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장완식,백은석 한국공작기계학회 1997 한국생산제조학회지 Vol.6 No.2
This paper presents the development of real-time estimation and control details for a computer vision-based robot control method. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known 4-axis Scorbot manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method. The method is tested experimentally in two ways ; First the validity of estimation model is tested by using the self-built test model. Second, the practicality of the presented control method is verified in performing 4-axis manipulator's assembly task. These results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as deburring and welding.
장완식,신광수,백은석 조선대학교 생산기술연구소 1996 生産技術硏究 Vol.18 No.1
This paper presents three-dimensional robot task using the vision control method. A minimum of two cameras is required to place points on end effecters of n degree-of-freedom manipulators relative to other bodies. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameter estimated by the iteration method. The method is tested experimentally with three-axis manipulator in two ways; a) the estimation model test, b) a three-dimensional point placement task. These results show that control scheme used is precise and robust.
동적 소음저감 기법을 적용한 차량용 소음기가 엔진 성능에 미치는 영향에 대한 연구
김철호(Chul-Ho Kim),백은석(EunSeok Baek),방미연(Miyeon Bang),류호준(Hojun Ryu),이종진(Jongjin Lee),정상훈(Sang-Heon Chung) 한국자동차공학회 2010 한국자동차공학회 학술대회 및 전시회 Vol.2010 No.11
The purpose of this study is on the development of a muffler system which controls the noise and static pressure drop of the exhaust gas of an automobile engine with the concept of the dynamic control method. The control the noise and pressure resistance of the muffler system, the muffler system is designed with two rotating impellers installed in the muffler cavity. Compared to a conventional muffler that has baffles and connecting pipes in the muffler chamber, new concept of the muffler system named Dyna-muffler, has two rotating impellers installed into the muffler chamber separated into two cavities. Each rotor has 6 blades and it acts as a moving baffle absorbing kinetic and pressure energy of the high-pressure, high-speed exhaust gas from the engine. From the experiments, it was found that the pressure resistance of the Dyna-muffler is quite similar to the conventional static muffler in the normal engine operating range. To understand the performance of the Dyna-muffler on the engine efficiency and output power, the engine dynamometer experiments will be conducted.