GPS지리좌표 정보를 이용한 선박 위치 및 형상제어 연구

이정환(Jeonghwan Lee),이시경(Sikyong Lee),김한실(Hansil Kim),이장명(Jangmyung Lee) 제어로봇시스템학회 2011 제어로봇시스템학회 합동학술대회 논문집 Vol.1 No.1

대형 선박의 움직임에 맞춰서 소형선박을 연동하여 움직이게 하려면 이 형상을 정확히 알아야하고 이런 복합적인 운동을 위해 본 논문에서는 역학적인 수식 없이 단순하게 좌표 변환하여 현재 선박의 상태가 어떠한지 알아 낼 수 있는 방안을 제시하고자 한다. 선박과 같은 운동 물체를 추적하기 위한 방법에는 광학, RF, 레이더, 카메라, 적외선 등 다양한 방법이 있다. 광학 장비(레이저센서)는 정확도가 높지만 상대적인 위치 결정을 할 수 밖에 없으며 또한 가시성이 확보되어야 하는 단점이 있다. 레디더 추적 장비는 기후의 영향은 받지 않으나 물체에 반사된 신호로 위치추적을 해야 하기 때문에 잡음도(Noise Level)가 높아 정확도가 떨어진다. 이를 해결하기 위해 본 논문의 목적은 GPS의 절대 위치를 이용하여 배의 이전 상태 및 현재 상태를 정확히 알아서 다음 진행 상황을 예측하는데 있다. 그러나 GPS의 원천 오차와 배가 고정적이지 않는 오차로 인하여 단순하게 GPS의 값을 읽어 배의 형상을 나타낼 수 없기 때문에 본 논문에서는 이러한 GPS좌표의 오차를 줄이고 정확한 지점을 추정하기 위한 알고리즘을 제시하여 선박이 형상과 위치를 알려준다.

자전거로봇의 균형제어 및 주행

이석인(Sukin Lee),이인욱(Inwook Lee),김민성(Minsung Kim),하혁(He He),이장명(Jangmyung Lee) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.6

This paper proposes a balancing and driving control system for a bicycle robot. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. For the driving control, PID control algorithm with a variable gain adjustment has been developed in this paper, where the gains are heuristically adjusted during the experiments. To measure the angles of the wheels the encoders are used. For the balancing control, a roll controller is designed with a non-model based algorithm to make the shortest cycle. The tilt angle is measured by the fusion of the acceleration and gyroscope sensors, which is used to generate the control input of the roll controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed bicycle robot.

CAN의 분산 선행대기 열 기법을 이용한 선박 엔진 모니터링 시스템

이현(Hyun Lee),이준석(Jun-Seok Lee),이장명(Jangmyung Lee) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.1

This paper proposes a marine engine state monitoring system using a DPQ (Distributed Precedence Queue) mechanism which collects the state of bearings, temperature and pressure of engine through the CAN network. The CAN is developed by Bosch Corp. in the early 1980’" for automobile network. The data from various sensors attached in the marine engine are converted to digital by the analog to digital converter and formatted to fit the CAN protocol at the CAN module. All the CAN modules are connected to the SPU (Signal Processing Unit) module for the efficient communication and processing. This design reduces the cost for wiring and improves the data transmission reliability by recognizing the sensor errors and data transmission errors. The DPQ mechanism is newly developed for the performance improvement of the marine engine system, which is demonstrated through the experiments.

신호 증감 량을 이용한 CAN 기반 선박 엔진 모니터링 시스템의 동적인 대역폭 할당

이현(Hyun Lee),이준석(JunSeok Lee),임현섭(Hyunseop Lim),이장명(JangMyung Lee) 대한전기학회 2012 전기학회논문지 Vol.61 No.6

This paper proposes the effective monitoring method for marine engine system, which is implemented based upon Controller Area Network (CAN). As the marine engine monitoring system requires various kind of information, a lot of sensor nodes are distributed to several places. The CAN supports huge numbers of message IDs for the sensor nodes and provides a stable communication channel in a wide area such as a 12,000 TEU container ship. Since the CAN is priority-based communication system, some of hard real-time messages like alarm messages which are time-critical to the operation of the vessel cannot be communicated within the dead-time. Therefore it is desirable to distinguish the bandwidth of the CAN for static state messages and transition-state messages not to be harmful to the engine operations. Using the features of message arbitration ability of the CAN, it is proposed in this paper that the bandwidth allocation is dynamically adjusted to cope with the increment of input signal to improve the performance of monitoring system. Effectiveness and validity of the proposed scheme have been demonstrated through real experiments.

퍼지-슬라이딩모드 제어기를 이용한 외바퀴 로봇의 자세제어 및 방향제어

이재오(Jae-Oh Lee),한성익(Seong-Ik Han),한인우(In-Woo Han),이석인(Seok-In Lee),이장명(Jangmyung Lee) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.3

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.

