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강태삼(Taesam Kang),윤광준(Kwang Joon Yoon),하태현(Tae-Hyun Ha),이기건(Gigun Lee) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.1
This paper describes the design of a robust H-infinity attitude controller for a quad-rotor. The linear model of a quad-rotor was estimated using PEM (Prediction Error Minimization) method with experimental input and output data. To design an attitude controller, an extended plant was constructed by adjusting several uncertainties and weighting functions. An H-infinity controller was obtained by applying H-infinity methodology to the extended plant. Through frequency-domain analysis, it was shown that the designed controller can overcome uncertainties up to 75% of the plant model. The performance and robustness of the controller were verified through time-domain simulation.
강태삼(Taesam Kang),허민재(Minjae Hur),김병하(Byung-Ha Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
For the direction control of a fish robot, it is necessary to identify a linear model for the dynamics of it. In this paper, experimental results for the identification of the fish robot model are proposed. Time domain and frequency domain analysis of the dynamic model is studied. Based on the linear model, designed is a robust direction controller using H-infinity control methodology. Simulation and experimental results of the controller are included.
Steven Aurecianus,Taesam Kang(강태삼),Chung Gwon Han(한충권),Jungkeun Park(박정근) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.9
A Crimp Force Monitor (CFM) is equipment for detecting crimp errors by analyzing crimp signals obtained from force and strain sensors. The analysis is commonly performed by aligning a measured crimp signal with a reference signal and comparing their difference. Current analysis methods often suffer from wrong alignments that result in false negative detections. This paper presents a new crimp signal analysis method in CFM. First, a falling edge alignment is proposed that matches falling edges of the measured and the reference signals by minimizing the absolute difference summation. Second, a signal parameter error is introduced to evaluate the crimp quality difference between the measured signal and the reference. For calculating the signal parameter error, part of a signal is identified and divided into several regions to maximize the signal parameter errors. Experiments showed that the proposed method can improve the signal alignment and accurately detect bad crimps especially with the strain sensor.
지능형 운행체를 위한 비전 센서 기반 자이로 드리프트 감소
경민기,당 코이 누엔,강태삼,민덕기,이정욱,Kyung, MinGi,Nguyen, Dang Khoi,Kang, Taesam,Min, Dugki,Lee, Jeong-Oog 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.7
Accurate heading information is crucial for the navigation of intelligent vehicles. In outdoor environments, GPS is usually used for the navigation of vehicles. However, in GPS-denied environments such as dense building areas, tunnels, underground areas and indoor environments, non-GPS solutions are required. Yaw-rates from a single gyro sensor could be one of the solutions. In dealing with gyro sensors, the drift problem should be resolved. HDR (Heuristic Drift Reduction) can reduce the average heading error in straight line movement. However, it shows rather large errors in some moving environments, especially along curved lines. This paper presents a method called VDR (Vision-based Drift Reduction), a system which uses a low-cost vision sensor as compensation for HDR errors.
전창완(Chang-Wan Jeon),강태삼(Taesam Kang) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.4
Recently many people have been troubled with perennial allergic rhinitis. But there is no way to cure for root of it until now. Therefore many medical treatments to release symptoms of perennial allergic rhinitis have been researched. One of them is localized aerosol hyperthermia, which injects 42℃~43℃ vapor into nasal cavity. Vapor inhalator for localized aerosol hyperthermia has been researched in foreign country. But on the other hand it has rarely been researched inside of the country. Since most clinics and hospitals have used imported vapor inhalator, it is needed to develop domestic vapor inhalator. In the paper, a superior vapor inhalator compared to former developed one is developed. The superiority of it comes from direct-vapor heating instead of water heating to control vapor temperature. The developed vapor inhalator has shorter rising time than the existing one because of direct-vapor heating. Furthermore vapor generation part and control part of the vapor inhalator developed as one piece mock-up. It enables the vapor inhalator to have smaller size. Many laboratory tests are performed and compared to existing results to prove its performance.
도심에서의 3차원 GIS 기반 위성항법시스템 가시성 분석
유경호(Kyungho Yoo),강태삼(Taesam Kang),성상경(Sang Kyung Sung),이은성(Eunsung Lee),정성균(Seongkyun Jeong),신천식(Cheon Sig Sin),이상욱(Sanguk Lee),이영재(Young Jae Lee) 한국항공우주학회 2007 韓國航空宇宙學會誌 Vol.35 No.12
도심지에서는 지형지물 및 건물 등에 의한 영향으로 가시위성 확보가 어려워지게 되며, 이는 사용자 위치결정 및 정확도에 영향을 미친다. 본 논문에서는 3D GIS 수치지도를 이용하여 서울 도심의 특정 지역을 3D 모델로 생성하는 기법에 대해 기술하고, 직선-폴리곤 충돌검사 알고리즘을 적용한 도심지에서의 가시위성 분석 기법 개발 및 필드 실험을 통한 검증을 수행하였다. 도심의 3D 모델을 이용하여 GPS/갈릴레오 단독 수신과 동시 수신의 경우에 대한 가시성을 DOP (Dilution of Precision)관점에서 분석하였다. Visibility of the satellite navigation is related to a environmental condition of a receiver. Obstacles like buildings and trees in urban areas can block signals and have effects on accuracy and reliability of positioning. This paper presents a method of creating 3D analysis model of urban canyon of Seoul using three-Dimensional digital map. Analysis techniques of visible satellites with Ray-Polygon Collision Detection and validation of algorithm through field tests are discussed. We have compared and analyzed the visibility of GPS and Galileo with respect to separate and simultaneous tracking in view of DOP (Dilution of Precision) using the 3D GIS digital map.