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정사각뿔의 면적비를 이용한 로봇의 자기위치인식에 관한 연구
배기덕(Gi Deok Bae),김동환(Dong Hwan Kim) 대한기계학회 2014 대한기계학회 춘추학술대회 Vol.2014 No.11
In this study, we suggested a position recognition method for a robot by introducing the area ratio formed by a regular fourside pyramid image captured by a camera. The pyramid is suspended from the center of ceiling. Whenever the position of the robot is changed, the area ratio must change, which determines the robot location. Using image process technique, the area ratio was captured, later being adopted to the proposed equations to determine the current robot location. The proposed method was applied to the real robot using experiments, yielding the desirable performance.
배기덕(Ki Deok Bae),백석순(Seog Soon Baek),신종우(Jong-Woo Shin),임형태(Hyung-Taek Lim),신수호(Su Ho Shin),오용수(Yongsoo Oh) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.11
A new thermal inkjet printer head on SOI wafer with virtual valve was proposed. It was composed of two<br/> rectangular heaters with same size. So we could call it T-jet(Twin jet). T-jet has a lot of merits. It has the<br/> advantage of being fabricated with one wafer and is easy to change the size of chamber, nozzle, restrictor and<br/> so on. However, above all, It is the best point that T-jet has a virtual valve. And it was manufactured on SOI<br/> wafer. The chamber was formed in its upper silicon whose thickness was 40um. The chamber’s bottom layer<br/> was silicon dioxide of SOI wafer and two heaters were located underneath the chamber’s ceiling. And the<br/> restirctor was made beside the chamber. Nozzle was molded by process of Ni plating. Ni was 30um thick.<br/> Nozzle ejection test was performed by printer head having 56 nozzles in 2 columns with 600NPI(nozzle per<br/> inch) and black ink. It measured a drop velocity of 12m/s, a drop volume of 30pl, and a maximum firing<br/> frequency of 12KHz for single nozzle ejection. Throwing out the ink drop in whole nozzles at the same time,<br/> it was observed that the uniformity of the drop velocity and volume was less than 4%.
陳甲德,裵基哲,李正秀,金英姬 嶺南大學校 環境問題硏究所 1989 環境硏究 Vol.9 No.1
It was investigated Cadmium eliminating capacty of Quartz Porphyry(Q.P.) during washing, swelling, and cooking process in rice contaminated artificially. 1. After washing the rice four times with water, the eliminating rate of Cadmium from artificially contaminated sample were 16% in control group, 28% and 42% in 25g/kg and 50g/kg Q.P. treated group, respectively. 2. Swelling of rice in water about 20 minutes didn't change the Cadmium level in Q.P. treated group. 3. Cadmium eliminating efficiency by cooking was significantly increased in Q.P. treated group (43~54%) compared to control group(31%). 4. These results suggest that treatment of rice with Q.P. is very effective to remove the Cadmium contamination in rice.
멀티모달 센서모듈 기반 지능형 로봇을 이용한 실외무인경비 플랫폼 및 시스템에 관한 연구
엄태영,배기덕,최영호,조성훈,문용선 한국통신학회 2020 정보와 통신 Vol.38 No.1
다양한 실외 환경에서 로봇서비스를 이용한 무인시스템을 구축하고자 하는 연구가 많은 관심을 받고 있다. 특히, 경비서비스를 위해서는 실외 환경을 극복하기위한 다중의 센서들을 사용하고, 고정형 에이전트 및 이동형 로봇을 이용하여 관제가 가능한 무인 경비 플랫폼에 관한 연구가 필요하다. 본 논문에서는 이러한 실외무인경비 시스템을 위한 멀티모달센서 모듈 기반 지능형로봇 서비스를 제안한다. 이 플랫폼은 현재 실제 사이트에 적용되어 실용성을 보인다.
장애물 회피를 위한 멀티모달 3D 센서 기반 데이터 결합 방법
엄태영,배기덕,이종득,박지현,최영호 제어로봇시스템학회 2021 제어로봇시스템학회 국내학술대회 논문집 Vol.2021 No.6
Robust obstacle avoidance method is the most important factor for the mobile robot navigation. Recently, the robot employ many sensors for detecting obstacles. However, most of sensors have dead-zone that it can't measure output by types of sensors. This dead-zone should be minimized by using multiple sensors to avoid obstacles. In this paper, we propose a fusion method that can combines 3D sensor data in real-time (e.g. 3D LiDAR and depth camera). It is expected that this method will allow safer avoidance of obstacles for mobile robots.