단일 초음파 센서모듈을 이용한 이동로봇의 위치추정 및 주행

진태석,이장명,Jin Taeseok,Lee JangMyung 대한전자공학회 2005 電子工學會論文誌-SC (System and control) Vol.42 No.2

본 논문에서는 이동로봇에 장착된 단일 초음파 센서 회전 모듈을 이용하여 구조화가 잘 된 실내 환경에 대한 지도를 작성하고 작성된 지도를 바탕으로 로봇의 자기 위치를 보정하는 데 있어서 지도작성과 위치 보정에 대한 정량화를 통해 성능을 향상시키기 위한 방법을 제시한다 이동로봇의 환경은 물체의 형상, 즉 직선, 모서리 ,곡선 등의 기하학적인 형상으로 표현되는 지도를 구성하고 초음파센서의 거리정보로부터 동일거리영역(Region of Constant Depth: RCD)을 분류하였다. 그리고 물리적 기반의 초음파 센서모델을 적용하여 주행중인 이동로봇의 자기위치 추정할 수 있도록 확장 칼만필터를 이용하였다 제시된 방법을 이용하여 시뮬레이션을 통하여 제시한 방법을 검증하고 실내 환경에서의 실험을 통해서 그 성능을 제시하고 있다. This paper presents a technique for localization of a mobile robot using a single ultrasonic sensor. The mobile robot is designed for operating in a well-structured environment that can be represented by planes, edges, corners and cylinders in the view of structural features. In the case of ultrasonic sensors, these features have the range information in the form of the arc of a circle that is generally named as RCD (Region of Constant Depth). Localization is the continual provision of a knowledge of position which is deduced from it's a priori position estimation. The environment of a robot is modeled into a two dimensional grid map. we defines a physically-based sonar sensor model and employs an extended Kalman filter to estimate position of the robot. The performance and simplicity of the approach is demonstrated with the results produced by sets of experiments using a mobile robot.

인터넷과 CAN을 이용한 원격 분산 Embedded system 설계

이현석(Hyunsuk Lee),임재남(Jaenam Lim),고재평(Jaepyung Ko),박진우(Jinwoo Park),이장명(Jangmyung Lee) 제어로봇시스템학회 2001 제어로봇시스템학회 국제학술대회 논문집 Vol.2001 No.10

영상처리와 확장칼만필터를 이용한 쿼드로터의 동적 물체 추종

김기정,유호윤,이장명,Kim, Ki-jung,Yu, Ho-Yun,Lee, Jangmyung 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.7

This paper proposes a new strategy for a quad-rotor to track a moving object efficiently by using image processing and an extended Kalman filter. The goal of path planning for the quad-rotor is to design an optimal path from the start point to the destination point. To lengthen the freight time of the quad-rotor, an optimal path is required to reduce the energy consumption. To track a moving object, the mark signed on the moving object has been detected by a camera mounted first on the quad-rotor. The center coordinates of the mark and its area are calculated through the blob analysis which is one type of image processing. The mark coordinates are utilized to obtain information on the motion direction and the area of the mark is utilized to recognize whether the object moves backward or forward from the camera on the quad-rotor. In addition, an extended Kalman filter has been applied to predict the direction and speed of the dynamically moving object. Through these schemes, it is aimed that the quad-rotor can track the dynamic object efficiently in terms of flight distance and time. Through the two different route freights of the quad-rotor, the performance of the proposed system has been demonstrated.

RF/초음파센서와 이동특성에 기반한 고속 이동로봇의 위치추정기법

이수성(Soosung Lee),최문규(Mungyu Choi),박재현(Jaehyun Park),이장명(Jangmyung Lee) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.7

A new localization algorithm is proposed for a fast moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors, since the distance to the beacon is measured by the traveling time of the ultrasonic signal. When the mobile robot is moving slowly, the measurement time does not yield a high error. At a higher mobile robot speed, however, the localization error becomes too large to locate the mobile robot. Therefore, in high-speed mobile robot operations, instead of using two or more active beacons for localization, only one active beacon and the global features of the mobile robot are used to localize the mobile robot in this research. The two global features are the radius and center of the rotational motion for the differential-driving mobile robot, which generally describe motion of the mobile robot and are used for the trace prediction of the mobile robot. In high speed operations, the localizer finds an intersection point of this predicted trace and a circle which is centered at the beacon and has the radius of the distance between the mobile robot and the beacon. This new approach resolves the large localization error caused by the high speed of the mobile robot. The performance of the new localization algorithm has been verified through the experiments with a high-speed mobile robot.

다관절 머니퓰레이터의 사용자 중심 제어기 설계

손현석,강대훈,이장명,Son, HeonSuk,Kang, DaeHoon,Lee, JangMyung 대한임베디드공학회 2008 대한임베디드공학회논문지 Vol.3 No.2

This paper proposes a PC-based open architecture controller for a multi-axis robotic manipulator. The designed controller can be applied for various multi-axes robotic manipulators since the motion controller is implemented on a PC with its peripheral devices. The accuracy of the controller based on the computed torque method has been measured with the dynamic model of manipulator. Since the controller is implemented in the PC-based architecture, it is free from the user circumstances and the operating environment. Dynamics of the manipulator have been compensated by the feed forward path in the inner loop and the resulting linear outer loop has been controlled by PD algorithm. Using the specialized language, it can be more efficient in programming and in driving of the multi-axis robot. Unlike the conventional controller that is used to control only a specific robot, this controller can be easily changed for various types of robots. This paper proposes a PC-based controller that has a simple architecture with its simple interface circuits than general commercial controllers. The maintenance and the performance of the controller can be easily improved for a specific robot. In fact, using a Samsung multi-axis robot, AT1, the controller performance and convenience of the PC-based controller have been verified by comparing to the commercial one.