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Development and Control Strategies of an Unmanned Autonomous Forklift
홍금식(Keum-Shik Hong),김민환(Min-Hwan Kim),이석(Suk Lee),김성신(Seong-Sin Kim),홍봉희(Bong Hee Hong),위디오트리앗모 아우기(A. Widyotriatmo),브이티탄 규엔(Quyen T. T. Bui),이정훈(Jung Hun Lee),탐바 투아 아구스티누스(Tua A. Tamba) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This paper presents the control strategies for the development of an unmanned autonomous forklift. A control architecture using several sensors (vision, ultrasonic sensor, laser range finder, etc.) and a PC controller is presented. An ultrasonic satellite and gyro are used for the localization, and a vision system is utilized for obstacle detection and the measurement of pallet position. The CAN communication network is utilized to provide the drive-by-wire technology for the unmanned autonomous forklift.
컨테이너 크레인의 흔들림 제어 (Part II): 트롤리 주행속도 조절을 통한 진자운동의 제어
홍금식,손성철,이만형,Hong, Keum-Shik,Sohn, Sung-Chull,Lee, Man-Hyung 제어·로봇·시스템학회 1997 제어·로봇·시스템학회 논문지 Vol.3 No.2
Six different types of velocity profiles of trolley movement of a container crane are investigated for the minimal sway angle at the target trolley position. Three velocity patterns which include trapezoidal, stepped and notched-type velocity patterns are obtained assuming constant rope length. The notched type velocity pattern is shown to be derived from the time-optimal bang-bang control. The stepped type velocity pattern can be shown to be derived as bang-off bang control as well. Considering the damping effect due to hoist motion a double stage acceleration pattern is also analyzed. The main objective of the paper is to show how much time-reduction can be obtained among several velocity patterns appearing in the literature.