극한 환경용 일체형 구동기의 원격 제어 및 모니터링 시스템의 속도 향상에 관한 연구

황인상(Insang Hwang),김명규(Myeongkyu Kim),고석진(Sukjin Ko),이동훈(Donghun Lee) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11

This paper is a study on development of tele-operation and monitoring system of an airtight all-in-one actuator for working robots in harsh environment like industry sites and scenes of a nuclear accident. Developed actuator is assembled with harmonic driver reducer and DC Servo Motor, EtherCAT Servo Driver in single housing and has structure of airtight property. This paper constructs the system that can remote control and monitor the airtight all-inone actuator with high speed on the basis of TCP/IP communication under real time controller platform of National Instrument. Also, performance of tele-operation and monitoring in accordance with increase of the number of actuators is evaluated in terms of update rate and packet data Loss.

네 개의 트랙을 갖는 험지 주행용 모바일 로봇 메커니즘의 주행 성능 평가에 관한 연구

황인상(Insang Hwang),김지훈(Jihoon Kim),김종원(Jongwon Kim),이동훈(Donghun Lee) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11

This paper proposes a rough terrain mobile robot mechanism(TQTMR, Tiltable Quad-Track Mobile Robot) which has four tracks connected to main body with roll-pitch 2-DOF passive joints. As performance metrics of the locomotive performance on the rough terrain, maneuverability and terrainability are adopted. Using 3-dimensional dynamics simulation results of path following control of a mobile robot on rough terrain, maneuverability can be evaluated by the difference between the reference trajectory and the actual trajectory, and terrainability can be measured by torque requirements of each actuators. Compared to conventional performance metrics, the proposed metrics are advantageous to represent the locomotive performance of a mobile robot on rough terrain, because the conventional metrics are based on analytical method with 2-dimensional kinematics and statics of mobile robots. With combination of the dynamics simulator (DAFUL) and the mobile position controller (Matlab Simulink), maneuverability and terrainability of TQTMR are measured.

모바일 로봇의 험지 주행 성능 향상을 위한 기구학 기반 제어 모델 개발

황인상(Insang Hwang),고석진(Sukjin Ko),김명규(Myeongkyu Kim),신영광(Youngkwang Shin),이동훈(Donghun Lee) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12

This paper describes a new kinematic model to improve the trajectory tracking performance of a four-track mobile robot with a passively articulated suspension. The mobile robot is composed of four tracks, two rockers, 2-DOF pitch-roll joints, a differential gear, and a main body. Due to the difficulties in the explicit identification of wheel-terrain contact angles through elevation map or GPS information, tiltable driving tracks are combined with suspension kinematics to identify track-terrain contact angles for the proposed mobile robot in arbitrarily rough terrains. That is, the TTCA-based driving velocity projection method is proposed in this study to improve the maneuverability of the proposed mobile robot in arbitrarily rough terrains. Virtual ground with a sinusoidal shape is modeled in the DAFUL-Simulink co-simulator framework to examine the improvement in the proposed mobile robot relative to a non-suspension version of a four-track mobile robot. The results indicate that the proposed mobile robot has a 33.3% lower RMS distance error, 56.3% lower RMS directional error, and 43.2% lower RMS offset error than the four-track SSMR, even with planar SSMR kinematics. And the results show that PASTRo with the TTCA-based driving velocity projection method has a 39.2% lower RMS distance error, 57.9% lower RMS directional error, and 51.9% lower RMS offset error than the four-track SSMR.

리더 추종 모바일 로봇의 안정적인 리더 인식을 위한 LRF 자세 제어 모듈의 개발

김지훈(Jihoon Kim),황인상(Insang Hwang),김종원(Jongwon Kim),이동훈(Donghun Lee) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.4

비탈면보호를 위한 폐유기물질의 활용성에 대한 연구

박경식(Kyungsik Park),황인상(Insang Hwang),배우석(Wooseok Bae) 한국지반환경공학회 2015 한국지반환경공학회논문집 Vol.16 No.4

현재 우리나라의 커피소비량은 매년 증가하는 추세에 있으며 이에 따라 연간 약 20만 톤의 커피박(Spent Coffee Grounds, SCG)이 발생되고 있으며 SCG는 폐유기물질로 대부분 음식물쓰레기로 분리되어 연간 27만 톤이 수분이 함유된 채로 버려져 심각한 환경적 이슈가 되고 있는 현실이다. 본 연구에서는 커피박의 활용가능성을 평가하기 위해 이화학적 특성분석과 중장기 생육실험을 수행하였으며, 실험결과 기존의 기반재에 SCG를 혼합하는 경우 보습력의 증가와 유기물함량의 보강으로 초기발아나 초기생육은 기존 기반재에 비해 저조하나 중기적으로 발아와 성장이 촉진되는 현상을 보이며 특히 관수중단 등의 상황에서 기존 기반재에 비해 고사율이 낮고 양분의 부족으로 인한 여러 현상이 줄어들고 있는 것으로 확인되었다. 따라서 SCG는 질소성분이 풍부한 폐유기물로 초기성장을 저해하는 특성이 있으나 보습능력과 유기물의 공급으로 장기생장에 유리한 성질을 가지고 있는 것으로 확인되어 기존의 기반재를 대체하거나 보완할 수 있는 재료인 것으로 판단된다. Coffee consumption in Korea has been currently growing every year, and as a result, approximately 0.2 million tons of Spent Coffee Grounds (SCG) are being created every year. SCG, which is waste organic material, is often classified as food waste and an annual amount of 0.27 million ton is discarded while containing moisture and provoking serious environmental issue. Physico-chemical characteristics of SCG were analyzed in this study and medium and long-term growth experiments were conducted in order to evaluate its utilization potential. According to the experiment results, mixing SCG into the previous base material resulted in accelerated germination and growth in the mid-term compared to previous base material alone, despite slower germination or growth in early stage. Especially, it showed lower withering rate and decrease in various symptoms that are caused by nutrition shortage in case of discontinued sprinkling, etc., compared to the previous base material. Hence, while SCG has a feature of hindering early development due to its feature of waste organic material that is rich in nitrogen, its benefit for long-term growth coming its moisturizing ability and supply of organic matter was confirmed in the study. On balance, SCG is believed to be a material that can replace or complement the previous base materials.

