accuracy for the profiling quality. However, the MBES installed on Hemire does not have its own position and depth sensors. Although it has attitude sensors for roll, pitch, and heading, the specifications of these sensors were not clear. Therefore, we had to merge the high-performance sensor data for the motion and position obtained from Hemire into the profiling data of the MBES. Then, we could properly convert the profiling points with respect to the Earth-fixed coordinates. This paper describes the integration of the MBES with Hemire, as well as the coordinate conversion between them. Bathymetric maps near the summit of the Forecast volcano were successfully collected through these processes. A comparison between the bathymetric maps from the MBES and those from the Onnuri Research Vessel, the mother ship of the ROV Hemire for these explorations, is also presented.
심해용 크랩스터 CR6000 시스템의 실해역 시험 결과
전봉환,유승열,이판묵,박진영,심형원,백혁,Jun, Bong-Huan,Yoo, Seong-Yeol,Lee, Pan-Mook,Park, Jin-Yeong,Shim, Hyungwon,Baek, Hyuk 대한임베디드공학회 2017 대한임베디드공학회논문지 Vol.12 No.5
This paper presents the sea-trial results of Crabster CR6000 which is a deep-sea walking robot developed by KRISO in 2016. Crabster CR6000 is designed to inspect deep-sea environment rejecting the disturbance on the silent and calm abyssal area. The sea-trial was conducted at the East Sea and the Philippine Sea on December 2016. The Crabster CR6000 undocked successfully from the Shuttle after touchdown on the sea-bed and walked out on the soft sediment soil of the 4,743m seafloor at the fourth diving in the Philippine Sea. The advanced technologies and capabilities of CR6000 were verified from the operational and functional test conducted in the sea-trial. The experimental data acquired from the sea-trial were summarized and the first experience of the deep-sea walking robot was presented in this paper.
해저 보행 로봇 CR200을 위한 매니퓰레이터 기능을 갖는 다리 개발
강한구(Hangoo Kang),심형원(Hyungwon Shim),전봉환(Bong-Huan Jun),이판묵(Pan-Mook Lee) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.8
This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.