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이동로봇의 실내 위치추정을 위한 이동평균 기반 IMU/UWB 센서 융합 방법
임정환(Jung-Hwan Lim),심준혁(Jun-Hyuk Shim),정회룡(Hoeryong Jung) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.4
Ultra-wideband(UWB) is a short-range radio technology that can be used for accurate indoor positioning of mobile robots. Although UWB provides superior localization performance compared with conventional wireless-communication-based localization methods, there are still problems with applying UWB to the localization of mobile robots. In this paper, we propose an IMU/UWB sensor fusion algorithm that uses a moving average filter to improve the positioning accuracy of UWB-based localization. The proposed method utilizes the law of large numbers, which states that the average of the samples should be close to the expected value as the size of the samples increases. We produce virtual samples of a current position using previous UWB and IMU data and find the optimal position estimation by averaging the value fo the virtual samples. We also build a simulation environment to evaluate the performance of the proposed method using MATLAB. The simulation results show that the proposed method improves position accuracy by up to 23% compared with a previous method that uses the Kalman Filter.
정회룡(Hoeryong Jung),김상준(Sangjoon J. Kim),박정훈(Junghoon Park),조해도(Haedo Cho),안범모(Bummo Ahn),나영진(Youngjin Na),김영진(Yeongjin Kim) 대한기계학회 2018 大韓機械學會論文集A Vol.42 No.10
최소 침습 수술(minimally invasive surgery, MIS)에서 수술 도구의 유연성과 조작 용이성은 매우 중요한 요소이다. 유연 수술 로봇은 유연한 동작이 가능하고 조작이 용이하여 기존 복강경 수술로봇 대비 향상된 수술결과를 기대할 수 있어 기존 수술로봇의 한계를 극복할 수 있는 진보된 수술로봇으로 주목을 받고 있다. 본 논문에서는 메소-스케일(meso-scale)의 최신 유연 수술 로봇을 소개하고, 유연 수술 로봇의 디자인 및 한계점을 분석하고자 한다. 연 조직(soft tissue)을 대상으로 개발된 다양한 최신의 유연수술 로봇들을 소개하고 유연 수술 로봇의 한계점을 극복하기 위한 영상 유도 기법, 관절의 강성 조절기법, 로봇의 재질 등에 대한 최신의 연구동향을 살펴본다. 현재 유연 수술 로봇의 기술적 한계점을 분석하고 향후 연구개발 방향을 제시한다. A soft surgical robot in a minimally invasive surgery offers flexibility and ease of operation. The robot can be used to easily access the lesion and perform surgical processes even in a narrow space within the abdominal cavity during surgery. This review paper introduces the latest meso-scale soft surgical robots and describes their design and limitations. This paper discusses various surgical robots used in various medical fields targeting soft tissues only. Image guidance techniques, stiffness modulation control of the soft joints, and materials of the robot body to overcome limitations of the existing soft surgical robots are a main focus of this review.
정회룡(Hoeryong Jung),문애경(Aekyung Moon),안수용(Su-Yong An),송영은(Young Eun Song) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.7
The smart greenhouse, which is equipped with an autonomous environmental control system, is attracting attention as an effective alternative to solve problems in the modern agricultural industry. Although the smart greenhouse enables the monitoring of environmental information of the greenhouse, the system to directly capture the state of the crops is required to enhance the productivity of the smart greenhouse. In this paper, we propose an image recognition algorithm based on the convolution neural network (CNN) to detect an outbreak of powdery mildew on tomatoes. We propose a method to artificially generate the powdery mildew images using an image fusion technique to prepare various forms of CNN learning data. The artificial powdery mildew images are produced in three steps: mildew image extraction, transformation, and overlapping. The CNN is learned using these artificial images, and we test the recognition performance of the CNN using real tomato leap images captured in the greenhouse. The experimental results show that the proposed image recognition algorithm presents a recognition rate of 93.02% for 43 test images.
Junghwan Lim,Hoeryong Jung 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
Muscle synergy is the association of several muscle groups contracting simultaneously as a single functional unit. Recently, the synergy has been emphasized in neurophysiological studies to utilize it as an evaluation index for stroke patients. In this paper, we proposed novel method for quantitatively comparing muscle synergy of normal people and the stroke patient for evaluating severity of the stroke. The proposed method uses NNR (Non-Negative Matrix Reconstruction) algorithm for reconstructing muscle weight matrix W. The proposed method synchronizes the time sequence of EMG data of the stroke patient with the normal people based on working phases. The method improves the distortion problem of NNR algorithm through the synchronization of time sequence.
실외자율주행로봇의 위치 추정을 위한 칼만 필터 기반 UWB/GPS 센서 융합 방법
신준혁(Junhyeok Shin),정회룡(Hoeryong Jung) 대한기계학회 2022 대한기계학회 춘추학술대회 Vol.2022 No.11
Outdoor autonomous robots generally use GPS sensors for position measurement. GPS sensors have poor positioning accuracy in complex environments (etc. tunnels, forests, and dense building areas). In this work, UWB/GPS fusion is performed using the Kalman filter-based sensor fusion method. Using Gazebo simulations, GPS and the proposed method were compared. The proposed method showed improved positional accuracy over the use of single-step GPS