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우수호,황인준,이순걸,원인식 사단법인 미래융합기술연구학회 2020 아시아태평양융합연구교류논문지 Vol.6 No.3
In this paper, we propose an obstacle identification system and a corresponding algorithm for object motion tracking. The object motion tracking device detects only ships rather than all objects so it can be applied to unmanned surface vehicles’ operation in marine environments. When an obstacle is detected, the object motion tracking device identifies and tracks it in real-time according to its movement. Objects are recognized using the Fast-RCNN algorithm, and their positions are measured through the transformation of an image coordinate system. A gimbal control method for a camera using only the image center and distance information of objects without using the camera's focus and zoom function was proposed. The control of the gimbal were made using serial communication based on the video system control architecture protocol, and object tracking was performed by placing the detected object toward the center of the image frame. The object tracking performance of the proposed object identification system has been verified using images in a limited environment.
Development of a Simple Efficient Controller to Improve Response of MR Fluid Brakes
황인준,우수호,이순걸,원인식 사단법인 미래융합기술연구학회 2020 아시아태평양융합연구교류논문지 Vol.6 No.3
In this paper, a simple efficient controller was developed to improve torque response characteristics of MR fluid brakes over time. Due to the nature of MR fluid brakes with different characteristics depending on the applied current, conventional voltage application methods are difficult to use when linear control of residual magnetic and brake torque is required. The proposed controller is intended to be used to propose a method for adjusting the signals of Enable_VH, MR_on, and Fast_off over time to increase the rate in the rise and fall of torque over generation torque control and time through voltage control applied to MR fluid brakes. Arduino Uno is used as the control board for the control and current sensors and torque sensors were used to check torque response characteristics. The control program used LabView to measure the current and torque applied to the MR fluid brakes. Experimental and comparative analyses were carried out using the controller proposed in this paper and the rated voltage was applied to determine the effect of the simple efficient controller on torque generation of MR fluid brake. Based on the results of the Rise Time and Fall Time of the MR fluid brakes, the efficiency of the proposed controller and comparative analysis of the response characteristics of the MR fluid brakes according to the input current could be verified.
로봇용 복합 유성기어 감속기 개발과 동력계를 이용한 성능평가
이재홍,홍준기,우수호,이순걸 한국정밀공학회 2024 한국정밀공학회지 Vol.41 No.3
Gearboxes used in the drivetrain of intelligent robots are key mechanical components that play a significant role indetermining the performance of modern robotic systems. Gearboxes employing the planetary gear mechanism, knownto achieve a wide range of reduction ratios while remaining relatively cost-effective, have recently been adopted inrobot drivetrains. In this paper, we utilize domestic technology to fabricate a gearbox using a compound planetarygear mechanism and conduct an evaluation of eight performance aspects of the developed gearbox through thefabrication of a dynamometer and a jig. The dynamometer comprised of the gearbox, input motor, input-output torquesensors, and a powder brake. By driving the input motor and applying braking force with the powder brake, wecompare input torque sensor values with output torque sensor values to derive results. A test jig is created,consisting of an input motor, gearbox, and encoder sensor, for the measurement of inverse operation characteristicsand backlash. By conducting a performance evaluation of the developed high-strength, high-reduction-ratio compactplanetary gearbox, we validate the potential of the testing system and extend the scope of domestic gearboxtechnology development.
김근우,김윤겸,홍준기,우수호,최재환,이순걸 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.1
A lane keeping assistant (LKA) is a control system that maintains marked lanes for driving safety. This paper shows an LKA system based on a time to lane crossing (TLC). A TLC can be calculated by dividing the distance to the lane crossing by the vehicle velocity and represents the time in which a vehicle will cross the lane. Instead of using a complicated TLC calculation for both straight and curved roads, a lightweight TLC (LTLC) method as a simplified one is proposed to reduce the computing time. By approximating the curved road to two straight roads, based on look-ahead points, the TLC computation of time can be reduced. The LKA system pre-calculates the vehicle's LTLC and turns the steering wheel in the opposite direction when the remaining time is running out. To verify the proposed algorithm, an IPG's CarMaker simulation with Matlab/Simulink was executed. The simulation results show it was possible to show stable driving results. Moreover, the calculation time was compared with that of the existing TLC.
김봉한(B. H. Kim),우수호(S. H. Woo),이승준(S. J. Lee),최재환(J. H. Choi),홍준기(J. K. Hong),이순걸(S. G. Lee) Korean Society for Precision Engineering 2021 한국정밀공학회 학술발표대회 논문집 Vol.2021 No.11월
메카넘 휠을 사용하는 이동 로봇은 일반적인 바퀴를 사용한 이동 로봇과는 달리 전방향 이동이 가능하다는 장점으로 인해 좁은 공간에서의 물류 이송 분야와 고 중량 부품의 정밀 이송 작업 등에 활용성이 높다. 본 논문은 고 중량 물류 이송을 위한 메카넘 휠 기반의 자율 및 반자율 이동이 가능한 산업용 전방향 이동 로봇 시스템을 개발하고, 그 유효성을 검증한다. 개발된 이동 로봇은 4 개의 메카넘 휠로 구동이 되며 상부는 중량물을 적재할 수 있도록 설계하였으며, 주변 환경 인식을 하여 자율 또는 반자율 주행이 가능하도록 로봇 상부의 전방 좌측과 후방 우측에 대각으로 라이다 센서를 장착하였다. 로봇 구동 소프트웨어는 오픈소스 플랫폼인 Robot Operating System 기반으로 구성되었다. 소프트웨어 구조는 메인 제어 파트, 비상 정지 파트, 지도 생성 파트로 구현하여 테스트하였다. 메인 제어파트는 이동 로봇의 기구학적 해석을 기반으로 모터 속도 제어를 통해 로봇을 목표 속도로 주행시키며, 엔코더 및 IMU 센서의 데드 레커닝 융합을 통해 로봇이 이동한 위치와 자세를 파악한다. 비상 정지 파트는 로봇으로부터 일정 거리 이내에 장애물이 감지되었을 시에 메인 제어 파트에 비상정지 명령을 송신한다. 지도 생성 파트는 라이다 센서를 사용하여 로봇과 주변 환경 간의 거리와 위치 좌표인 2 차원 공간지도를 작성한다. 조이스틱을 사용한 원격주행 동작 기능을 구현하여 테스트하였고, 주행 시 주행기록계의 값과 실제 로봇의 위치값을 비교하여, 제작된 이동 로봇의 병진운동과 회전운동의 정확도를 검증하였다.