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- 저자 : 김한솔 ( Han Sol Kim ) (검색결과 208 건)
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김한솔(Han-Sol Kim),이경준(Kyung-Jun Lee),정동연(Dong-Yean Jung),이연형(Yeon-Hyeong Lee),박재현(Jea-Hyun Park),김갑순(Gab-Soon Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1
This paper describes the design for a defective product inspection device for the curved glass used in smart-phone. Cameras are used as inspection devices to find cracks in LCDs (Liquid Crystal Displays), PDPs (Plasma Display Panels), etc. The devices used to inspect the curved glass used in smart-phone consist of a camera, two back-light apparatus, an inspection apparatus main body, and an image processing program. Camera image calibration was performed to smooth an image taken with the camera, and as a result, the average error was less than 0.12 pixels. And the image of a smart-phone"s curved glass taken with the camera was processed using the produced program. As a result, the program could correctly extract the cracks on the curved glass. Thus, it is thought that the designed inspection device can successful detect cracks in curved tempered glass.
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김한솔(Han-Sol Kim),김갑순(Gab-Soon Kim) 한국기계가공학회 2021 한국기계가공학회지 Vol.20 No.4
This paper describes the modeling and simulation of a four-axis dedicated robot that can attach and detach a workpiece on a computer numerical control (CNC) lathe. The robot was modeled as a Scarab robot for compatibility with CNC lathes. The advantages of such a robot are that an actuator with a small capacity can be used for the robot and the degrees of freedom of the robot can be reduced to four. For the simulation of the four-axis dedicated robot, a regular kinematic equation and an inverse kinematic equation were derived. Simulations were performed with these equations from the position of the loading device to the chuck position of the lathe before machining and from the chuck of the lathe to the position of the loading device after machining. The simulation results showed that the four-axis dedicated robot could be operated accurately, and they provided the joint angle of each motor (θ₁, θ₂, and θ₃).
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김한솔(Han Sol Kim),주영훈(Young Hoon Joo),박진배(Jin Bae Park) 한국지능시스템학회 2011 한국지능시스템학회논문지 Vol.21 No.5
본 논문에서는 출력 궤환 제어기를 이용해 다항식 퍼지 대규모 시스템을 안정화하는 방법을 제안한다. 이를 위해, 먼지, 대규모 시스템의 부분 시스템에 대해 퍼지 모델링을 한 후, 각각에 대해 출력 궤환 제어기를 설계하여 대규모 시스템을 안정화하는 방법을 제안한다. 이때, 다항식 Lyapunov 함수를 적용하면 다항식 퍼지 대규모 시스템의 안정화 조건은 제곱합 조건으로 주어지고, 이것은 MATLAB의 툴박스인 SOSTOOLS로 해석 가능하다. 이러한 과정을 거친 후에 얻어진 해에서 시스템을 안정화시키는 출력 궤환 제어기의 이득을 구할 수 있다. 마지막으로, 제안된 기법의 적합성을 검증하기 위해 시뮬레이션 예제가 주어진다. This paper presents the stabilization method for polynomial fuzzy large-scale system by using output feedback controller. Each sub system of the large-scale system is transformed into polynomial fuzzy model, and then output feedback controller is designed to stabilize the large-scale system. Stabilization condition is derived as sum-of-square (SOS) condition by applying the polynomial Lyapunov function. This condition can be easily solved by SOSTOOLS which is the third party of the MATLAB. From these solutions, output feedback controller gain can be obtained by SOS condition. Finally, a simulation example is presented to illustrate the effectiveness and the suitability of the proposed method.
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김한솔(Han-Sol Kim),이경준(Kyung-Jun Lee),정동연(Dong-Yean Jung),이연형(Yeon-Hyeong Lee),김갑순(Gab-Soon Kim) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.12
This paper describes the design of a cellphone curved glass measuring device using by camera. The measuring device was composed of two camera, two backlight system, a body and so on, and the program was made for a camera calibration and noise removal, and also the program was made for height measurement of a cellphone curved glass using by subpixel algorism. And then a new technique for measuring the height of the cell phone curved glass was proposed. The characteristics test of height measurement of gage blocks and cell phone curved glasses was carried out, the error of the height measurement of gage block is less than ±0.005 and the error of the height measurement of the cell phone curved glasses is less than ±0.005. Thus it thought that the designed cellphone curved glass measuring device and the new technique for measuring the height was used to measure the height of the cellphone curved glass.
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김한솔(Han Sol Kim),주영훈(Young Hoon Joo),박진배(Jin Bae Park) 한국지능시스템학회 2018 한국지능시스템학회논문지 Vol.28 No.2
본 논문에서는 연속 시간 상호 결합 카오스 시스템을 위한 분산 퍼지 동기화 방법을 제안한다. 이를 위해, 구동 (drive)과 응답(response) 카오스 시스템을 각각 연속 시간 상호 결합 타카기-수게노 (Takagi-Sugeno: T-S) 퍼지 모델로 표현하며, 두 시스템의 응답을 동기화하는 분산 퍼지 동기화 제어기의 설계 방법을 선형 행렬 부등식 (linear matrix inequality: LMI) 형태로 유도한다. 또한, 설계 유연성의 증대를 위해 본 논문에서는 구동 카오스 시스템의 상호 결합률을 정확히 알지 못하며, 상한 조건만 알고 있다고 가정한다. 이에 더해, 구동과 응답 카오스 시스템의 소속 함수를 모두 포함하는 새로운 퍼지 리아푸노프 (Lyapunov) 함수를 제안하며, 이를 통해 동기화 조건을 수치적으로 완화한다. 마지막으로, 제안하는 방법의 타당성을 시뮬레이션 예제를 통해 검증한다. In this paper, we propose a decentralized fuzzy synchronization method for continuous-time interconnected chaotic systems. To this end, drive and response chaotic systems are represented as continuous-time interconnected Takagi-Sugeno (T-S) fuzzy model, and its synchronization controller design method is proposed in terms of linear matrix inequalities (LMIs). Also, in order to increase the design flexibility, it is assumed that the interconnection rate of the drive chaotic system is not known exactly but its upper bound condition only can be known. In addition, we define a novel fuzzy Lyapunov function that consists of both membership functions of the drive and response chaotic systems, thereby numerically relaxing the resulting synchronization condition. Finally, the effectiveness of the proposed method is validated through a simulation example.
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김한솔(Han Sol Kim),주영훈(Young Hoon Joo),박진배(Jin Bae Park) 한국지능시스템학회 2012 한국지능시스템학회논문지 Vol.22 No.4
본 논문에서는 선도 로봇을 추종하는 군집 로봇의 대형 제어를 인공 포텐셜 장을 사용하여 제안한다. 또한, 인공 포텐셜 장은 물리적으로 해석하기 쉬운 전기장을 모델링하여 구성하고, 장애물을 더욱 효과적으로 모델링하기 위해서, 장애물의 모양에 따라 전기장의식을 달리한다. 제안하는 방법은 선도 로봇의 경로를 인공 포텐셜 장을 통해 계획한 뒤, 선도 로봇을 추종 로봇이 뒤따라가는 형태로 구성된다. 마지막으로 시뮬레이션 예제를 통해 제안하는 기법의 타당성을 검증한다. In this paper, artificial potential field(APF) is applied to formation control for the leader-following swarm robot. Furthermore, APF is constructed by applying the electrical field model. Moreover, to model the obstacle effectively, each obstacle has different form due to the electrical field equation. The proposed method is formed as two sub-ojective: path planning for the leader-robot and following-robots following the leader-robot. Finally, simulation example is given to prove the validity of proposed method.
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