http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
퍼지추론과 상호작용 다중 모델을 이용한 이동로봇의 위치 인식 기법
정종대(Jongdae Jung),명현(Hyun Myung) 제어로봇시스템학회 2011 제어로봇시스템학회 각 지부별 자료집 Vol.2011 No.12
Improvement of dead reckoning accuracy is essential for robotic localization system and has been intensively studied. However, existing solutions cannot provide accurate positioning when a robot suffers from changing dynamics such as wheel slip. In this paper, we propose a fuzzy-logie-assisted interacting multiple model (FLAIMM) framework to detect and compensate for wheel slip. Firstly, two different types of extended Kalman filter (EKF) are designed to consider both no-slip and slip dynamics of mobile robots. Then a fuzzy inference system (FIS) model for slip estimation is constructed using adaptive neuro-fuzzy inference system (ANFIS). The trained model is utilized along with the two EKFs in the FLAIMM framework. The approach is evaluated using real data sets acquired with a robot driven in an indoor environment. The experimental results show that our approach improves position accuracy and works better in slip compensation compared to the conventional approach.
수중 구조물 형상의 영상 정보를 이용한 수중로봇 위치인식 기법
정종대(Jongdae Jung),최수영(Suyoung Choi),최현택(Hyun-Taek Choi),명현(Hyun Myung) 한국해양공학회 2015 韓國海洋工學會誌 Vol.29 No.5
An autonomous underwater vehicle (AUV) can perform flexible operations even in complex underwater environments because of its autonomy. Localization is one of the key components of this autonomous navigation. Because the inertial navigation system of an AUV suffers from drift. observing fixed objects in an inertial reference system can enhance the localization performance. In this paper, we propose a method of AUV localization using visual measurements of underwater structures. A camera measurement model that emulates the camera`s observations of the underwater structures is designed in a particle filtering framework. Then, the particle weight is updated based on the extracted visual information of the underwater structures. The proposed method is validated based on the results of experiments performed in a structured basin environment.
방향 모호성을 고려한 수중 음향 기반의 2차원 위치 추정 기술 개발
최진우,이영준,정종대,박정홍,최현택,Choi, Jinwoo,Lee, Yeongjun,Jung, Jongdae,Park, Jeonghong,Choi, Hyun-Taek 한국로봇학회 2017 로봇학회 논문지 Vol.12 No.4
Acoustic based localization is essential to operate autonomous robotic systems in underwater environment where the use of sensorial data is limited. This paper proposes a localization method using artificial underwater acoustic sources. The proposed method acquires directional angles of acoustic sources using time difference of arrivals of two hydrophones. For this purpose, a probabilistic approach is used for accurate estimation of the time delay. Then, Gaussian sum filter based SLAM technique is used to localize both acoustic sources and underwater vehicle. It is performed by using bearing of acoustic sources as measurement and inertial sensors as prediction model. The proposed method can handle directional ambiguity of time difference based source localization by generating Gaussian models corresponding to possible locations of both front and back sides. Through these processes, the proposed method can provide reliable localization method for underwater vehicles without any prior information of source locations. The performance of the proposed method is verified by experimental results conducted in a real sea environment.
수상로봇의 개발과 충돌 회피 자율 운항에 관한 예비 실험
박정홍(Jeonghong Park),정종대(Jongdae Jung),이윤건(Yoongeon Lee),최현택(Hyun-Taek Choi),최진우(Jinwoo Choi) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.7
This paper presents the development and testing of an ASV (Autonomous Surface Vehicle) platform, as well as a collision-free path planning approach, for performing various tasks in maritime environments. The ASV is developed on a catamaran-type hull with integrated systems for navigation and control, electrical power and propulsion, sensing, onboard computing, and wireless communication. In addition, navigation algorithms for improving autonomous capabilities are also implemented on the ASV hardware. More specifically, in order to achieve reliable, collision-free maneuvering between the vehicle and an object, a collision probability is evaluated by considering their respective position uncertainties, which are estimated by a tracking filter based on the extended Kalman filter. Using this concept, a collision-free path planning approach is proposed, which takes into account the dynamic characteristics of the vehicle. To demonstrate the performance and practical feasibility of the developed ASV and the implemented algorithms, preliminary field tests were carried out in an inland water environment, and its results are discussed.
인공지능 기술에 기반한 자율운항선박의 새로운 상황인식 시스템의 설계와 초기 결과
최현택(Hyun-Taek Choi),박정홍(Jeonghong Park),최진우(Jinwoo Choi),강민주(Minju Kang),이영준(Yeongjun Lee),정종대(Jongdae Jung),김종휘(Jonghwi Kim),권혁준(Hyeokjun Kweon),김진환(Jinwhan Kim),윤국진(Kuk-Jin Yoon),김한근(Hanguen Kim),박상 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.8
With recent advancements in artificial intelligence technologies, the academia and industry have heightened performance expectations when designing autonomous ships, and major ship building companies and governments have been conducting large-scale research projects around the world. This paper proposes a novel design concept, and presents the key features and preliminary results of a situational awareness system for autonomous ships, named the iSAS (Intelligent Situational Awareness System), and is being developed as part of the Korea Autonomous Surface Ships (KASS) project launched in April 2020. The iSAS comprises deep-learning algorithms for detecting marine objects using camera, radar, and LiDAR (Light Detection and Ranging), a probabilistic-based data association and tracking algorithm and a new collision risk evaluation method. Because the iSAS estimates motions of all and each objects along with their semantic information, it could not be said as a simple replacement of what the captain does. By sequentially installing the iSAS on a small test ship and a demonstration ship during the project, we will simultaneously perform algorithm development and field verification to achieve reliability in the real environment. The iSAS can be used not only for autonomous ships but also for manned ships to enhance safety and reduce costs in the near future.
반도체 제조장비용 로봇 제어 시스템의 성능 평가 및 개선
정종대,이성준,류길하 호서대학교반도체제조장비국산화 연구센터 2000 반도체 장비기술 논문집 Vol.2000 No.-
본 과제는 장비 제조업체와 반도체 제조업체들에서 자용되는 4축 로봇을 대상으로 장기간 사용 중 발생되어 보고된 기구적인 문제점들 및 컨트롤러와 모터 드라이버들에서의 전기적인 문제점들을 분석하고 그 개선책을 유도함으로써 장비제조의 일관성 및 견실성을 확보하고 제조된 장비의 현장 생산성을 높이는데 그 목적이 있다. 이를 위해 본 과제에서는 실제 웨이퍼를 반송시키는 공정에 사용되는 4축 로봇 시스템을 대상으로 기구적인 강성, 진동, 반복정밀성 및 컨트롤러와 드라이버에 대한 전기적인 신호 테스트, 다양한 게인 설정 등을 수행하여 보고된 문제점들을 확인하고 현 상태에서 가장 경제적인 개선책을 제시하고자 한다. 지금까지 로봇 제어시스템의 기구적인 반복 정밀성을 조사하였으며, 컨트롤러 및 드라이버의 성능 평가와 제어기의 이득평가를 위해 램프형태의 속도명령 추종성 및 계단입력에 대한 응답을 테스트하였다. 현재까지의 결과로는 기존 시스템에서의 큰 결함을 발견할 수 없었는데 그 이유로는 그간 제어기 및 드라이버 제조회사에 의해 몇번의 성능개선(upgrade)이 있었기 때문인 것으로 사료된다.