IMU 센서를 이용한 보드로봇의 무선제어 연구

류재명(Jaemyung Ryu),김연균(Yeongyun Kim),정하민(Hahmin Jung),김동헌(Dong Hun Kim) 한국지능시스템학회 2013 한국지능시스템학회 학술발표 논문집 Vol.23 No.2

장갑 센서를 이용한 보드로봇의 무선제어 연구

류재명(Jaemyung Ryu),김동헌(Dong Hun Kim) 한국지능시스템학회 2013 한국지능시스템학회논문지 Vol.23 No.4

본 논문은 장갑 센서를 이용한 보드로봇의 무선제어 연구에 관해 다룬다. 사용된 보드로봇은 일종의 탑승형 로봇으로 탑승자는 옆으로 서서 앞을 보며 제어한다. 탑승자는 제안된 무선제어기 장갑을 한 손에 끼고, 손가락 동작에 의해 방향전환을 할 수 있다. 보드로봇과 사용자와의 무선제어를 위하여 블루투스(Bluetooth)가 사용되며, 장갑 제어기에는 광센서(CdS cell Sensor)와 LED(Light Emitted Diode)를 사용하여 손가락 동작에 의해 보드로봇을 조종한다. 사용자의 손동작에 따른 다섯 종류의 명령(‘1’우회전 ‘2’중립 ‘3’좌회전 ‘4’운전 ‘5’정지)을 CdS 센서로 측정된 아날로그 값을 기반으로 손가락 접촉유무를 확인한 후, 접촉유무에 대한 디지털 값을 전송한다. 보드로봇에 장착된 블루투스 송신기는 이 값을 수신한 후 수신된 명령을 기반으로 보드로봇은 주행된다. 실험의 결과로 제안된 장갑센서 인터페이스가 보드로봇 제어를 위해 효과적으로 사용될 수 있음을 보여준다. This study presents the remote control of a board robot using a Sensing glove based on Bluetooth communication. The board robot is a kind of riding robot controlled by an user. The user wears the proposed remote glove controller, and changes a direction of the robot by different kinds of finger actions. Bluetooth is used for wireless communication between the board robot and its user. CdS cell Sensors and a LED in the glove are used for recognition of a number of finger actions, which are measured as analog signals. The finger actions have five commands ("1"right "2"neutrality "3"left "4"operation "5"stop), which are transmitted from the user to the board robot through Bluetooth communication. Experimental results show that proposed a Sensing glove can effectively control the board robot.

IMU센서를 이용한 보드로봇의 무선제어 연구

류재명(Jaemyung Ryu),김동헌(Dong Hun Kim) 한국지능시스템학회 2014 한국지능시스템학회논문지 Vol.24 No.2

본 논문은 IMU센서를 이용하여 보드로봇을 무선으로 제어하는 연구에 관해 다룬다. 사용된 보드로봇은 일종의 탑승형 로봇으로 탑승자는 옆으로 서서 앞을 보며 제어한다. 탑승자는 제안된 무선제어기를 팔의 상박에 착용하고, 무선제어기의 각도에 따라서 방향전환을 할 수 있다. 무선제어를 위해 블루투스(Bluetooth)가 사용되며, 사용자의 행동에 따른 다섯 종류의 명령(‘1’우회전, ‘2’중립, ‘3’좌회전, ‘4’운전, ‘5’정지)을 IMU 센서로 측정하여 기울기에 대한 디지털 값을 보드로봇의 제어기로 전송한다. 보드로봇에서 수신된 값은 정해진 명령을 기반으로 모터를 제어한다. 결과적으로, 제안된 IMU 센서 기반의 사용자 인터페이스는 실제의 보드를 조정하듯이 보드로봇을 쉽고 편리하게 제어할 수 있다. This study presents the remote control of a board robot using an IMU sensor based on Bluetooth communication. The board robot is a kind of riding robot controlled throng wireless communication by a user. The user wears the proposed IMU sensor controller, and changes a direction of the robot by the angles of IMU sensor. Bluetooth is used for wireless communication between the board robot and its user. The IMU sensor in the remote controller is used for recognition of a number of actions, which are measured as analog signals. The user actions have five commands ("1"right "2"neutrality "3"left "4"operation "5"stop), which are transmitted from the user to the board robot through Bluetooth communication. Experimental results show that proposed IMU interface can effectively control the board robot.

Functional identification of OsHk6 as a homotypic cytokinin receptor in rice with preferential affinity for iP.

