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속도센서가 없는 비전시스템을 이용한 이동로봇의 목표물 추종
조남섭(Namsub Cho),권지욱(Ji-wook Kwon),좌동경(Dongkyoung Chwa) 대한전기학회 2013 전기학회논문지 Vol.62 No.6
This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.
전기로 환원슬래그를 제조 원료로 사용한 개량형 C12A7 광물계 급결제 및 성능 평가
조한상,황봉춘,문원식,박대철,조남섭 한국폐기물자원순환학회 2015 한국폐기물자원순환학회지 Vol.32 No.2
This laboratory study showed the performance evaluations of a improved C12A7 based mineral accelerator (I-CA) by both mortar and shotcrete tests. Performance of I-CA as a shotcrete accelerator was excellent by KCI-SC-102, which is a Korean specifications of shotcrete accelerator. In addition, I-CA showed equal qualities to the setting time and the compressive strength when compared those of the existing C12A7 based mineral accelerator (CA). The I-CA was manufactured with 40wt.% of electric arc furnace reducing slag, 24wt.% of lime, and 36wt.% of bauxite, indicating that the commercialization of I-CA contributed to recycle electric arc furnace reducing slag and to reduce the manufacturing cost of C12A7 based mineral accelerator due to the use a cheap raw material(electric arc furnace reducing slag), and to reduce the greenhouse gas emission due to the reductions in usage of lime and bauxite.