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레이저 반사광을 이용한 미세 표면 거칠기 측정 알고리즘에 관한 연구
최규종(Gyu-Jong Choi),김화영(Hwa-Young Kim),안중환(Jung-Hwan Ahn) 대한기계학회 2008 大韓機械學會論文集A Vol.32 No.4
Reflected light can be decomposed into specular and diffuse components according to the light reflectance theory and experiments. The specular component appears in smooth surfaces mainly, while the diffuse one is visible in rough surfaces mostly. Therefore, each component can be used in forming their correlations to a surface roughness. However, they cannot represent the whole surface roughness seamlessly, because each formulation is merely validated in their available surface roughness regions. To solve this problem, new approaches to properly blend two light components in all regions are proposed in this paper. First is the weighting function method that a blending zone and rate can be flexibly adjusted, and second is the neural network method based on the learning from the measurement data. Simulations based on the light reflectance theory were conducted to examine its performance, and then experiments conducted to prove the enhancement of the measurement accuracy and reliability through the whole surface roughness regions.
불규칙한 장애물 회피를 위한 이동로봇의 궤적생성 알고리즘 개발
박근현(Park Geun-Hyeon),오해준(Oh Hae-joon),최규종(Choi Gyu-Jong),전순용(Jeon Soon Yong),안두성(Ahn Doo-Sung) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.5
In mobile robot navigation, the shapes of obstacles are generally irregular and complex. The motion of mobile robot based on the range sensor system such as ultrasonic sensors or laser sensors can be unstable due to the irregular shape of the obstacles. In this case, to generate stable trajectory of robot equipped with range sensors, we need an approach that can simplify an obstacle's irregular shape information. In this paper, we propose the trajectory generation algorithm that an robot can stably navigate where irregular shaped obstacles are scattered. The proposed method is verified through the analysis of robot's trail and direction data acquired by simulations and implementations.