Choi, Jaemyung,Lee, Jiyoun,Kim, Kangmin,Cho, Minjung,Ryu, Hojin,An, Gynheung,Hwang, Ildoo Japanese Society of Plant Physiologists 2012 Plant & cell physiology Vol.53 No.7

<P>Cytokinins are involved in key developmental processes in rice (Oryza sativa), including the regulation of cell proliferation and grain yield. However, the in vivo action of histidine kinases (OsHks), putative cytokinin receptors, in rice cytokinin signaling remains elusive. This study examined the function and characteristics of OsHk3, 4 and 6 in rice. OsHk6 was highly sensitive to isopentenyladenine (iP) and was capable of restoring cytokinin-dependent ARR6 reporter expression in the ahk2 ahk3 Arabidopsis mutant upon treatment with 1 nM iP. OsHk4 recognized trans-zeatin (tZ) and iP, while OsHk3 scarcely induced cytokinin signaling activity. OsHk4 and OsHk6 mediated the canonical two-component signaling cascade of Arabidopsis to induce phosphorylation of ARR2. OsHk4 and OsHk6 were highly expressed in spikelets, suggesting that tZ and iP might play key roles in grain development. OsHk6 formed a self-interacting homomer in rice protoplasts, although the trans-phosphorylation activity between subunits was much lower than the intra-molecular trans-phosphorylation activity. This indicates that the action mechanism of OsHks is evolutionarily diverged from bacterial histidine kinases. Ectopic expression of OsHk6 in rice calli promoted green pigmentation and subsequent shoot induction, further supporting an OsHk6 in planta function as a cytokinin receptor. From the results of this study, OsHks are homomeric cytokinin receptors with distinctive cytokinin preferences in rice.</P>

A Cost-effective Light Emitting Diode-acoustic System for Preclinical Ocular Applications

Hojong Choi,Jaemyung Ryu,Jung-Yeol Yeom 한국광학회 2018 Current Optics and Photonics Vol.2 No.1

Opto-acoustic systems provide structural and functional information regarding biological tissues. Conventional opto-acoustic systems typically employ continuous or pulsed lasers as transmission sources. Compared to lasers, light emitting diodes (LEDs) are cost-effective and relatively portable excitation sources but are non, coherent. Therefore, in this study, a relatively low cost lens - a type of Ramsden eyepiece - was specially designed to theoretically calculate the illumination and achieve a constant brightness across the pupil of an eye. In order to verify the capability of the developed light-emitting diode-acoustic (LEDA) systems, we carried out experiments on bovine and bigeye tuna eyeball samples, which are of similar size to the human eye, using low frequency (10 MHz) and high frequency (25 MHz) ultrasound transducers. High frequency ultrasound transducers are able to provide higher spatial resolution compared to low frequency ultrasound transducers at the expense of penetration depth. Using the 10 MHz and 25 MHz ultrasound transducers, acceptable echo signals (3.82, 3.94, and 5.84 mV at 10 MHz and 282, 1557, 2356 mV at 25 MHz) from depth greater than 3 cm and 6 cm from the anterior surface of the eye were obtained. We thereby confirmed that the LEDA system using a pulsed LED with the designed Ramsden eyepiece lens, used in conjunction with low and high frequency ultrasound transducers, has the potential to be a cost-effective alternative method, while providing adequate acoustic signals from bovine and bigeye tuna ocular areas.

Novel Telecentric Collimator Design for Mobile Optical Inspection Instruments

Hojong Choi,Seongil Cho,Jaemyung Ryu Optical Society of Korea 2023 Current Optics and Photonics Vol.7 No.3

A collimator refers to an optical system that images a collimated beam at a desired point. A resolution target located at a near distance can be converted into a virtual image located at a long distance. To test the resolution for mobile cameras, a large target is placed at a long distance. If a collimator system is used, the target can be placed at a near distance. The space required for a resolution inspection can thus be drastically reduced. However, to inspect a mobile camera, the exit pupil of the collimator system and the entrance pupil of the mobile camera must match, and the stop of the collimator system must be located on the last surface. Because a collimator system cannot be symmetrical with respect to the stop, the distortion becomes extremely large, which can be corrected by combining the collimator symmetrically with respect to the object plane. A novel system was designed to inspect an optical lens on a mobile phone. After arranging the refractive power, lenses were added using the equivalent lens design method. The distortion was reduced to less than 1%. This optical system satisfies a half-field angle of 45° and an optical performance sufficient for inspection.

가상 강우 환경을 반영한 차량용 레이더 센서 모델링 개발

변미정(Mijung Byeon),장형규(Hyeongkyu Jang),이태희(Taehui Lee),유제명(Jaemyung Ryu),정승환(Seunghwan Chung),윤상원(SangWon Yoon) 한국자동차공학회 2019 한국자동차공학회 부문종합 학술대회 Vol.2019 No.5

능동형 히피조향보조 제어 연구

김승기(Seungki Kim),황성욱(Sungwook Hwang),이상호(Sangho Lee),김남한(Namhan Kim),유제명(Jaemyung Ryu),정상호(Sangho Jung) 한국자동차공학회 2018 한국자동차공학회 부문종합 학술대회 Vol.2018 No.6

The purpose of this study is to develop the ESA(Evasive Steering Assist) logic that provide the assist steering for collision avoidance in a frontal collision situation. The proposed ESA logic utilizes only the traditional chassis control system, such as the RWS, ESC, ECS and MDPS systems to prevent weight increase and cost increase. When collision case, the proposed ESA logic calculate the proper toe angle of rear wheels (for RWS), partial brake pressure (for ESC), suspension damping force (for ECS) and steering column torque (for MDPS). As a result, the yaw-rate response of the vehicle is increased and the vehicle is controlled to avoid the frontal collision. The proposed ESA logic is designed on commercial software, MATLAB/Simulink, and the performance of this logic is verified through the HILS (Hardware-In-the-Loop Simulation) and vehicle experiments.