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박성태(S. T. Park),이민칠(M. C. Lee) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. In this paper we persent a visual approach to the problem of boject grasping. First we propose object recognization method which can find the object position and pose using feature points. A robot recognizes the feature point to Object. So a number of feature point is the more, the better. but if it is overly many, the robot have to processe many data. it makes real-time image processing ability weakly. In other to avoid this problem, the robot selects only two point and recognize the object by line made by two points. Second we propose trajectory planing of the robot manipulator. Using grometry of between object and gripper, robot can find a goal point to translate the robot manipulator. and then it can grip the object successfully.
[안전/타이어운동특성부문] ABS System 개발을 위한 HILS 구축
설인수(I.S.Seol),조경상(K.S.Cho),양순용(S.Y.Yang),박성태(S.T.Park) 한국자동차공학회 1999 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
An efficient simulation platform for the development of anti-lock brake system (ABS) is presented. To reduce computational burden due to the rigidity of a hydraulic unit comprising brake system. the hydraulic brake system is built and integrated to a virtual 18-DOF vehicle dynamics model. The latter is used to describe dynamics of the target vehicle under extreme maneuvers. The Hardware-in-the-Loop system thus built allows the investigation of not only the dynamic behavior but also hydraulic responses of the vehicle with a complete assess to all system parameters and state variables
홍연규(Yeon Kyu Hong),이봉춘(B. C. Lee),송석보(S. B. Song),박성태(S. T. Park),김정남(J. N. Kim),전민구(M. K. Koo),김인섭(I. S. Kim) 한국잔디학회 2006 한국잔디학회 정기총회 및 학술발표회 Vol.19 No.-
The term mycoherbicide originated in the 1970's to differentiate this strategy from classical strategy of relying upon self-perpetuation introduced organisms for weed control. Interest in bioherbicides is hightened in particular by the increasing costs of chemical herbicides, lack of adequate chemical control for some weeds and the social concerns about the widespread use of pesticides. After release, a classical biocontrol agent is expected to become a permanent part of its new environment and it is vital to ensure, as far as possible, that it will do more good than harm there. This is done through risk assessment, which invariably includes host range testing. Contemporary biological control system includes the use of fungi to control weeds in agricultural ecosystems and forests. Biological control agent (BCA) of weeds that are highly virulent and specific to target weeds, and able to be produced massively by artificial culture could be applied like chemical herbicides over the weeds. The approach of mycoherbicide(BCA)is differed from the classical approach in which plant pathogens are released through natural spread. The use of pathogenic fungi as classical biological control agents for weeds began in 1971. To date, 26 species of fungi, originating from 15 different countries, have been used as classical BCA against over 26 species of weeds in seven countries. Information is presented on the performance of these pathogens in the field after release, compared with predictions made on the basis of prerelease host-range testing. The mechanisms and evolution of plant resistance are discussed in relation to risk assessment. No reports were uncovered of deliberately introduced fungi unexpectedly attacking non-target plants after release. Indeed, host-range testing results have often proved conservative, with a number of examples of pathogens attacking non-target plants in prerelease tests, but not being recovered from these species in the field. It is concluded that risk assessments based on rigorous host-range testing, combined with a good understanding of the taxonomy, biology, and ecology of the agent, the target weed, and non-target species, can ensure that the introduction of exotic pathogens is a safe and environmentally benign method of weed control. However, many pathogens have not been successfully used in practice as mycoherbicide to date despite the extensive researches and developments. Of the 80 weed control projects, 71 involved fungi, 6 involved viruses, and 3 each involved bacteria and nematodes. Charudattan added the list 153 mycoherbicide projects recently. One estimated that 30 weeds might be controlled with mycoherbicides by the year 2000, without taking into account the potential genetic engineering and other advances in biotechnology. Developed under such a definition, many mycoherbicides were considered which have shown their potentials in the laboratory or greenhouse, but most of them have been ineffective in the field. In addition, for some mycoherbicide candidates, control efficacy was not consistent from year to year or from field to field. These contradictions indicate lack of understanding of one or more important ecological factors or mechanisms contributing to the suppression of weeds by plant pathogens in the field. It is necessary to understand what are the suitable conditions of temperature and relative humidity to control the target weed with plant pathogen before applying in field. Nevertheless, under field conditions dew formation and its duration are difficult to predict. In the studies of biological control of weed with pathogens, there are some notable examples. Most weed species are hosts for many endemic pathogens, thus, a potential pathogen must be selected as a BCA. Daniel et al.suggested that these pathogens must ; (1) be able to produce abundant and durable inoculum in artificial culture, (2) be genetically stable and specific for the target weed, and (3) be able to infect and kill the