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선박의 해치 및 화물 형상 스캔을 위한 3D 레이저 스캐닝 시스템 개발
고석조,김태훈,차병수,박민규,유기호,문영근 한국기계기술학회 2016 한국기계기술학회지 Vol.18 No.2
Unloading operation by the unloader is dependent on the experience of the operator in the cabin. If the operator receives information about the unloading situation in the process of lifting the bucket, it is possible to prevent the collision of the bucket with the ship structure. In recent years, numerous measurement systems have become available on the market for three-dimensional surveying of objects, but they are very expensive. This study presents a high quality, low cost 3D laser scanning system designed for object recognition. The developed 3D laser scanning system is built on the base of a 2D laser sensor by the extension with a servo motor and a rotation module. In order to evaluate performance of the developed 3D laser scanning system, the developed system was applied to scan a shape of hatch and cargo holder on a cargo ship. Experimental results showed that to obtain a 3D scanning data for the area around the hatch and cargo holder.
로봇암의 경량화를 위한 중공형 서보 조립체 개발 및 적용
고석조,이영진 한국기계기술학회 2009 한국기계기술학회지 Vol.11 No.2
Robotic manipulators are increasingly deployed in complex environments or to perform complex tasks. Studies on dual-arm-robots have been continually carried out in robotics areas to provide robots in dangerous environments, similar to those which human beings would be normally in, without a special change to the working environment. In previous study, a dual-arm-robot has been designed. The robot, however, has some defects in its heavy weight and big shape. In order to reduce weight of an arm robot, the robot has been designed using a hollow-shaft-servo- assembly. The hollow-shaft-servo-assembly is composed of a hollow-shaft-servo-motor, a hollow- shaft-harmonic-drive, a hollow-shaft-brake, a hollow-shaft-encoder, and a servo-drive.
AdaBoost 알고리즘을 이용한 얼굴인식 및 선박용 감시로봇 개발
고석조,박장식,장용석,최문호 한국로봇학회 2008 로봇학회 논문지 Vol.3 No.3
This study developed a surveillance robot for a ship. The developed robot consists of ultrasonic sensors, an actuator, a lighting fixture and a camera. The ultrasonic sensors are used to avoid collision with obstacles in the environment. The actuator is a servo motor system. The developed robot has four drive wheels for driving. The lighting fixture is used to guide the robot in a dark environment. To transmit an image, a camera with a pan moving and a tilt moving is equipped on the upper part of the robot. AdaBoost algorithm trained with 15 features, is used for face recognition. In order to evaluate the face recognition of the developed robot, experiments were performed.
고석조,이민철,홍창우 한국공작기계학회 2002 한국공작기계학회 춘계학술대회논문집 Vol.2002 No.-
In the previous study, a polishing robot system was developed to automate the polishing process and to cope with the shortage of skilled workers. This polishing robot system has several advantages: reduced time for setting polishing work, decreased labor costs, effective operation, continuous polishing work without an operator, improved machine accuracy, and the ability to polish a free curved surface die. However, still the problem remains that a worker must stay to monitor the polishing process in the poor working conditions for a long time. Nowadays some advanced manufacturing companies need to find a way to check the performance of their production equipments and plants from remote sites. Thus, this study constructed the communication network and developed the monitoring programs (a servo program and a client program) to operate the polishing robot from remote sites. Using these programs, workers are able to monitor and control the polishing robot on the web page, in any place where internet service is possible. To guarantee a stable operation in spite of a variable computer operating environment, the monitoring system is implemented in Java. The experimental results showed that the developed monitoring programs provided a stable communication.