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웨이브 글라이더 메커니즘을 이용한 이동형 파력발전 시스템의 성능 테스트와 최적 설계에 관한 연구
조한길(Hangil Joe),유선철(Son-Cheol Yu) 한국해양공학회 2018 韓國海洋工學會誌 Vol.32 No.5
This paper reports a novel mobile-type wave energy harvesting system. The proposed system adopts a wave glider’s propulsion mechanism. A wave glider’s blades were mounted on a circular layout and generated a rotational motion. Combining the wave converting system with the wave glider, a mobile floating-type robotic buoy system was developed. It enabled the relocation of the buoy position, as well as station-keeping for long term operation. It had a small size and could efficiently harvest wave energy. A feasibility study and modeling were carried out, and a prototype system was constructed. Various tank tests were performed to optimize the proposed wave energy harvesting system.
Generation of Snake Robot Locomotion Patterns Using Genetic Algorithm
표주현(Juhyun Pyo),이명석(Meungsuk Lee),신동관(Dong-Gwan Shin),서갑호(Kap-Ho Seo),조한길(Hangil Joe),서진호(Jin-Ho Suh),김무림(Maolin Jin) Korean Society for Precision Engineering 2021 한국정밀공학회지 Vol.38 No.10
This paper presents a novel method of designing an efficient locomotion pattern generating algorithm for snake robots by a genetic algorithm (GA). In search and rescue operations in disaster areas, a snake robot requires multiple locomotion patterns. To overcome the complexity of snake robot control, we used a central pattern generator (CPG)-based control method which mimics the motion of a biological snake. GA was used to optimize CPG parameters to maximize locomotion performance. The locomotion performance according to the CPG parameters change was analyzed using the snake robot simulator. The proposed locomotion pattern generation algorithm evolved quickly for the target performance and obtained CPG parameters for the desired locomotion.