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RISS 인기검색어
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- 저자 : 고성영(Seong Young Ko) (검색결과 13 건)
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형상 정합 기법 기반의 물체의 파지 및 이동 궤적 모사를 위한 로봇 시스템의 개발
고성영(Seong-Young Ko),주한별(Hanbyul Joo),최동걸(Dong Gul Choi),김형우(Hyeongwoo Kim),권인소(In So Kweon) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This paper explains the development of robotic system to imitate the grasping motion and trajectory of an object based on shape matching method. The system was developed so that it observes the position and the trace of the chosen object, produces the trajectory for 5DoF robotic arm, and moves to mimic the trajectory reversely. In order to extract the information of the object in real time, the shape matching algorithm is applied to stereo images. The center position of the object is obtained at each image and these are utilized to calculate the position in real time in terms of the camera coordination system. These points were converted in terms of the robot coordination system, and the trajectory for robot's motion was generated by interpolating these points. The grasping motion of the robotic arm is planned using the start position and the end position of the trajectory. It was shown that the developed robotics system based on shape matching method operates robustly.
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Ferro-fluid의 흡착을 통한 paper actuator의 개발
김기수(Kisu Kim),황도연(Doyeon Hwang),고성영(Seong Young Ko),박종오(Jong-Oh Park),박석호(Sukho Park) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
As a demand of a microrobot in medical and defense fields, micro-actuators for the actuation of the microrobot have been actively studied. The miniaturization, controllability and robustness on environmental changes are vital factors in the development of the micro-actuator. In this study, we proposed a new paper actuator using ferro-fluid absorption. The paper actuator was fabricated by the absorption of nanoscale Fe particles on a paper membrane and it was strongly magnetized and responded by external magnetic field. First, we synthesized a ferro-fluid using FeCl2 and FeCl3, and the ferro-fluid was absorbed on various papers such as facial tissue, coffee filter, Whatman filter and Hanji. In addition, the adsorptions of the Fe particles on the various paper membranes were investigated by SEM images. Finally, we fabricated cantilever type actuators from the ferro-fluid absorbed papers and executed bending and alignment tests using an electromagnetic actuation system. Through the experiments, it was validated that Hanji based paper actuator has the good magnetization and shows the best actuation performances compared with other paper actuators.
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4개의 전자기 코일을 이용한 위치기반의 전자기장 제어에 관한 연구
고광준(Gwangjun Go),최현철(Hyunchul Choi),이청(Cheong Lee),고성영(Seong Young Ko),박종오(Jong-Oh Park),박석호(Sukho Park) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
Recently, various wireless manipulating methods for microrobots have been proposed. Among these methods, an electromagnetic actuation (EMA) method showed free motion and accurate controllability of wireless microrobots. In previous our study, eight electromagnetic coils (two stationary pairs of Helmholtz coil and two stationary pairs of Maxwell coil) were used for 2-DOF (Degree Of Freedom). In contrast, this paper proposed a new EMA system with only four electromagnetic coils, which can realize 2-DOF (translation and roll motion). Generally, for the control of many EMA systems, it was assumed that the electromagnetic field in workspace is identical. However, the electromagnetic field was distorted in boundary of the workspace owing to the characteristic of the electromagnetic field. To improve the locomotive accuracy of the microrobot, the position based magnetic field control method for the microrobot was developed. Finally, through the position based magnetic field control method in the proposed EMA system, the microrobot can be accurately moved along the desired path.
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경기욱(Ki-Uk Kyung),송세경(Se-Kyong Song),고성영(Seong-Young Ko),박정홍(Jeong-Hong Park),권동수(Dong-Soo Kwon) 한국산업융합학회 2003 한국산업융합학회 논문집 Vol.6 No.4
The goal of this research is to develop a Heel/Side Laster and control GUI(Graphic User Interface) for adaptive manufacturing. For this purpose, we have analyzed the working sequences of heel/side laster, and developed a control program that will facilitate the machineries with functions that are suitable for adaptive manufacturing. We also made it possible to modify the gluing path with simple manipulation of CAD data. By providing a user-friendly GUI, we made it possible for unskilled workers use the system without difficulty. In addition, we have developed a flexible environment where the already available CAD data can be modified and saved with ease. Automatic feeding and path control algorithms for thermoplastic cement were also implemented. By using the Heel/Side Laster for adaptive manufacturing, we are able to achieve increased productivity and work efficiency while improving the quality of the product with self-diagnosis and fine adjustment function.
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관형소화기관 진단을 위한 전자기 구동 캡슐내시경의 3차원 나선형 운동
이청(Cheong Lee),최현철(Hyunchul Choi),정세미(Semi Jeong),고광준(Gwangjun Go),고성영(Seong Young Ko),박종오(Jong-Oh Park),박석호(Sukho Park) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
We propose a new electromagnetic actuation system for capsule endoscope with steering, locomotion and rotational motion. The proposed electromagnetic actuation system consists of 3 pair of Helmholtz oils and 1 pair of Maxwell coils. The precessional motion and ascending motion of the magnetic capsule endoscope were realized using the proposed electromagnet actuation system. In addition, the magnetic capsule endoscope can move in an esophagus by the propulsion and the rotation with centrifugal force. First, we fabricated a capsule endoscope prototype with a desired magnetization direction and verified its scanning function through the helical motion of the capsule endoscope prototype in the mock-up of tubular digestive organs. Second, the capsule endoscope prototype also has a propulsion force to the perpendicular direction of axial vector when it tracks the helical path, and this force makes the capsule endoscope prototype to attach the inner wall of tubular environment. Through various experiments, the precession of the magnetic capsule endoscope using a glass tube was demonstrated and the feasibility of the capsule endoscope actuated by the electromagnetic actuation system was verified.
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