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THE GEOMETRIC ALBEDO OF (4179) TOUTATIS ESTIMATED FROM KMTNet DEEP-SOUTH OBSERVATIONS
Yoonsoo P. Bach,Masateru Ishiguro,Sunho Jin,Hongu Yang,Hong-Kyu Moon,Young-Jun Choi,정영민,Myung-Jin Kim,SungWon Kwak 한국천문학회 2019 Journal of The Korean Astronomical Society Vol.52 No.3
We derive the geometric albedo of a near-Earth asteroid, (4179) Toutatis, to investigate its surface physical conditions. The asteroid has been studied rigorously not only via ground-based photometric, spectrometric, polarimetric, and radar observations but also via \textit{in situ} observation by the Chinese Chang'e-2 space probe; however, its geometric albedo is not well understood. We conducted V-band photometric observations when the asteroid was at opposition in April 2018 using the three telescopes in the southern hemisphere that compose the Korea Microlensing Telescope Network (KMTNet). The observed time-variable cross section was corrected using the radar shape model. We find that Toutatis has a geometric albedo $\pV = \pVval $, which is typical of S-type asteroids. We compare the geometric albedo with archival polarimetric data and further find that the polarimetric slope--albedo law provides a reliable estimate for the albedo of this S-type asteroid. The thermal infrared observation also produced similar results if the size of the asteroid is updated to match the results from Chang'e-2. We conjecture that the surface of Toutatis is covered with grains smaller than that of the near-Sun asteroids including (1566) Icarus and (3200) Phaethon.
Sensorless Torque Control of Humanoid Arm having Highly Back-drivable Joints
Kyung-Won Moon,Youngbo Shim,Yong-Jae Kim,Dong-Hun Lee,JongDo Choi,YoonSoo Kim,Kyungsik Roh 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
In this paper, novel upper body humanoid manipulators are presented. Each manipulator has 8 joints with coupled wrist joints, actually it has 7DOF. Torque-based interaction is our main manipulation strategy. We chose backdrivable mechanism and current control of motor as significant design factors. Shoulder and elbow joints were composed of gear mechanism, and wrist joints were composed of ball-screw mechanism. These mechanisms are experimentally compared with conventional harmonic drive module which widely used in manipulators. All joints are highly backdrivable. Force/torque sensors were not used. We developed local controller board consisted of DSP and EtherCAT communication. For an application of this system, cartesian impedance control using two arms is implemented.
Myoung Hoon Lee,Yoonsoo Kim,Jin-Ho Chung,Jun Moon 제어로봇시스템학회 2020 제어로봇시스템학회 국제학술대회 논문집 Vol.2020 No.10
In this paper, we propose a new approach to navigate and control unmanned aerial vehicles (UAVs) based on soft actor critic deep reinforcement learning algorithms. The optimal reference trajectory for the UAV is generated by iterative interaction between the soft actor-critic agent and the quadrotor environment, by which the optimal state-action pair is obtained to achieve the best total reward. Then, the UAV is controlled by the backstepping controller to track the generated reference. The effectiveness of our approach is validated through simulations of the auto landing problems with and without obstacles.
김준영 ( Junyeong Kim ),전소연 ( Soyeon Jeon ),조윤수 ( Yoonsoo Cho ),한혜정 ( Hyejung Han ),문호 ( Ho Moon ),이형준 ( Hyungjune Lee ) 한국정보처리학회 2017 한국정보처리학회 학술대회논문집 Vol.24 No.2
최근 고령화에 따른 치매 환자 증가 추세로 인해 실내 치매 환자 케어 시스템이 주목받고 있다. 본 논문에서는 비콘과 센서를 이용한 치매 환자의 배회 방지 및 위험 장소 접근 알림 시스템을 개발하였다. 치매 환자의 실내 위치를 추적하기 위해 비콘을 실내 곳곳에 부착하고, 치매 환자의 위험 행동을 감지하기 위해 센서를 위험지역에 설치한다. 스마트폰을 사용하여 비콘 신호를 측정하고 측정된 비콘 신호를 사용하여 치매 환자의 위치를 계산하여 치매 환자가 위험에 처했다고 판단되면 이를 간병인에게 알린다. 위 시스템을 통해 간병인의 부담을 덜고, 간병 비용을 절약할 수 있다.