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불확실한 환경에서 N-R 방법을 이용한 로봇 비젼 제어기법 개발에 대한 연구
장민우(Min Woo Jang),장완식(Wan Shik Jang),홍성문(Sung Mun Hong) 대한기계학회 2016 大韓機械學會論文集A Vol.40 No.3
본 논문은 로봇이 이동하는 동안 장애물이 출현하는 불확실한 환경에서 N-R방법을 이용하여 개발된 로봇 비젼제어 기법의 효율성을 알아보고자 한다. 본 연구에 사용되는 비젼 시스템 모델은 6개의 카메라 매개변수(C1~C6)를 포함한다. N-R방법의 일괄처리기법을 이용하여 사용한 각 카메라에 대한 6개의 카메라 매개변수의 추정을 개발하고, 각 카메라에 대한 6개의 매개변수를 사용한 로봇관절각 기법을 개발하여 얇은 막대 배치 작업을 수행한다. 특히, 불확실한 환경에서 얇은 막대 배치작업을 위해 장애물에 의한 불연속 궤적은 시작영역, 중간영역, 타겟 근처 영역 등 3개 영역으로 구분하였다. 제안된 로봇 비젼 제어기법을 사용하여 얇은 막대 배치 실험을 통해 각 장애물 영역에서 장애물의 개수 증가에 따른 영향을 조사하고자 한다. This study aims to develop a robot vision control scheme using the Newton–Raphson (N-R) method for the uncertainty of circumstance caused by the appearance of obstacles during robot movement. The vision system model used for this study involves six camera parameters (C1–C6). First, the estimation scheme for the six camera parameters is developed. Then, based on the six estimated parameters for three of the cameras, a scheme for the robot‘s joint angles is developed for the placement of a slender bar. For the placement of a slender bar for the uncertainty of circumstances, in particular, the discontinuous robot trajectory caused by obstacles is divided into three obstacle regions: the beginning region, middle region, and near-target region. Then, the effects of obstacles while using the proposed robot vision control scheme are investigated in each obstacle region by performing experiments with the placement of the slender bar.
얇은 막대 배치작업을 위한 최적의 가중치 행렬을 사용한 실시간 로봇 비젼 제어기법
장민우(Min Woo Jang),김재명(Jae Myung Kim),장완식(Wan Shik Jang) 한국생산제조학회 2017 한국생산제조학회지 Vol.26 No.1
This paper proposes a real-time robotic vision control scheme using the weighting matrix to efficiently process the vision data obtained during robotic movement to a target. This scheme is based on the vision system model that can actively control the camera parameter and robotic position change over previous studies. The vision control algorithm involves parameter estimation, joint angle estimation, and weighting matrix models. To demonstrate the effectiveness of the proposed control scheme, this study is divided into two parts: not applying the weighting matrix and applying the weighting matrix to the vision data obtained while the camera is moving towards the target. Finally, the position accuracy of the two cases is compared by performing the slender bar placement task experimentally.
광선반 채광성능 개선을 위한 프리즘시트 적용 방안 연구
장민우(Min Woo Jang),이행우(Heang Woo Lee),서장후(Jang Hoo Seo),김용성(Yong Seong Kim) 대한설비공학회 2018 설비공학 논문집 Vol.30 No.9
Recently, there has been an increase in the number of studies on the performance of light shelf with an aim of solving the issue of increasing lighting energy consumption in the building sector. However, the efficiency of the light shelf is limited in terms of building energy saving as operating technologies are applied to improve the daylighting performance in response to the external environment. Therefore, this study proposes a light shelf using a prism sheet and aims to verify its effectiveness based on performance evaluation through a full-scale test bed. The conclusions of the study are as follows : 1) This study derived the optimal variables for light shelf installation (Case 1), prism sheet attachment (Case 2), and light shelf with prism sheet (Case 3). 2) Based on the optimal variables, saving lighting energy was achieved in Case 3 compared to Case 1 and Case 2 by 2.6% and 14.9%, respectively. In addition, the fixed type of Case 3 at the angle of 0° led to saving of lighting energy compared to Case 2 and Case 3 by 2.6% and 14.9%, respectively. The results reveal that Case 3 proposed in this study is effective in terms of using the prism sheet to obtain the daylighting efficiency of a movable light shelf. 3) Based on the optimal angles derived for each case, the uniformity of Case 3 can be improved by 11.4% and 12.1% in the summer, and 0% and 6.3% in the mid-season, compared to Case 1 and Case 2, respectively. However, the application of the prism sheet during winter reduces the uniformity, so it is preferable to remove the prism sheet during winter.
