http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Development of the Algorithm of Locomotion Modes Decision based on RBF-SVM for Hip Gait Assist Robot
신동빈(Dong Bin Shin),이승찬(Seung Chan Lee),황승훈(Seung Hoon Hwang),백인혁(In Hyuk Baek),노준규(Joon Kyu No),황순웅(Soon Woong Hwang),한창수(Chang Soo Han) Korean Society for Precision Engineering 2020 한국정밀공학회지 Vol.37 No.3
The purpose of this study was to suggest the method for automated locomotion modes (Level Walking, Stair Ascent, Stair Descent) detection based on the Radial Basis Function Support Vector Machine (RBF-SVM) for the hip gait assist robot. The universal hip gait assist robot had a limit in detection of the walking intention of users because of the limited sensors’ quantity. Through the offline training, using MATLAB, we trained the collected gait data of users wearing the hip gait assist robot and obtained the parameter of the RBF-SVM model. In the online test, using LabVIEW, we developed the algorithm for the locomotion modes decision of individuals using the optimized parameter of the RBF-SVM. Finally, we executed the gait test for three terrains through the walking environment’s test platform. As a result, the locomotion modes decision rate for three terrains was 98.5%, 99%, and 98% respectively. And the decision delay time of algorithm was 0.03 s, 0.03 s, and 0.06 s respectively.
탈부착 타입 굴삭기 원격조작 키트와 5G 기반 저지연 영상전송 모듈을 이용한 장거리용 지뢰 제거 시스템에 관한 연구
길명수(Myeongsu Gil),장성훈(Sunghoon Jang),박진철(Jincheol Park),김형준(Hyung Jun Kim),현효원(Hyowon Hyun),유보현(Bo-Hyun Ryu),정상혁(Sang Hyeok Jeong),문현기(Hyungi Moon),선동익(Dong Ik Sun),이상근(Sang Keun Lee),노준규(Joon Kyu No) 대한기계학회 2019 大韓機械學會論文集A Vol.43 No.10
‘4.27 판문점 선언’, ‘6.14 남북장성급군사회담’ 및 각 실무회담까지 비무장지대(DMZ)의 평화지대화 구상이 실제화 됨에 따라 선행 작업으로 지뢰 제거 작업에 대한 논의가 재개되고 있다. 한반도에서 지뢰는 DMZ에 약 200만 발 정도가 매설된 것으로 추정하고 있으며 홍수, 태풍, 산사태 등에 의해 주변의 민간인 주거지역까지 분포되고 있다. 이러한 지뢰에 의해 2001년부터 2016년까지 약 66건의 지뢰사고와 이로 인해 89명의 인명 피해가 발생했다. 이에 국내의 ROBHAZ, 견마로봇, HUMIR 그리고 해외의 Rhino, MK-4, Mine-Breaker 등의 지뢰 제거 시스템이 투입되었으나 산림, 산악 지형 위주의 DMZ 지역전반을 수행하기에 부적합한 것으로 판단되었다. 이에 본 논문에서는 탈부착 타입의 굴삭기 원격조작 키트와 5G 기반 저지연 영상전송 모듈을 적용한 중/장거리용 지뢰 제거 시스템을 제안한다. The proposal to make the demilitarized zone (DMZ) a peace zone has been implemented by the Panmumjeom Declaration of April 27, 2018, during the South-North Korea Military Talks on June 14, 2018. Discussions on landmine removal work have also resumed. It is estimated that the mines have about 2 million piles in the DMZ. Due to floods, typhoons, and landslides, it is also distributed to civilian residential areas. These mines have caused 89 casualties from 2001 to 2016. Therefore, mine-clearing systems such as ROBHAZ, four-legged Robot Mine Detector, Rhiono, MK-4, and Mine-Breaker were put to work. However, these systems are not suitable for the forested and mountainous terrain of the DMZ. In this paper, we propose a mine-clearing system that uses an excavator remote control kit and a 5G-based low-latency image transmission module.