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류근호(Keun-Ho Rew) 호서대학교 공업기술연구소 2005 공업기술연구 논문집 Vol.24 No.1
In this paper, various motor profiles for motion control of motors are surveyed. The S-curve for motor profile is widely used in the field application, though, this profile has shortcomings that if one intends to suppress the residual vibration he should reduce both starting and arrival jerks of the S-curve, and consequently lengthen seriously total time of S-curve. To overcome the weak point of S-curve, asymmetric S-curve (AS-curve) is suggested and realized with satisfying the constraints. Then, the performance of AS-curve is compared with that of S-curve and reveal to be successful and the application is promising.
공압 근육 작동기의 모델링,제어 , 응용에 관한 연구 동향
류근호(Keun Ho Rew) 호서대학교 공업기술연구소 2010 공업기술연구 논문집 Vol.29 No.1
공암 근육 작동기의 모델링,제어,응용에 관한 국내외 연구 동향을 전망해 보고자 한다. 기존의 감속기어를 채택한 모터 방식은 빠르고 정밀한 위치 제어가 가능하지만,무겁고,부피 크고 비싸다는 단점이 있어왔다. 1950년대 후반에 개발된 인공 근육 작동기는 부피,힘,가격 등의 장점이 있어왔지만 비선형성으로 인해 제어하기 까다로워 널리 사용되지 못해왔다. 최근 인공 근육 작동기가 상용화되면서 재활 보조기나 휴머노이드 로봇 등에 적용되었고 이의 활용이 주목받고 있다. 인공 근육 작동기에 관한 비선형 모델링 방법과 제어 최신 연구 동향들을 정리하고 부족한 부분의 연구들을 제안하여 향후 이 분야 연구자들에게 도움을 주고자 한다.
류근호(Keun-Ho REW),박현준(Hyeon Jun PARK),문은하(Eun Ha MOON),권혁우(Hyuk Woo KWON),함준혁(Jun Hyeok HAM) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
In this paper, programming education for engineering is introduced through robots driven by C language. All the robots are developed for project based learning, which consist of 16 different examples for one semester. Each example contains concept of STEM (science, technology, engineering and mathematics) and realized by different C programming skills. The target group of this program is aimed for high school students and freshmen. The robot examples can be easily expanded or combined by students and this fact would be helpful to increase the capacity and applicability of programming of students.
류근호(Keun-Ho Rew),김동한(Donghan Kim) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.11
A mobile robot should be designed to navigate with collision avoidance capability in the real world, coping with the changing environment flexibly. In this paper, a novel navigation method is proposed for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. To demonstrate the effectiveness and applicability, it is applied to the robot soccer. Simulations and real experiments ascertain the merits of the proposed method.
류근호(Keun-Ho Rew),김성구(Sung-Gu Kim),임효재(Hyo-Jae Lim),권정태(Jeong-Tae Kwon),박경우(Kyoungwoo Park) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
In this paper, we developed the cooling technology for the casts of light guiding panel(LGP). For the ultra high precise cutting of the casts for an LGP, the temperature control of the casts is prerequisite, however, the space for the cooling device is very limited in height direction. The cooling modules using heatpipes with wick structure are under 18㎜ high, and attached to cool sides of the casts of LGP. These modules cooled the cast block near 30℃ when the block is heated 50℃ above room temperature, and the temperature uniformity of the block is 2.7℃. The reduction effect of contact resistance using thermal compounds is observed and the other cooling performances are verified through experiments.
류근호(Keun-Ho Rew) 호서대학교 공업기술연구소 2007 공업기술연구 논문집 Vol.26 No.1
In this paper, motion control technologies that used to control the motors, is surveyed in products and research aspect. The products technology of motion board have a trend to reduce the sampling time and the size of PCB, but enlarge the channels into motors to be controlled. Famous companies producing motion boards are introduced and the products are compared in the sense of state-of-the-art technology. Researches for motion control have a tendency to contain higher controllers and various motion profiles to reduce residual vibrat
복소 포텐셜을 이용한 로봇 축구용 다개체 로봇의 경로 계획
이경희,김동한,류근호,Lee, Kyunghee,Kim, Donghan,Rew, Keun-Ho 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.12
This paper deals with the trajectory planning of multi agent robots using complex potential theory for robot soccer. The complex potential theory is introduced, then the circle theorem is used to avoid obstacles, and the vortex pair is used to make precise kicking direction of robot. Various situations of robot soccer are simulated and the effect of vortex strength and the speed of robots are discussed and the better way to avoid obstacles and to kick the precise direction is found. The feasibilities of complex potential theory to apply for the multi agent robots are successful.