랫드에서 PMMA와 Cross-Linked Dextran 혼합물의 생체 안전성 및 부피 효과에 대한 연구
장민우 ( Min Woo Jang ),진부갑 ( Bu Kab Jin ),이상훈 ( Sang Hun Lee ),박재홍 ( Jae Hong Park ),류정민 ( Jung Min Ryu ),윤승필 ( Seung Pil Yun ),박성원 ( Sung Won Park ),김형석 ( Heyong Seok Kim ),문창종 ( Chang Jong Moon ),서국현 한국조직공학·재생의학회 2010 조직공학과 재생의학 Vol.7 No.1
This study examined bio-safety and volume-related effect of the mixture of polymethylmethacrylate (PMMA) and Cross-linked Dextran as a soft tissue augmentation. To examine bio-safety and volume-related effect of the mixture of PMMA and Cross-linked Dextran in rat, gross, hematological, and pathohistological examinations were performed in comparison with CRM (R) DX (Cross-linked hyaluronic acid sodium salt, Dextranomere; commercial product) and saline. During the experimental period, there was no dead rats and scratching behavior which is a most common symptom when rejecting foreign body was observed. The volume of injected mixture was maintained sufficiently. Complete blood count(CBC) finding indicated that there were no significant differences in the number of inflammatory cells between control and experimental group. In addition, the parameters of hepatic toxicity (aspartate aminotransferase: AST, alanine transaminase: ALT, alkaline phosphatase: ALP, γ-glutamyl transpeptidase: γ- GTP, lactate dehydrogenase: LDH), renal toxicity (creatinine, blood urea nitrogen: BUN, cholesterol, albumin: ALB, phosphorus), and other organ toxicity (calcium, triglyceride, and creatine phosphokinase: CPK) using serum biochemical analysis did not show the significant differences between the control and experimental group, suggesting that systemic toxicity was not found in liver, kidney, and other organs. Histopathological findings indicated that the subcutaneous tissue had red color microsphere which capsulated by collagen near the injection site. Furthermore, the infiltration of inflammatory cells were not observed in the injected sites of all experimental groups. In conclusion, the mixture of PMMA and Cross-linked Dextran can be a safe substance for soft tissue augmentation maintaining tissue volume.
장민우 ( Min-woo Jang ),이민용 ( Min-yong Lee ),구도진 ( Do-jin Gu ),신동호 ( Dong-ho Shin ),강우철 ( Woo-chul Kang ) 한국정보처리학회 2019 한국정보처리학회 학술대회논문집 Vol.26 No.2
오늘 날 산업현장에서는 현장에서의 생산성 향상과 안전을 강화하기 위한 방법으로 IT기술을 접목한 현장 안전관리 분야가 비약적으로 성장하고 있다. 특히 제조업, 건설업 분야의 산업현장에서 발생하는 안전사고에 대응하기 위해 현장 관리자를 보조하는 IT 기술은 지속적인 분석과 개선이 요구된다. 본 논문에서는 산업현장에 투입되는 근로자의 안전을 위하여 인물 Tracking과 광학문자인식 기법을 활용하여 스마트 현장 안전관리 시스템의 구조와 개선방안을 제시한다.