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ADE(Acrylic Dielectric Elastomer)를 이용한 MAV 날개 구동기의 설계 및 제어
김훈모 제어로봇시스템학회 2004 제어·로봇·시스템학회 논문지 Vol.10 No.3
Existing flapping MAV which is driven by motors or the other materials, has various defects. For the settlement of the issue, flapping MAV wing actuator is developed by using ADE(Acrylic Dielectric Elastomer). In comparison with existing materials which drive flapping wing, ADE has advantages of light weight as well as sufficient force. In order that correct lift farce occurs at this actuator, it must require to control to approach given reference. So it is controlled to approach given displacement by using fuzzy algorithm and is verified through simulation.
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적응 퍼지제어기를 이용한 분산 Multi Vehicle의 컬러인식을 통한 물체이송에 관한 연구
김훈모,Kim, Hun-Mo 대한기계학회 2001 大韓機械學會論文集A Vol.25 No.2
In this paper, we present a collaborative method for material delivery using a distributed vehicle agents system. Generally used AGV(Autonomous Guided Vehicle) systems in FA require extraordinary facilities like guidepaths and landmarks and have numerous limitations for application in different environments. Moreover in the case of controlling multi vehicles, the necessity for developing corporation abilities like loading and unloading materials between vehicles including different types is increasing nowadays for automation of material flow. Thus to compensate and improve the functions of AGV, it is important to endow vehicles with the intelligence to recognize environments and goods and to determine the goal point to approach. In this study we propose an interaction method between hetero-type vehicles and adaptive fuzzy logic controllers for sensor-based path planning methods and material identifying methods which recognizes color. For the purpose of carrying materials to the goal, simple color sensor is used instead vision system to search for material and recognize its color in order to determine the goal point to transfer it to. The proposed method reaveals a great deal of improvement on its performance.
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페지제어기를 이용한 지능형 Vehicle의 자율주행 시뮬레이션
정성택,우지민,김훈모 기계기술연구소 1999 성균관대학교 논문집 기계기술편 Vol.1 No.1
In this paper, we present a sensor based path planning method using fuzzy logic for obstacle avoidance of an intelligent vehicle in unknown environments. Generally, Robot navigation in unknown terrains is a very complex task difficult to control because of the great amount of imprecise and ambiguous sensor information that has to be considered. In this case, fuzzy logic can satisfactorily deal with such information in quite efficient manner. In this study, we propose two fuzzy logic controller which is composed of steering controller and velocity controller respectively. Our objective is to develop a fuzzy controller that can enable a mobile robot to navigate from a start point to a goal point without collisions, in the least possible travel time. The ability and effectiveness for the proposed algorithm will be demonstrated by computer simulation.
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퍼지제어기를 이용한 분산 Multi Vehicle의 Color인식을 통한 물체이송 연구
우지민,경제문,최승민,김훈모 기계기술연구소 2000 성균관대학교 논문집 기계기술편 Vol.2 No.1
In this paper, we present a collaboration method for material delivery with distributed vehicle agents system. Generally used AGV(Autonomous Guided Vehicle) systems in FA need extraordinary facilities like guidepaths, landmarks and have lots of limitation for applying in various environments and in case of controlling multi vehicles including different types is increasing nowadays for automation of materials between vehicles including different types is increasing nowadays for automation of material of material flow. Thus to compensate and improve functions of AGV, it is important to endow vehicles with intelligence to recognize environments, goods and determine goal point to approach. In this study we propose interaction method between hetero-type vehicles and fuzzy logic controller for sensor based path planning method and material identifying method by recognizing color. For the purpose of carrying materials to the goal, instead of intricate vision system, simple color sensor is used to search for material, and recognize its color to determine goal point to transfer it to. The ability for proposed method will be demonstrated by computer simulation and experiment.
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