Energy-saving Trajectory Planning for an Inverse Ball Drive Robot with Mecanum Wheels

정건우,이장명,이민철 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2

This paper proposes a new energy-saving trajectory planning method for a robot with an inverse balldriven by Mecanum wheels. The slip due to the structure of the ball drive robot is used to formulate the energyconsumption. The measured torque pattern is used as a basis to save energy through a proper path-planning process. To change the path of the robot, an improved path-planning algorithm is used to generate an energy-efficient path. Simulations and experiments were performed to demonstrate the efficiency of the approach.

분말 제조 방법에 따른 Ni-Y2O3 소결 합금의 미세 구조 및 기계적 특성 평가

정건우,차지호,장민서,오민석,박제신 한국분말재료학회 2023 한국분말재료학회지 (KPMI) Vol.30 No.6

In this study, Ni-Y2O3 powder was prepared by alloying recomposition oxidation sintering (AROS), solution combustion synthesis (SCS), and conventional mechanical alloying (MA). The microstructure and mechanical properties of the alloys were investigated by spark plasma sintering (SPS). Among the Ni-Y2O3 powders synthesized by the three methods, the AROS powder had approximately 5 nm of Y2O3 crystals uniformly distributed within the Ni particles, whereas the SCS powder contained a mixture of Ni and Y2O3 nanoparticles, and the MA powder formed small Y2O3 crystals on the surface of large Ni particles by milling the mixture of Ni and Y2O3. The average grain size of Y2O3 in the sintered alloys was approximately 15 nm, with the AROS sinter having the smallest, followed by the SCS sinter at 18 nm, and the MA sinter at 22 nm. The yield strength (YS) of the SCS- and MA-sintered alloys were 1511 and 1688 MPa, respectively, which are lower than the YS value of 1697 MPa for the AROS-sintered alloys. The AROS alloy exhibited improved strength compared to the alloys fabricated by SCS and conventional MA methods, primarily because of the increased strengthening from the finer Y2O3 particles and Ni grains.

롤러전압 콘크리트포장의 적정 다짐실험 방안 고찰

정건우,이승우 한국도로학회 2015 한국도로학회논문집 Vol.17 No.3

PURPOSES: To ensure appropriate RCC properties with sufficient strength development and workability, it is necessary to secure a proper level of consistency. It is also necessary to secure maximum dry density, which is an important factor for increasing the interaction of aggregate interlocking, leading to an augmentation of RCC strength. On the other hand, the dry density of RCC can be changed owing to the compaction conditions, water content, and particle size distribution. A Proctor test and a modified Proctor test were used for determining the optimum water content needed to achieve maximum dry density with different amounts of compaction energy. A Vebe test, on the other hand, was used for checking the level of consistency, which is important for producing a workable mixture. METHODS : To confirm the degree of compaction at various particle sizes, RCC mixtures with different sand/aggregate ratios were evaluated. The Proctor test and modified Proctor test were applied to these mixtures to check the effect of the aggregate gradation and compaction energy on the maximum dry density and optimum water content. During each test, three specimens were produced for all types of water content under each aggregate gradation. A compaction curve and the optimum water content and maximum dry density for each aggregate gradation were then obtained for both tests. The range of water content for the appropriate consistency of each aggregate gradation was determined through a Vebe test. The optimum water content was then evaluated based on this range. RESULTS : The compaction test results show that the modified Proctor test provides a higher maximum dry density and lower optimum water content compared with the standard Proctor test. For the modified Proctor test, two cases of aggregate gradation (s/a = 30% and 70%) had the optimum water contents outside of the appropriate water content range. For the standard Proctor test, on the other hand, none of aggregate gradations provided the optimum water content within the desired range. CONCLUSIONS : The modified Proctor test should be used for an RCC mixture design because it can provide adequacy between maximum dry density and consistency. Moreover, the compaction roller has become highly developed for higher compaction energy.

