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DongHyuk Lee,KyungWook Noh,SookHee Park,JangMyung Lee 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
In this paper, the mobile robot equipped with a single ultrasonic sensor to measure the value of the distance between the mobile robot and the obstacle will be manipulated by a haptic joystick through the value of Force Feedback. Accordingly, the mobile robot will move based on the information of the ultrasonic sensor without colliding the obstacle to precise velocity control. Vibration part which is designed and installed at the bottom of the joystick implements Haptic features using the distance data from the ultrasonic sensor. Using the Bluetooth communication, the haptic joystick and the mobile robot give and receive the data mutually to control the mobile robot"s velocity. In order to realize the precise velocity control, PD controller with the advantage of stabilization system is designed and the performances of two cases before or after PD control are evaluated and compared.
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.
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.
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.
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.
Cooperative control system of the floating cranes for the dual lifting
Nam, Mihee,Kim, Jinbeom,Lee, Jaechang,Kim, Daekyung,Lee, Donghyuk,Lee, Jangmyung The Society of Naval Architects of Korea 2018 International Journal of Naval Architecture and Oc Vol.10 No.1
This paper proposes a dual lifting and its cooperative control system with two different kinds of floating cranes. The Mega-erection and Giga-erection in the ship building are used to handle heavier and wider blocks and modules as ships and off-shore platforms are enlarged. However, there is no equipment to handle such Tera-blocks. In order to overcome the limit on performance of existing floating cranes, the dual lifting is proposed in this research. In the dual lifting, two floating cranes are well-coordinated to add up the lift capabilities of both cranes without any loss such that virtually a single crane is lifting, maneuvering and unloading. Two main constraints for the dual lifting are as follows: First, two barges of floating cranes should be constrained as a rigid body not to cause a relative motion between two barges and main hooks of the two cranes should be controlled as main hooks of a single crane. In order words, it is necessary to develop the cooperative control of two floating cranes in order to sustain a center of gravity of the module and minimize the tilting angle during the lifting and unloading by the two floating cranes. Two floating cranes are handled as a master-slave system. The master crane is able to gather information about all working conditions and make a decision to control the individual hook speed, which communicates the slave crane by TCP/IP. The developed control system has been embedded in the real floating crane systems and the dual lifting has been demonstrated five times at SHI shipyard in 2015. The moving angles of the lifting module are analyzed and verified to be suitable for hoisting control. It is verified that the dual lifting can be applied for many heavier and wider blocks and modules to shorten the construction time of ships and off-shore platforms.
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.