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Cu-Fe 합금에서 소성변형과 어닐링 공정조건이 인장강도와 전기전도도에 미치는 영향
우창준 ( Chang-jun Woo ),박현균 ( Hyun Gyoon Park ) 한국열처리공학회 2019 熱處理工學會誌 Vol.32 No.3
Abstract In order to investigate the effect of plastic deformation and annealing process parameters on strength and electrical conductivity of Cu-Fe alloys, Cu-10wt%Fe, Cu-15wt%Fe alloys were drawn up to η=4 and annealed in the temperature range of 300℃ to 700℃, followed by measurements of tensile strength and electric conductivity. As draw strain increases, tensile strength increases while electrical conductivity decreases. These observations result from reduction of dislocation density and decrease in Fe fiber spacing. Raising annealing temperature brought about decrease of tensile strength and increase of electrical conductivity up to 500℃, being followed by decreasing above 500℃. Such results are thought to be caused by decrease of dislocation density below 500℃ and rapid solubility increase of Fe in Cu above 500℃. For the purpose of obtaining both high strength and high conductivity, annealing process should be incorporated just prior to reaching to final draw strain. For Cu-10wt%Fe alloy, the tensile strength 706.9 MPa and the electrical conductivity 54.34%IACS were obtained through the processes of drawing up to η=3, annealing at 500℃ for 1 hour and additional drawing up to total strain of η=4, (Received April 23, 2019; Revised May 14, 2019; Accepted May 16, 2019)
무게중심위치와 슬라이딩 모드 제어를 통한 이륜형 모바일 머니퓰레이터의 자세제어
김민규,우창준,이장명,Kim, Min-Gyu,Woo, Chang-Jun,Lee, Jangmyung 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.8
This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.
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.
김민규(Min-Gyu Kim),우창준(Chang-Jun Woo),이장명(Jang-Myung Lee) 대한전기학회 2014 정보 및 제어 심포지엄 논문집 Vol.2014 No.10
This paper proposes a control system to the balance of a mobile manipulator and a new design of the mobile manipulator to reduce volume and raise dynamic stability of mobile manipulator. 3 D.O.F manipulator is attached to two-wheeled mobile platform and the mobile platform’s center of mass is moved depending on motions of the manipulator. A proper angle command made by each rotation angle of links is required to the balance control. A non-model based PID controller including an additional controller for desired angle command is designed and used to control the attitude.
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.
무게중심위치와 슬라이딩 모드 제어를 통한 이륜형 모바일 머니퓰레이터의 자세제어
김민규(Min-Gyu Kim),우창준(Chang-Jun Woo),이장명(Jangmyung Lee) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1
This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.
UAV의 정현파 궤적 알고리즘을 이용한 3차원 실내 맵빌딩
황요섭(Yo-Seop Hwang),최원석(Won-Suck Choi),우창준(Chang-Jun Woo),왕지도(Zhi-Tao Wang),이장명(Jang-Myung Lee) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.5
This paper proposes a robust 3D mapping system for a UAV (Unmanned Aerial Vehicle) that carries a LRF (Laser Range Finder) using the sinusoidal trajectory algorithm. In the case of previous 3D mapping research, the UAV usually takes off vertically and flights up and down while the LRF is measuring horizontally. In such cases, the measuring range is limited and it takes a long time to do mapping. By using the sinusoidal trajectory algorithm proposed in this research, the 3D mapping can be time-efficient and the measuring range can be widened. The 3D mapping experiments have been done to evaluate the performance of the sinusoidal trajectory algorithm by scanning indoor walls.