http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
이기현(Gihyeon Lee),강봉구(Bong-Gu Kang),김진현(Jinhyun Kim) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
In this paper we analyse features of existing underwater vehicle and factors affecting dynamic performance to improve dynamic performance of underwater vehicle and based on this research, we would like to design a new concept underwater vehicle. The shape of the UUV are classified according to the operating purposes Hovering-Type and Cruising-Type, and each shape is specialized for efficient movement and control attitude in underwater. Then, we propose Ducted fan-Type shape which satisfies both operating purposes based on the idea of UAV(Unmanned Aerial Vehicle). And we also analyse that shape and structure.
수중 매니퓰레이터 조작을 위한 텐던 기반 햅틱 마스터 장치 기구 설계
이기현(Gihyeon Lee),김진현(Jinhyun Kim) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.5
Underwater manipulation is difficult to completely automate the manipulator movement due to the nature of the work environment, and it is essential to operate the manipulator through a planar view through the camera, so that a master device capable of intuitive manipulation is essential. In this paper, we propose a tendon-based haptic master device for intuitive manipulation of commercial underwater manipulators and perform instrument design. We have optimized the master arm and button layout for the manipulation of 7 degrees of freedom underwater manipulator and proposed a small tendon drive module which can measure force to apply haptic feedback to all joints and can easily change the stiffness and output. The prototype was fabricated and the simulator and actual manipulator manipulation test were performed to verify the design.
이기현(Gihyeon Lee),김진현(Jinhyun Kim) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.5
In this paper, the external gravitational compensation device of a tendon-based serial instrument was studied. Typically, a spring-based gravitational compensation device produces a compensation force that is in proportion to the angle of the link to which it wishes to perform the gravitational compensation. However, if several links are connected in a series, it is difficult to generate adequate compensation forces on all links because the orientation of gravity varies depending on the angle of the previous link, thereby rendering the necessary compensation forces variable. Therefore, in the case of a multi-axis serial mechanism, a gravitational compensation device using a parallelogram mechanism capable of transmitting a reference plane with respect to the direction of gravity has been widely used. A serial mechanism using a parallelogram mechanism for the gravitational compensation device is advantageous because gravitational compensation is possible by transmitting the reference plane to all links in the direction of gravity, regardless of the angle of each link. The only disadvantage is that it is difficult to manufacture due to its small size. To compensate for these drawbacks, we propose an external gravitational compensation device that is applicable to tendon-based series mechanisms. The proposed external gravitational compensation device can mediate reference plane transfer and gravitational compensation through tendons outside the serial mechanism, and it is advantageous in that the size and weight of the link can be reduced because it is installed outside the link. In this paper, we designed and verified the reference plane control mechanism that could transfer the reference plane similar to the parallelogram mechanism from the outside and the gravitational compensation mechanism that could mediate gravitational compensation according to the angle of each link. In addition, the prototype was assembled and experimentally verified.
이기현 ( Gihyeon Lee ),안승현 ( Seung-hyun Ahn ),신수현 ( Suhyeon Sin ),류혜선 ( Hyesun Ryu ),홍유나 ( Yuna Hong ) 한국정보처리학회 2023 한국정보처리학회 학술대회논문집 Vol.30 No.2
본 논문은 로봇의 실내 환경에서의 자율성을 높이기 위한 SLAM과 내비게이션 방법을 제시한다. 2D LiDAR와 카메라를 이용하여 위치를 인식하고 사람과 장애물을 의미론적으로 검출하며, ICP와 RTAB-map, YOLOv3를 통합하여 Semantic Map을 생성하고 실내 환경에서 자율성을 유지한다. 이 연구를 통해 로봇이 복잡한 환경에서도 높은 수준의 자율성을 유지할 수 있는지 확인하고자 한다.
어뢰발사관을 활용한 자율 무인 잠수정의 수중 도킹 시스템 연구
김진현(Jinhyun Kim),이기현(GiHyeon Lee) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
According to increasing the importance of underwater environments, the needs of UUV is growing. This paper represents the mechanism and algorithm of UUV docking system with 21-inch torpedo tubes for military submarines as a docking station. To improve the reliability of the docking, torpedo tubes launch a wired ROV and next the ROV combined with UUV is retrieved. For estimating the relative position between the ROV and UUV, in this paper, combining RF sensors and vision system is proposed. The RSSI method of RF sensors is used to estimate the distance and the optical image is combined for the directional information.
근전도 신호를 이용한 헤드-트래킹 지연율 감소 방안 연구
정준영 ( Jun-young Jung ),나정석 ( Jung-seok Na ),이채우 ( Chae-woo Lee ),이기현 ( Gihyeon Lee ),김진현 ( Jinhyun Kim ) 한국센서학회 2016 센서학회지 Vol.25 No.5
The study about VR (Virtual Reality) has been done from the 1960s, but technical limits and high cost made VR hard to commercialize. However, in recent, high resolution display, computing power and 3D sensing have developed and hardware has become affordable. Therefore, normal users can get high quality of immersion and interaction. However, HMD devices which offer VR environment have high latency, so it disrupts the VR environment. People are usually sensitive to relative latency over 20ms. In this paper, as adding the Electromyogram (EMG) sensors to typical IMU sensor only system, the latency reduction method is proposed. By changing software and hardware components, some cases the latency was reduced significantly. Hence, this study covers the possibility and the experimental verification about EMG sensors for reducing the latency.