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Design of Soil-Pile Scanning System Using the Laser Rangefinder
Quang Hoan Le(레광환),S.W.Chio(최성웅),T.U.Kim(김태운),C.T.Nguyen(웨치탄),J.W.Lee(이재우),S.Y.Yang(양순용) 유공압건설기계학회 2016 유공압건설기계학회 학술대회논문집 Vol.2016 No.6
Nowadays, autonomous excavators are studied to replace the human presence when the machine is working in the hazardous environment. Especially, the perception for defining the shape and the dimension of the soil-pile should be developed to generate the excavation path planning. In this paper, a scanning system for soil-pile will be presented to apply to the autonomous excavator. First, a laser range finder (2D Lidar) is mounted to a bracket which is forced to slide vertically by linear actuator. Then, a data processing program filters the scanning result from the measurement. Finally, the soil-pile shape is determined by meshing the point cloud by using the Delaunay triangulation method. An experiment for real soil-pile is also implemented to verify the performance of the system.
A Study on Trajectory Tracking Control of Field Robot
Quang Hoan Le(레광환),Seong Woong Choi(최성웅),Tae Un Kim(김태운),Chi Thanh Nguyen(웬치탄),Jae Woo Lee(이재우),Soon Yong Yang(양순용) 유공압건설기계학회 2016 유공압건설기계학회 학술대회논문집 Vol.2016 No.11
An excavator is a typical hydraulic heavy-duty human-operated machine used in general versatile construction operations, such as digging, carrying loads, grounding and dumping loads. However, operating excavators in the hazard environment such as earthquake, nuclear decomposition etc is not suitable for human to operate on site. Therefore, autonomous excavator which can be called field robot has been investigated to protect the operators from the harmful environments. To find a feasible way to control the base of field robot, firstly the full Kinematic and dynamic model of the machine’s platform which two degrees of freedom were studied. To control the excavator’s base, the PID control and nonlinear based on Lyapunov function are conducted and some simulation results are given.
Micro Hexapod Robot Using Dual-axis Electromagnetic Actuator
Quang Hoan Le(레광환),WangHun Lee(이왕훈),YoungShik Kim(김영식),Bong-Jo Ryu(유봉조),Hyun-ho Shim(심현호),Buhyun Shin(신부현) 한국소음진동공학회 2021 한국소음진동공학회 논문집 Vol.31 No.6
Microrobots utilized in industrial applications or medical tasks have been researched by applying various types of actuators. However, compared with live organisms, the majority of compact actuators are not able to sufficiently supply the power demanded for robotic implementations. This paper presents a novel design for a hexapod microrobot that uses electromagnetic oscillatory actuators. Each two-degree-of-freedom (2-DOF) leg moves by utilizing compact dual-axis electromagnetic actuators. First, the structure and kinematics of the hexapod microrobot are presented and theoretically analyzed. In our study, a tripod gait is utilized to enable the robot to walk on the desired terrain. All virtual models and physical prototypes are detailed to test the motion plan of the proposed system. Finally, simulation and experimental results are used to evaluate the performance and verify the ability of the novel design of our hexapod microrobot.
Quang Hoan Le(레광환),H. C. Kim(김현철),S. Y. Yang(양순용) 유공압건설기계학회 2013 유공압건설기계학회 학술대회논문집 Vol.2013 No.6
Nowadays, hydraulic excavator is used in some remote control applications. Specially, user operates the manipulator and the excavator movement so it requires a large of complex actions. Besides, vision system has an important role to help the user observe the environment of the excavator. Pan/Tilt camera is often used to record the image and transmitted to the monitor of the control center. This study present the development of augmented reality vision for user in remote control of hydraulic excavator using Head Tracker system. The main purpose is applying the Head-Mounted Display that integrated the Inertial Measurement Unit and Magnetic sensor to determine the orientation and position of the user"s head. This motion is transmitter to the pan/tilt servo motor to adapt the movement of the operator"s head. At first, the algorithm of the motion tracking system is described. Second, the hardware configuration are presented and explain their function.
Matlab / SimHydraulic를 사용하여 가상 굴삭기의 조작을위한 유압 시스템 시뮬레이션
레광환(Le Quang Hoan),양순용(S. Y. Yang) 유공압건설기계학회 2012 유공압건설기계학회 학술대회논문집 Vol.2012 No.6
Excavation is an importance work in mining, earth removal and general earthworks. Nowadays, automation in excavator has been studied by several researchers and simulation is one of the low cost method can be safety tested. In this paper, the simulation of hydraulic system for excavator’s manipulator such as boom; arm and bucket using Matlab/Simhydraulic will be presented. In addition, the dynamics of excavator was distributed to associate with the hydraulic system. For controlling this system, electric joysticks were used to operate the orifices area open in Main Control Valve. This design is considered as a virtual excavator that includes the control; hydraulic system and dynamics model. The result simulation will be described to analysis the performance of this virtual excavator.
이왕훈(Wanghun Lee),레광환(Quang Hoan Le),강현수(Hyunsoo Kwang),박태영(Taeyoung Park),신기연(Kiyeon Shin),신현상(Hyeonsang Shin),신부현(Buhyun Shin) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
This study proposes a novel design of a hybrid leg-wheel quadruped robot which comprises 2 DOFs (prismatic joint and revolute joint) for leg and one rotational joint for wheel. The robot is able to utilize on rough terrain by conducting walking gait or to drive rapidly on the flat ground via wheels. Firstly, the design of structure and mechanism are illustrated based on analysis of the function and performance requirement. The design indicates that the robot is able to conduct several movement modes to adapt to diverse surfaces. Then, the gait of legged mode is also presented with three supporting legs and one transferring leg. There are totally six motion steps of the walking algorithm for the quadruped robot. Besides, the robot can drive several situations when conducting leg-wheel hybrid mode. The performance for the robot locomotion is validated by using Matlab SimscapeMultibody software. The simulation result indicated that our proposed robot has ability to implement successfully on both flat surface of rough terrain.