http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
정회범 順天大學校 1994 論文集 Vol.13 No.1
□Magnitude of control inputs for small motors used in robot is generally restricted to low level due to actuator saturation. This paper compares the tracking performance of the bounded-gain adaptive control algorithm with the existing PD control algorithm by computer simulation and experiment. The reference trajectories are obtained using the kinematic model of Rhino XR-2 robot. The robot controller is designed and fabricated for the implementation of the control algorithms. It is shown that the bounded- gain adaptive control algorithm yields better tracking performance and smoother input variation than the PD control algorithm in the two-axis robot control.
입력-제한 시스템을 위한 자기동조 제어 알고리즘의 개발
정회범 순천대학교 공업기술연구소 1991 工業技術硏究所論文集 Vol.5 No.-
Self-tuning control algorithm for an input-constrained systems is developed and implemented in this study. Magnitude of control input for small motors is generally restricted to low level due to actuator saturation. The bounded-gain control algorithm proposed in this study yields smoother control input within the magnitude constraints comparing with the existing Clarke's suboptimal control algorithm. In the proposed algorithm, the system output responds fast at the expense of smoothness of input variation, as the weighting factor is increased. For the DC servo motor control, the system performance of the proposed algorithm is compared with that of the existing algorithm by computer simulation and experiment. The control programs are written in 8086 & 8087 assembly languages for real-time control. The output responses of both algorithms are similar, but smoothness of input variation using the proposed algorithm is verified.
위금식,정회범 順天大學校 1999 論文集 Vol.18 No.1
In this paper, the cutting resistance and surface roughness in deformed layer were tested for various cutting conditions of face milling. The face milling was performed on carbon steel(SM45C) and austenite stainless steel(STS304) by CNC machining center using 8 blades throw-away tip tool. Experimental tests were carried out by tool dynamometer and surface roughness tester. The results could be summarized ; 1. Cutting resistance in the direction of feed was influenced by depth of cut and cutting speed. 2. Surface roughness was increased at higher cutting speed when feed rate and depth of cut were held constant. 3. The optimal cutting conditions for face milling were 200 m/min cutting speed with 300 mm/min feed rate in SM45C, and 100 m/min cutting speed with 100 mm/min feed rate in STS304.
탄산가스 아크용접에서 보호가스량에 따른 용접부의 기계적 성질
정회범,김봉태 順天大學校 1998 論文集 Vol.17 No.1
The mechanical properties of a welding part have been examined by varying the shield gas flow rate from 0ℓ/min to 24ℓ/min when the CO₂ gas arc welding with solid wire is used for welding the SS41 steel. The welding parts have been investigated through X-ray film test, bending test and tensile test, which have shown following results ; 1) X-ray film tests show no pores for the shield gas flow rate from 6ℓ/min to 24ℓ/min. But some pores are existed at inner welding part for the flow rate 2ℓ/min and 4ℓ/min. When no gas is supplied, many pores are observed at the inner and the outer welding parts. 2) A bead configuration including a fusion depth and a bead's width and height is good for the shield gas flow rate more than 8ℓ/min. 3) Bending tests show that no cracks were developed for the shield gas flow rate 16ℓ/min to 24ℓ/min. But cracks are developed at the surface of a face side for the flow rate 4ℓ/min to 12ℓ/min. For the flow rate 0ℓ/min and 2ℓ/min, specimens break into pieces. 4) Tensile strength of the welding part increases as the shield gas flow rate increases. The tensile strength of the welding part is much higher than that of the base metal for the flow rate 4ℓ/min to 24ℓ/min. Considering the above results, the effective shield gas flow rate in the CO₂ gas arc welding is 16ℓ/min to 24ℓ/min.
고정카메라와 이동카메라시스템에서 좌표변환의 연관성에 관한 연구
정회범 ( Hoi-bum Chung ) 한국환경기술학회 2007 한국환경기술학회지 Vol.8 No.3
시각서보시스템은 위치기반 시각서보와 영상기반 시각서보로 구분할 수 있는데 두 기법은 각각의 장점과 단점을 가진다. 최근들어 Malis 등이 2.5D 시각서보를 개발하였는데 이 기법은 호모그라피를 통해 병진운동과 회전운동사이의 연관관계를 분해할 수 있는 사실을 이용한다. 호모그라피는 시각서보에 사용되는 Euclidean 재생성을 제공하지만 그 물리적 의미는 명확하지 않다. 본 연구에서는 가상좌표계를 사용하여 고정카메라와 이동카메라시스템에 공통으로 적용될 수 있는 새로운 시각서보 접근방법을 제안하였다. 이 기법은 또한 호모그라피의 물리적 의미를 명확하게 지정할 수 있는 특징을 가진다. Standard visual servoing systems are classified as position-based and image-based visual servo, and both schemes have merits and drawbacks respectively. Recently, Malis et.al. have developed 2.5D visual servoing schemes by exploiting the fact that the interaction between translation and rotation components can be decoupled through a homography. The homography provides Euclidean reconstruction that can be used in the visual servoing, but the physical meaning of the homography is obscure. In this paper, a new visual servoing approach is proposed that can be applied commonly to both the fixed-camera and moving-camera system, using the virtual coordinate frame. The technique also has the characteristic that the physical meaning of the homography is specified explicitly.
The New Hand-eye Calibration Technique with the Inclusion of Lens Distortion Effect
Chung, Hoi Bum 순천대학교 공업기술연구소 1996 工業技術硏究所論文集 Vol.10 No.-
시각센서는 통상 로봇팔에 장착되므로 카메라좌표와 로봇팔좌표 사이의 관계를 아는 것이 중요하고 이 두 좌표사이의 관계를 결정하는 문제를 hand-eye 보정이라 불리운다. 지금까지 카메라의 내부 및 외부매개변수들을 보정하기 위하여 여러 가지 방법들이 발견되었으며 센서등록(sensor registration)은 카메라 보정(camera calibration)과 별개로 AX=XB 형의 동차행렬방정식을 풀어 해결하였다. 최근에 카메라 보정과 센서등록을 결합하는 한단계 접근방법이 Horaud와 Dornaika에 의해 시도되었다. 이 접근방법에서는 동차행렬방정식 MY=M'YA의 형태로 표시된다. 이 논문에서는 렌즈 왜곡효과를 포함시키기 위하여 카메라 모델을 사용하여 카메라의 매개변수들이 형상에 무관한 항과 형상에 의존하는 항으로 분리하였으며, 형상에 무관한 항은 센서등록에 포함시켜 예비실험에서 구하고 형상에 의존하는 항인 렌즈 왜곡효과 만을 로봇 각 위치에서 구하게 된다. 따라서 새로운 hand-eye 보정기법은 렌즈 왜곡 효과를 무시하는 Horaud와 Dornaika의 방법보다 더욱 정확한 결과를 얻을 수 있다