http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
주문갑,Joo, Moon Gab 대한임베디드공학회 2017 대한임베디드공학회논문지 Vol.12 No.2
To control the depth of an underwater glider, a control method by using Lyapunov's direct method is proposed. The underwater glider has a torpedo-shape hull, a movable mass in the hull, and an inflatable buoyancy bag in the hull, but doesn't have large wings that increase the lift force for the conventional underwater glider. The control laws to adjust the position of the movable mass and the mass of the inflatable buoyancy bag are derived. For a selected speed and an angle of attack, we simulated the operation of the underwater glider using Matlab/Simulink. The efficiency of the proposed controller is shown in the fact that the control effort is active during only a short period of time when the zigzag trajectory is changed from downward to upward or vice versa.
주문갑,우힘찬,손형곤,Joo, Moon-Gab,Woo, Him-Chan,Son, Hyeong-Gon 대한임베디드공학회 2017 대한임베디드공학회논문지 Vol.12 No.5
A reduced order observer is developed for depth control of a hybrid underwater glider which combines the good aspects of a conventional autonomous underwater vehicle and a underwater glider. State variables include the center of gravity of the robot and the weight of the buoyancy bag, which can not be directly measured. By using the mathematical model and available information such as directional velocities, accelerations, and attitudes, we developed a Luenberger's reduced order observer to estimate the center of gravity and the buoyancy weight. By simulations using Matlab/Simulink, the efficiency of the proposed observer is shown, where a LQR controller using full state variables is adopted as a depth controller.
주문갑(Moon-Gab Joo),박상홍(Sang-Hong Park),장병용(Byoung-Yong Chang),류지열(Jee-Youl Ryu) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.1
This paper proposes a high-lumen low-power pattern generation system with operation software for 3D scanning. The proposed system occupies a core block of the 3D scanner to generate pattern-structured white light using a light engine and a DMD(Digital Micro-mirror Device) driver board. The system also has a window resolution of 912×1140 and a pattern-structured light source. Compared to recently reported results, the proposed system showed increased lumen by 40.83% and less than half power consumption at the focus range of 2m. This system could be applicable to 3D scanners, creating smart factory automation robot with regional industry.
PID 제어기를 이용한 호버링 AUV의 구현과 자세 제어
김민지(Min-Ji Kim),백운경(Woon-Kyung Baek),하경남(Kyoung-Nam Ha),주문갑(Moon-Gab Joo) 한국해양공학회 2016 韓國海洋工學會誌 Vol.30 No.3
An attitude controller for a 6-DOF hovering autonomous underwater vehicle (HAUV) is implemented. We add a vertical thruster, an underwater camera, a wireless communication device, and a DVL to the HAUV that was developed a year ago. The HAUV is composed of 5 thrusters, 2 servo-motors, and 4 apparatus parts. Two rotating thrusters control the surge, heave, and roll of the vehicle. The vertical thruster controls the pitch, and two horizontal thrusters control the sway and yaw of the vehicle. The HAUVs movement in each direction is controlled by 6 PID controllers. Each PID controller controls the propulsive force and angle of a thruster. In a horizontal and vertical movement experiment, we showed the feasibility of the proposed controller by maintaining a given depth and heading angle of the HAUV.