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허화라,박재한,박성현,박진우,이장명,Heo, Hwa-Ra,Park, Jae-Han,Park, Seong-Hyeon,Park, Jin-U,Lee, Jang-Myeong 대한전자공학회 2000 電子工學會論文誌-SC (System and control) Vol.37 No.2
In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an ultrasonic sensor. Instead of using "sensor fusion"method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion"method is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we peformed simulations in PC as well as real experiments with ZIRO. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.
허화라,박명철 (사)디지털산업정보학회 2011 디지털산업정보학회논문지 Vol.7 No.3
The flight information visualization of the aircraft is the system which is widely used to the threat against low altitude tasks and terrain altitude. But, it is difficult to implement the system because of restrictions that GPS data and huge geographic information should be stored. In this paper, it proposes economic DMM (Digital Moving Map) system for flight information visualization from open-source-base. First, the flight information is transferred from X-Plane through UDP and then demonstrated on the DMM system. In the proposed DMM system, flight information is visualized on the map information downloaded from an ArcGIS Map server using the mapping data between the present altitude of the aircraft and the terrain altitude. The result of this paper could be used an economic tool in the field of flight information visualization and the game algorithm research.
허화라,Hur Hwa-Ra 대한경영정보학회 1998 경영과 정보연구 Vol.2 No.-
In this study I construct CAN(Controller Area Network) for automobiles similar to LAN(Local Area Network) and build communication modules in the major part of an automobile to link several sub-systems. Since each station replaces the communication function of sub-systems and has various types of sensor, actuator, controller, and switch, every information about automobile's status is obtained from the network. The manufactured system showed a superior capability. The following is the contents of study. 1. The definition of communication packet through the analysis of CAN protocol. 2. The Design of modules using micro-controller 80C196CA. 3. The Network configuration.
허화라,국연호,박명철 한국컴퓨터정보학회 2023 韓國컴퓨터情報學會論文誌 Vol.28 No.10
In this paper, we propose a smart automated warehouse to maximize space utilization. Previous elevator-type automatic warehouses were designed with a maximum payload of 100kg on trays, which has the problem of extremely limiting the number of pallets that can be loaded within the space. In this paper, we design a smart warehouse that can maximize space utilization with a maximum vertical stiffness of 300kg. As a result of the performance evaluation of the implemented warehouse, the maximum payload was 500.6kg, which satisfied the original design and requirements, the lifting speed was 0.5m/s, the operating noise of the device was 67.1dB, the receiving and forwarding time of the pallet was 36.92sec, the deflection amount was 4mm, and excellent performance was confirmed in all evaluation items. In addition, the PLC control method, which designs the control UI and control panel separately, was integrated into the PC system to improve interoperability and maintainability with various process management systems. In the future, we plan to develop it into a fully automatic smart warehouse by linking IoT sensor-based logistics robots.
허화라 호서대학교 반도체제조장비국산화연구센터 2001 반도체장비학술심포지움 Vol.2001 No.-
본 논문에서는 자동화 사격장 Pop-Up시스템의 안정성 및 성능 향상을 위해 예측제어기를 설계하여 시간지연에 따른 문제를 보상하였다.확률 모델에 기반한 예측제어기는 지연된 이전의 값들로부터 선형예측 기법과 확률함수를 이용하여 실제의 값을 추정하며, 이를 제어기에 적용하여 시간지연에 따른 문제점을 최소화하였다.제안된 알고리즘의 타당성을 검정하기 위해 사격용 Pop-Up시스템에 본 알고리즘을 실현하였으며, 상이한 시간지연과 이득 변화에 따른 제어기의 성능을 관측하였다.실험결과 제안된 예측제어기는 시간지연에 대해 PID 제어기보다 빠른 수렴 특성을 보이며, 제어기의 안정범위 내에서 허용할 수 있는 최대 시간지연 값도 증가시킬 수 있었다 따라서 사격용 타겟의 Pop & Up 동작이 제어시간 이내에 원활하게 작동되어 연속 사격의 실시간 제어를 효율적으로 수행하였다.
허화라,최승욱,권구남 한국산학기술학회 2000 한국산학기술학회논문지 Vol.1 No.2
최근 산업현장의 모든 부분에서 자동화의 요구가 급격하게 증가되고 있다. 지금까지의 사격장 시스템은 정적인 환경을 중심으로 설계되어져 왔다. 그러나, 실제의 사격상황은 목표물이 동적이므로 다른 사격 환경 변화가 요구된다. 본 연구에서는 동적인 사격환경을 구현하기 위해 1개 사로에 4대의 타켓을 설치하여 사격순서를 순차 및 비순차로 구분하고, 사격시간을 가변적으로 조정할 수 있게 하였다. 그리고, 자동차 및 빌딩 자동화에 많이 응용되고 있는 CAN(Controller Area Network)을 이용함으로써 효율적인 통신을 가능하게 하였다. CAN은 높은데이터 전송률과 안정성을 제공할 수 있어 다수의 ECU(Electric Control Unit)를 상호 연결하여 분산된 실시간 제어를 효율적으로 지원할 수 있다. Recently. the requirement of automation in the every fields of the industrial places has been increased remarkably. The shooting range systems in the past have been designed on the basis of static circumstance. However. Various transformation of the shooting circumstances is required. since the target for real shooting situation not static. In this study. we have established for targets per one shooting line to realize the dynamic shooting circumstance. distributed shooting order into sequence and random ones. and accommodated the shooting time variably. And, we have done an efficient communication possible, using CAN(Controller Area Network) applied to a lot of the car and the building automation. The CAN can support real-time control efficiently by connecting multiple ECU(Electric Control Unit). since it provide the high data transfer rate and the stability of communication.
변압기 운전대수 제어에 의한 에너지절약 기술에 관한 연구
허화라,정운태,최승욱 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
This paper presents method of transformer control. It is proposed number control for working transformer device that was active or not. The performance of active number or doesn’t active control model.