한국인 전립선암 환자에서 술 전 중등도위험군에서 술 후 고위험군으로 이행할 수 있는 인자

유제국(Je Guk Ryu),황인상(Insang Hwang),임동훈(Dong Hun Im),정영범(Young Beom Jeong),박승철(Seung Chol Park),노준화(Joonwha Noh),권동득(Dong Deuk Kwon),강택원(Taek Won Kang) 대한비뇨기종양학회 2013 대한비뇨기종양학회지 Vol.11 No.3

Purpose: We aimed to examine a change and relevant predictors in intermediate-risk prostate cancer which have a wide range of treatment options from active surveillance to radical prostatectomy (RP). Materials and Methods: Of 1,159 patients who underwent RP in multi-institution between January 2009 and December 2012, 390 patients who were classified as intermediate-risk prostate cancer group by preoperative evaluation according to NCCN guideline were enrolled in this retrospective study. The rates of Gleason score upgrading, upstaging and migrating to high-risk prostate cancer group at final pathology and there risk factors were assessed. Results: The mean age of enrolled patients were 67.33±6.17 years with mean PSA level of 9.34±4.34 ng/ml. The number of patients with worsening upgrading, worsening upstaging and worsening prognosis were 42 (10.77%), 83 (21.28%) and 108 (27.7%), respectively. In analysis compared between upgrading group and non-upgrading group, there was no difference in patient’s features. However, in analysis on upstaging and worsening prognosis, serum PSA (p=0.029, p=0.042) and %positive biopsy core (p=0.010, p=0.013) showed significant difference. In univariable analysis, serum PSA (p=0.030, p=0.042) and %positive biopsy core (p=0.004, p=0.014) were predictive of upstaging and worsening prognosis, also, in multivariable analysis, serum PSA (p=0.016) and %positive biopsy core (p=0.042) were statistically relevant factors of worsening upstaging. Conclusions: In this study, 27.7% of patients with preoperative intermediate-risk prostate cancer were re-stratified into high-risk prostate cancer group after RP. Serum PSA and %positive biopsy core were the predictive factors for migrating to high risk group.

서해안 점토의 물리적 특성과 압밀정수의 상관성

허열(Yeol Heo),황인상(Insang Hwang),강창우(Changwoo Kang),배우석(Wooseok Bae) 한국지반환경공학회 2015 한국지반환경공학회논문집 Vol.16 No.4

현재 제안되고 있는 압밀과 관련된 상관식들은 분석대상 지역이 국외나 국내의 특정지역에 국한되거나 자료의 숫자를 늘리기 위해 여러 지역의 실험자료를 통합함으로써 적용에 무리가 따르는 경우가 많다. 또한 취득된 자료의 명확한 통계적 평가없이 모형이 개발되어 왔다. 따라서 본 연구에서는 시험자료의 불확실성을 최대한 줄이기 위해 서해안의 연약지대를 한강과 금강, 영산강으로 대분하고 물리적 특성치와 역학적 특성치에 대하여 정규성 검증과 회귀분석을 수행하였다. 분석결과 압축지수와 수정압축지수의 직선성이 강하며, 모든 지역에서 수정압축지수와 초기간극비가 가장 상관성이 양호하고 다음으로 전체단위중량, 함수비, 액성한계 순으로 나타났다. 또한 깊이에 따른 과압밀비는 모든 지역에서 깊이가 5~6m 이하의 경우 과압밀비의 폭이 크게 나타나며, 5m~6m 이상일 경우 일정한 값을 가지는 패턴을 보였다. In the correlation formulas related to consolidation proposed at present, the analyzed areas are limited to certain overseas or domestic areas and in order to increase the number of data, experimental data of different areas are integrated and therefore in many cases application is difficult. In addition, models have been developed without clear statistic evaluation of the obtained data. Accordingly, this study divided the soft areas of the west coast into Hangang, Kumgang and Yeongsangang in order to maximally reduce uncertainty of the experimental data and performed normality test and regression analysis on the physical and dynamic characteristics. According to the analysis result, the compression index and the modified compression index had strong linearity and in all areas modified compression index and initial void ratio had closest correlation, followed by total unit weight, water contents and liquid limits. As for overconsolidation ratio with depth, the width of overconsolidation ratio was large when the depth was less than 5 to 6 m in all areas and when the depth was over 5 to 6 m, the ratio was constant.

이동 로봇의 연속적인 리더 인식을 위한 LRF 자세 제어 알고리즘의 개발

김지훈(Jihoon Kim),신영광(Youngkwang Shin),황인상(Insang Hwang),이동훈(Donghun Lee) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12