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- 저자 : 홍영대(Young-Dae Hong) (검색결과 6 건)
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한영중(Young-Joong Han),좌동경(Dongkyoung Chwa),홍영대(Young-Dae Hong) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.5
Studies on badminton robots have been carried out on new control techniques for the movement of badminton robots in the court. There is no study or analysis on the movement of the shuttlecock after the robots hit the shuttlecock. In this paper, we propose a badminton robot model and a badminton robot optimization considering both the movements of the robot and the shuttlecock for human training. The motion generation of the badminton robot, which sends the shuttlecock to the target point and minimizes the power consumption of the robot, is presented as an optimization problem and a genetic algorithm is used to solve it. In addition, by making it possible to send the shuttlecock to any point in the court with minimum power consumption, it improves utilization as a training robot. We construct the badminton robot model and carry out the evolutionary optimization using a 3D dynamic simulator, Webots, to verify the validity and performance of the proposed method.
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퍼지 외란 관측기법을 이용한 아크로봇의 적응형 강인 스윙업 및 밸런싱제어
정성찬(Seongchan Jeong),이상협(Sanghyob Lee),홍영대(Young-Dae Hong),좌동경(Dongkyoung Chwa) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.5
This paper proposes an adaptive robust control method for an acrobot system in the presence of input disturbance. The acrobot system is a typical example of the underactuated system with complex nonlinearity and strong dynamic coupling. Also, disturbance can cause limit cycle phenomenon which appears in the acrobot system around the desired unstable equilibrium point. To minimize the effect of the disturbance, we apply a fuzzy disturbance estimation method for the swing-up and balancing control of the acrobot system. In this paper, both disturbance observer and controller for the acrobot system are designed and verified through mathematical proof and simulations.
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김흠(Xin Jin),좌동경(Dongkyoung Chwa),홍영대(Young-Dae Hong) 대한전기학회 2016 전기학회논문지 Vol.65 No.12
Ramp metering is one of the most efficient and widely used control methods for an intelligent transportation management system on a freeway. Its objective is to control and upgrade freeway traffic by regulating the number of vehicles entering the freeway entrance ramp, in such a way that not only the alleviation of the congestion but also the smoothing of the traffic flow around the desired density level can be achieved for the maintenance of the maximum mainline throughput. When the cycle of the signal detection is larger than that of the system process, the density tracking problem needs to be considered in the form of the discrete-time system. Therefore, a discrete-time sliding mode control method is proposed for the ramp metering problem in the presence of both input constraint in the on-ramp and exogenous disturbance in the off-ramp considering the random behavior of the driver. Simulations were performed using a validated second-order macroscopic traffic flow model in Matlab environment and the simulation results indicate that proposed control method can achieve better performance than previously well-known ALINEA strategy in the sense that mainstream flow throughput is maximized and congestion is alleviated even in the presence of input constraint and exogenous disturbance.
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목표물의 거리 및 특징점 불확실성 추정을 통한 매니퓰레이터의 영상기반 비주얼 서보잉
이상협(Sanghyob Lee),정성찬(Seongchan Jeong),홍영대(Young-Dae Hong),좌동경(Dongkyoung Chwa) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.6
This paper proposes a robust image-based visual servoing scheme using a nonlinear observer for a monocular eye-in-hand manipulator. The proposed control method is divided into a range estimation phase and a target-tracking phase. In the range estimation phase, the range from the camera to the target is estimated under the non-moving target condition to solve the uncertainty of an interaction matrix. Then, in the target-tracking phase, the feature point uncertainty caused by the unknown motion of the target is estimated and feature point errors converge sufficiently near to zero through compensation for the feature point uncertainty.
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공침법에 의한 BiDy₂Fe_(5)O_(12) 결정형 나노입자 분말의 제조 및 응용 연구
홍영대,조정환,김태엽,전성욱,홍영명 고신대학교 자연과학연구소 2007 고신대학교 자연과학연구소 논문집 Vol.14 No.-
금속산화물들은 각종 산업재료로서 유용하며 더욱이 그것들의 결정형 나노입자를 경제적으로 제조하는 기술은 21세기 첨단산업에 매우 중요하다. 저자들은 前報에서 화학합성법에 의한 각종 금속산화물의 나노입자를 제조하는 표준공정법을 연구하여 보고하였다. 본 연구에서는 그 표준공정법을 이용하여, 가넷의 일종인 BiDy_(2)Fe_(5)O_(12) 결정 나노입자 분말을 제조하고 그것의 자성체로의 응용을 위해 제품특성을 조사하었다. 가네트 제조과정에 필요한 침전물은 제품설계에 의거 몰비로 계산된 Bi, Dy, Fe의 질산염들의 혼합수용액에 침전제로서 pH NH_(3)-NH_(4)CI 완충용액 일정량을 가하여 얻어졌다. 이렇게 제조된 침전은 열처리과정을 거처 BiDy_(2)Fe_(5)O_(12) 결정형 나노입자 분말로 만들어졌다. 얻어진 제품의 입자크기, 조성, 결정구조 및 광자기성 등 특성시험이 SEM, ICP, XRD, 그리고 VSM 등을 사용하여 실시되었다. 각종 분석법을 사용하여 제품의 특성을 조사한 결과, 최초에 설계한 대로의 자성체가 나노 크기의 분말로 얻어졌으며 이것을 통하여 전보에서 확립한 표준공정법의 유효성도 입증되었다. Metallic oxides are useful as various industrial materials. Futhermore, the cost-effective techniques of fabricating the crystalline nanopartides of metallic oxides are very important for the high-tech industries of the 21 century, In the previous study, the authors reported the standard process for the preparation of crystalline nanoparticles of metallic oxides by chemical synthesis, In this study, BiDyzFesOiz nanoparticles were prepared by using the reported standard process and the characteristics of the product were investigated for applicability as magnetic substance. The precipitation needed for manufacturing process of garnet was made by adding the NH_(3)-NH_(4)CI buffer solution of pH 10 to the mixed solution of bismuth (III) nitrate, dysprosium(III) nitrate and iron(III) nitrate. The amount of each nitrate was calculated by the designed mole ratios. The nano-size crystalline powders of BiDy_(2)Fe_(5)O_(12) were earned by heating the precipitation at 800℃ for 4 hours in air. The characterizations, such as particle size, composition, crystal structure and magneto-optical property of garnet were tested by SEM, ICP, XRD, and VSM analyses. The results of the analyses showed the following two facts. First, a good magnetic substance of BiDy_(2)Fe_(5)O_(12) was earned as crystalline nano-size powders according to the original design. Next, the established standard process for the fabrication of METALLIC oxides nanonartieles was approved as a very effective method.
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