헤어디자이너의 특성이 고객의 태도와 행동에 미치는 영향: 신뢰, 만족, 그리고 샵이미지를 중심으로

정건우,김상수 한국서비스경영학회 2020 한국서비스경영학회 학술대회 Vol.2020 No.6

포장용 롤러전압콘크리트의 다짐도와 압축강도의 상관관계 분석

정건우,송시훈,이승우 대한토목학회 2016 대한토목학회논문집 Vol.36 No.6

Roller-Compacted Concrete Pavement (RCCP) is a type of pavement that shares conventional concrete pavement material characteristics and asphalt pavement construction characteristics. Even though RCCP is compacted in the same way and have similar aggregate gradation to asphalt pavements, its materials and structural performance properties are similar to those of conventional concrete pavement. With cement hydration and aggregate interlock, Roller-Compacted Concrete or RCC can provide strength properties equal to those of conventional concrete with low cement content. Therefore, compaction ratio of RCC can highly influence on its strength. In general, 95% of compaction ratio is required for proper strength development. RCC strength can be highly influenced by compaction energy which depends on compaction equipment and compaction method. Therefore, it is necessary to analyze the relationship between compressive strength and compaction ratio of RCC. RCCP specimens were produced at different compaction ratio by using different compaction methods and energies. The compaction ratio was defined by the ratio of the specimen's dry density and its maximum dry density. The maximum dry density was obtained from Modified Proctor test. 28 days compressive strength corresponding to each compaction ratio case was tested. Finally, the relationship between compressive strength and compaction ratio can be analyzed. For application of roller-compacted concrete in domestic construction site, the relationship is important for field compaction management. 롤러전압콘크리트포장 공법은 기존 시멘트 콘크리트 공법의 재료 특성 및 아스팔트 포장의 시공특성을 공유하는 포장 방식이다. 일반 시멘트 콘크리트 포장의 우수한 구조적 성능을 유지하면서, 아스팔트 시공 장비를 사용하여 간소한 시공절차로 경제성을 확보할 수 있다. 롤러전압콘크리트포장 공법은 수화반응과 롤러다짐에 의한 골재 맞물림 효과로 일반 시멘트 콘크리트 포장보다 적은 시멘트량을 사용하여도 충분한 강도를 발현할 수 있다. 또한 일반 시멘트 콘크리트 포장과 동등한 강도 특성을 발휘 할 수 있으며, 본 연구에서는 RCCP의 다짐도와 압축강도의 관계를 정량적으로 도출하고자 한다. 롤러전압콘크리트의 다짐에너지를 변화시키면서 다양한 다짐도를 갖는 시편을 제작하였다. 다짐도는 시편의 건조단위중량과 최대건조단위중량의 비로 정의하였으며, 다양한 다짐도로 성형된 시편의 28일 압축강도를 평가하였고, 다짐도에 따른 강도비의 관계를 도출 하였다. 따라서 롤러전압콘크리트 공법의 국내 현장적용을 위한 다짐도에 따른 강도비의 중요성을 부각하여 현장 다짐도 관리에 적용할 수 있을 것으로 판단된다.

신경회로망을 이용한 이륜 역진자 로봇의 퍼지제어기 설계

정건우,안태희,최영규,Jung, Gun-Oo,An, Tae-Hee,Choi, Young-Kiu 한국정보통신학회 2012 한국정보통신학회논문지 Vol.16 No.2

본 논문에서는 빠르고 조작이 간편한 이동 수단인 이륜 역진자 로봇을 기존의 방법보다 더욱 안정적으로 밸런싱하기 위한 제어기를 설계하였다. 먼저 이륜 역진자 로봇의 제어기를 퍼지제어 구조로 선택하고, 지정된 3명의 사용자 무게에 따라 적절한 소속함수 요소 값들을 시행착오적으로 구하였다. 임의의 무게에 대한 적절한 퍼지 소속함수 요소 값을 구하기 위해 앞의 3명의 무게에 따른 퍼지 소속함수 요소 값들을 신경회로망으로 튜닝한 뒤 퍼지 제어기에 적용하여 보다 안정적인 제어가 가능하도록 제어기를 설계하였다. 설계된 제어기를 시뮬레이션 하여본 결과, 기존의 퍼지 제어기에 비해서 본 논문에서 제안한 신경회로망으로 튜닝한 퍼지제어기가 보다 안정적인 제어가 가능함을 확인할 수 있었다. In this paper, a controller for two wheeled inverted pendulum robot is designed to have more stable balancing capability than conventional controller. Fuzzy control structure is chosen for the two wheeled inverted pendulum robot, and fuzzy membership function factors for the controller are obtained for specified 3 users' weights using trial-and-error method. Next a neural network is employed to generate fuzzy membership function factors for more stable control performance when the user's weight is arbitrarily selected. Through the simulation study we find that the designed fuzzy controller using the neural network is superior to the conventional fuzzy controller.

