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인간과 로봇 협력작업을 위한 로봇 지능제어알고리즘 개발에 관한 연구
이우송(Woo-Song Lee),정양근(Yang-Guen Jung),박인만(In-Man Park),정종교(Jong-Gyu Jung),김희진(Hui-Jin Kim),김민성(Min-Seong Kim),한성현(Sung-Hyun Han) 한국산업융합학회 2017 한국산업융합학회 논문집 Vol.20 No.4
This study proposed a new approach to develop an Intelligent control algorithm for cooperative working of human and robot based on voice recognition. In general case of speaker verification, Gaussian Mixture Model is used to model the feature vectors of reference speech signals. On the other hand, Dynamic Time Warping based template matching techniques were presented for the voice recognition about several years ago. We converge these two different concepts in a single method and then implement in a real time voice recognition enough to make reference model to satisfy 95% of recognition performance. In this paper it was illustrated the reliability of voice recognition by simulation and experiments for humanoid robot with 18 joints.
레진의 경화 반응을 고려한 UV-NIL 공정의 열특성에 관한 실험 및 수치해석 연구
김우송(Woo-song Kim),박경서(Gyeong-seo Park),남진현(Jinhyun Nam),임홍재(Hongjae Yim),장시열(Siyeol Jang),이기성(Keesung Lee),정재일(Jay Jeong),임시형(Sihyeong Lim),신동훈(Donghoon Shin) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
The process conditions during ultraviolet nanoimprint lithography (UV-NIL) process such as temperature, stamping pressure, UV irradiation, etc. are effective factors for successful imprinting of complex and fine patterns. In this study, the effects of aluminum mold on the thermal characteristics of UV-NIL process were investigated through imprinting experiments and numerical simulations. The temperature of polymer resin on mold was measured to study thermal characteristics during UV curing. From the experimental and numerical results, the importance of curing reaction control for UV-NIL process was discussed for deformation characteristics.
스마트펙토리를 위한 듀얼암을 갖는 모바일 로봇의 유연제어에 관한 연구
이우송(Woo-Song Lee),하언태(Eun-Tha Ha),정양근(Yang-Keun Jeong),박인만(In-Man Park) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.2
This study proposes a new approach to design of the robust control application of a mobile manipulator with dual-arm. The mobil manipulator robot system consists of 12 DOF manipulators and a mobile robot. Kinematics of the robotics has been analyzed and simulated to verify reliability. A position-based torque control technique is applied to the robot by adding an outer loop to interact with the environment. Experimental studies of torque control applications of robot arm and interaction with a user operator are conducted. Experimental results has been proved that the robot arm performed regulated to follow the desired reference.