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다목적 바퀴형 이동로봇 플랫폼 개발 및 영상기반 비정형 환경 자율주행 기술 연구
심현재(Hyun-Jae Sim),김여호수아(Joshua Kim),홍준기(JunGee Hong),남승원(Seung-Won Nam),김용희(Yong-Hee Kim),허재(Jae Heo),황환철(Hwan-Cheol Hwang),김광기(Kwang-Ki Kim) 제어로봇시스템학회 2024 제어·로봇·시스템학회 논문지 Vol.30 No.9
In this paper, we present the development of a visual navigation and mobile robot platform designed for autonomous driving in outdoor unstructured environments. To address the challenges posed by outdoor environments, where inter-object features are ambiguous and environmental conditions are highly irregular, we apply a semantic segmentation technique to the mobile robot’s local navigation system, enabling it to move within a navigable region. A simplified segmentation structure is incorporated for processing large volumes of visual data and is integrated with vision-based control strategies to facilitate effective navigation planning. Additionally, we propose a supplementary method that involves road segmentation, which uses depth information to ensure stable and robust driving. Our research also includes the design of a wheeled mobile robot capable of operating in various environments, highlighting its practical applicability across diverse fields. The potential of this platform is validated through empirical evaluations conducted with self-developed real robots in various driving scenarios, demonstrating over 80% accuracy in navigable region classification and over 90% accuracy in road segmentation performance under dynamic conditions.
유연 매체에 적용 가능한 Bimorph PZT 구동기의 설계 및 제어
심현재 ( H. J. Shim ),황현우 ( H. W. Hwnag ),박노철 ( N. C. Park ),양현석 ( H. S. Yang ),박영필 ( Y. P. Park ) 정보저장시스템학회 2005 추계학술대회논문집 Vol.2005 No.-
Nowadays, various approaches are performed to increase the storage capacity of optical storage device. One of the promising candidates is using the high NA lens. By using high NA lens, the beam spot size can be reduced which will lead to increase the storage density. This paper proposes a double cantilever beam type bimorph PZT actuator for fine motion that can control the gap between the flexible media and optical pickup which uses high NA lens. Mathematical model is derived by using Hamilton``s principle and the model is verified by finite element analysis and experiment. Position controller is designed and its performance is evaluated by experiment.
김태은,김종태,심현재,이훈연,김성오,김동근,조미나,이소진,전용덕,송영재,진종식,조용진 한국식품과학회 2020 Food Science and Biotechnology Vol.29 No.9
To improve the industrial use of health-functionalmaterials based on edible insects, the objective ofthis study was to establish optimal conditions for improvingthe quality of Protaetia brevitarsis seulensis larval(PBSL) hydrolysates. PBSL was extracted using fourmethodologies: atmospheric pressure 50 C-water extraction,atmospheric pressure 95 C-water extraction, atmosphericpressure 50 C-water enzymatic hydrolysis, andenzyme treatment under high pressure (HPE). The qualitycharacteristics of soluble solid content, extraction yield,total protein content, protein yield, protein content withlow molecular weight (LMW) (\1kD), and the amino acidcomposition of hydrolysates were compared based on thedifferent methods. All of the quality characteristics werefound to be higher for HPE extracts than for the otherextracts. Under optimized HPE conditions, extractionyield, protein yield, protein content with LMW, amino acidcontent and the content of essential amino acids increased by 3.4, 4.4 1.4 1.5, and 1.3 times respectively, compared tothe other methods.