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USB I/O를 사용하는 산업용 제어기의 설계 및 제작
조규상,이종운 동양대학교 산업기술연구소 2001 東洋大學校 産業技術硏究所 論文集 Vol.3 No.1
PLC or PC I/O cards those are generally used in an industrial machines have some weak points. In this paper, to overcome these weak points, an industrial I/O controller using USB bus is designed and implemented and it has the features, such as, a shortened wiring, an ease of use, and a competitive price. Cypress' Ezusb chip, USB embeded microprocessor, is used to develop its hardware. Driver program for Widows are designed by using WDM(Windows Driver Model), And a library programs and sample application software are developed for user's convenience using Visual C++.
윈도우 분석법을 이용한 이동로보트의 장애물 회피와 경로계획
조규상 동양대학교 1998 동양대학교 논문집 Vol.4 No.1
PFM(Potential Field Method)에서는 전위의 균형상태에서 이동로보트가 이동하지 못하는 지역최소점(local minima)에 도달하는 문제가 발생할 수 있다. 본 논문에서는 이런 문제가 발생하지 않으며 빠르고 간편한 방식으로 로보트가 장애물 회피를 할 수 있는 윈도우 분석법을 이용한 새로운 장애물 회피와 경로계획 알고리듬 알고리듬을 제안한다. 미지의 경로상에서 주어진 크기의 장애물 윈도우에서의 특징을 이용하여 안전한 주행 경로를 선택하며 장애물 회피를한다. 시뮬레이션의 결과를 통하여 이 방법의 신뢰성과 우수성을 입증한다. In conventional Potential Field Method(PFM), a problem of local minima that a mobile robot stuck at a point can take place. In this paper, a new on-line local path planning algorithm called Window Analysis Method(WAM) which has a gird type window is proposed. This method has a feature that is simple and fast, and that can take a safe path and avoids obstacles in unknown environment. WAM has simulated on the mobile robot to demonstrate its reliability and feasibility.
조규상 東洋大學校 産業技術硏究所 1999 東洋大學校 産業技術硏究所 論文集 Vol.1 No.1
This paper proposes a path planning of two wheeled mobile robot for avoiding local minima. A circular obstacle detection window helps a robot take a safe path avoiding unknown obstacles in an unknown environment. Detected obstacles in the window used to calculate steering angle and calculate radius of safe angular velocity. An algorithm for escaping local minima is presented also. This has simulated on the mobile robot to demonstrate its reliability and feasibility.
조규상 동양대학교 1999 동양대학교 논문집 Vol.5 No.1
In this paper, the design of a feedback linearization controller using multilayer neural networks is proposed. The existing neural network based feedback linearization controller is mainly implemented by using an inverse function of nonlinear system. However, the proposed feedback linearization control scheme is designed by finding Lie derivatives from an identified networks. The Lie derivatives are expressed as a combination of weights and neuron output. The proposed method is applied to an antenna arm problem and the simulation results show performance comparisons between the ordinary feedback linearization and the proposed method.
오스템퍼링한 구상흑연주철(ADI)의 드릴 가공시 경도 및 현미경조직변화에 관한 연구
조규재,장우양,심재기,홍성오,김선진 한국공작기계학회 1999 한국생산제조학회지 Vol.8 No.1
This paper was carried out to know the influence of advanced austempered ductile cast iron (ADI) on the tool life and mechanical properties of drilling machinability. For manufactured method of ADI, the spheroidal graphite cast iron were austenized at 900℃ for 1 hour and then austempered for 2 hour at 370℃ in the salt bath. And interrelationship has been investigated between tool life and mechanical characteristics of specimen material on drilling condition when the ordinary and step-feed drilling are carried out to drill holes of specimens. Tensile strength and hardness of ADI decrease and elongation of ADI increases with the increase austempered temperature. It is known that about 2 times of tool life in the case of step-feed decreases compared with ordinary feed due to the high hardness of ADI and hardness ascribed to the fact that retained austenite beame to martensite state due to cutting heat in drilling. Under the constant feed rate 0.1㎜/rev relation between hardness and length of end tip after drilling can be formularized to Hv=788.46L^-0.096 for the cutting speed 6.1m/min.
조규상 東洋大學校 産業技術硏究所 2002 東洋大學校 産業技術硏究所 論文集 Vol.4 No.1
Dubins showed that any shortest path of a car-like robot consists of exactly three path segment which are either arcs of circles of radius r, or straight line segments. In this paper, expressions for calculating connection points between C→S and S→C of three path segment are driven. The proposed expressions are driven by newly adopted a standard form of configurations, so the expressions are simple and new.
조윤정,김성현,이인화,김시욱,고문주,박성규,이범규 조선대학교 환경연구소 2000 環境硏究 Vol.16 No.1
Leaching and adsorption equilibria of Sr Chemical Species from the near field of a repository has been studied in solidified cement with Fe and oxidized Fe. The absorption percent, Ads %, and distribution coefficient, K_d were calculated using equilibrium concentration to predict the extent of leaching and adsorption. In the mixed aqueous solutions the Ads % increase as Cement(C)/Water(W) ratios increase and K_d was decreased for Sr. These behaviors were discussed by adsorption and equilibrium of spiked ions. Oxides Fe promoted adsorption of spiked ions, but pure Fe had no effect. E_h values were also estimated and discussed to elucidate oxidation-reduction environment of experimental system.