택코팅 종류에 따른 시간별 양생율 및 RGB값의 변화

정건우,정도영,송동석,김준호,이상염 한국도로학회 2023 한국도로학회 학술대회 발표논문 초록집 Vol.2023 No.03

인공신경망에 기초한 이륜 역진자 로봇의 퍼지 제어시스템 구현

정건우,최영규,Jeong, Geon-Wu,Choi, Young-Kiu 한국정보통신학회 2013 한국정보통신학회논문지 Vol.17 No.1

본 논문에서는 친환경 이동 수단인 이륜 역진자 로봇을 기존의 방법보다 더욱 안정적으로 밸런싱 하기 위한 제어시스템을 구현하였다. 먼저 이륜 역진자 로봇의 제어시스템을 퍼지 제어구조로 선택하고, 적절한 소속함수 요소 값들을 지정된 3종류의 무게에 따라 시행착오적으로 구하였다. 임의의 무게에 따른 퍼지 소속 함수 요소 값을 구하기 위해 3종류의 무게에 따른 퍼지 소속함수 요소 값을 신경회로망으로 튜닝한 뒤 퍼지 제어시스템에 적용하여 보다 안정적인 제어가 가능 하도록 제어시스템을 구현하였다. 구현된 제어시스템을 실제 로봇에 적용시켜 본 결과, 기존의 퍼지 제어시스템에 비해서 본 논문에서 제안한 신경회로망으로 튜닝한 퍼지 제어시스템이 보다 우수함을 확인할 수 있었다. In this paper, a control system for two wheeled inverted pendulum robot is implemented to have more stable balancing capability than the conventional control system. Fuzzy control structure is chosen for the two wheeled inverted pendulum robot, and fuzzy membership function factors for the control system are obtained for 3 specified weights using a trial-and-error method. Next a neural network is employed to generate fuzzy membership function factors for more stable control performance when the weight is arbitrarily selected. Through some experiments, we find that the proposed fuzzy control system using the neural network is superior to the conventional fuzzy control system.

복합포장용 고탄성 저수축 롤러전압콘크리트 기층 개발을 위한 기초연구

정건우,이승우 한국도로학회 2017 한국도로학회논문집 Vol.19 No.1

PURPOSES: The main purpose of this study is to develop a high elastic modulus and low-shrinkage roller-compacted concrete base (RCCB) in order to prevent fatigue cracking and reflective cracking in the asphalt surface layer of composite pavement. Using a rigid base material with low shrinkage can be a solution to this problem. Moreover, a strong rigid base with high elastic modulus is able to shift the location of critical tensile strain from the bottom of the asphalt layer to the bottom of the rigid base layer, which can prevent fatigue cracking in the asphalt layer. METHODS: Sensitivity analysis of composite pavement via numerical methods is implemented to determine an appropriate range of elastic modulus of the rigid base that would eliminate fatigue cracking. Various asphalt thicknesses and elastic moduli of the rigid base are used in the analysis to study their respective influences on fatigue cracking. Low-shrinkage RCC mixture, as determined via laboratory testing with various amounts of a CSA expansion agent (0%, 7%, and 10%), is found to achieve an appropriate low-shrinkage level. Shrinkage of RCC is measured according to KS F 2424. RESULTS : This study shows that composite pavements comprising asphalt thicknesses of (h1) 2 in. with E2 > 19 GPa, 4 in. with E2 > 15 GPa, and 6 in. with E2 > 11 GPa are able to eliminate tensile strain in the asphalt layer, which is the cause of fatigue cracking in this layer. Shrinkage test results demonstrate that a 10% CSA RCC mixture can reduce shrinkage by 84% and 93% as compared to conventional RCC and PCC, respectively. CONCLUSIONS: According to the results of numerical analyses using various design inputs, composite pavements are shown to be able to eliminate fatigue cracking in composite pavement. Additionally, an RCC mixture with 10% CSA admixture is able to reduce or eliminate reflective cracking in asphalt surfaces as a result of the significant shrinkage reduction in the RCC base. Thus, this low-shrinkage base material can be used as an alternative solution to distresses in composite pavement.

가속도 센서를 이용한 슬러그 생성 예측 및 제어 기술

정건우(Genwoo Jang),서유택(Yutaek Seo),Wonjin Jang 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11