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홍성일,이원석,강신천,강윤식,박용운,Hong, Seongil,Lee, Won Suk,Kang, Sin Cheon,Kang, Youn Sik,Park, Yong Woon 한국군사과학기술학회 2014 한국군사과학기술학회지 Vol.17 No.6
This paper introduces a Korean rescue robot and presents a whole body kinematic control strategy. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility in the battlefields, hospitals and hazardous environments. In order for a robot to rescue and assist humans, reliable mobility in various environments, large load carrying capacity, and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulator, and two types of grippers. The electric actuators provide the strength to lift a wounded soldier up to 120 kg using whole body joints. To control the robot with multi degree of freedom, we need to synthesize complex whole-body behaviors, and to manage multiple task primitives systematically. We are to present a whole body kinematic control methodology, and demonstrate its effectiveness through numerical simulations.
대전차 위협체 상태추정을 위한 퍼지 규칙기반 적응적 칼만필터
이의혁,조규공,박상순,강윤식,Lee, Eui-Hyuk,Cho, Kyu-Gong,Park, Sang-Soon,Kang, Youn-Sik 한국군사과학기술학회 2012 한국군사과학기술학회지 Vol.15 No.1
To neutralize fast Anti-Tank Guided Missiles(ATGMs) or Anti-Tank Rockets(ATRs) projected at short ranges, the trajectories and times that the threats arrive at hard-kill systems should be predicted precisely. The trajectories of ATGMs or ATRs are almost stationary but the velocity and acceleration are very changeable in the terminal stage, so that it is needed to predict the characteristics of ATGMs and ATRs for filtering. In this paper the Fuzzy Rule based Adaptive Kalman Filter(FRAKF) is proposed to estimate the position, velocity and acceleration of the threats with accuracy and the performance of it is compared with the existing tracking filter considering the maneuvering characteristics of threats.