http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
프리캐스트 교량의 정밀 시공을 위한 Homography 기반 마커-카메라 6자유도 측정 시스템
최수영,명완철,정용훈,명현 제어로봇시스템학회 2015 제어로봇시스템학회 각 지부별 자료집 Vol.2015 No.12
A plenty of construction sites utilize precast concrete (PC) members which are transferred after those are entirely made from a plant. The PC method can decrease building time and the rate of structural flaws. A lot of PC members are moved by a crane worker to some position which should be fitted by shear pins on the beams. At this moment, workers use their hand gestures to communicate with the crane worker how much PC members should be moved to fit into shear pins. In this paper, a homography-based 6-DOF displacement estimation method calculates the relative displacement between the camera which is located under the upper PC and the planar marker which is located at the shear pin. Marker pixel points are transferred by Bluetooth communication to the main system located at the crane worker for calculating 6-DOF displacement in consideration of distance between the crane worker and the PC members. After measuring 6-DOF displacement, this information is visualized on the display system which shows where the upper PC members are located compared to the shear pin. Finally, for validating robustness of the system, some experiments are conducted with changing wireless communication distances.
이준석,명완철,유병호,Christian Tirtawardhana,명현 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.1
Drilling technology has been used in various fields. In recent years, studies have been conducted for extreme areas and space exploration. In addition, technology is being developed for the exploration and mining of new energy resources. Because of the large size and the complicated processes of the existing drilling systems, many limitations and environmental problems exist. In recent years, bio-inspired or bio-mimetic robots that simulate the movement or habitats of living things have been developed actively for efficient operation. This paper proposes an embedded directional drilling robot (Mole-bot) that mimics the biological structure and excavation habits of the mole. The proposed system includes digging, moving, direction changing, locking, and debris removal mechanisms. In conclusion, performance evaluation of the excavation mechanism and direction changing mechanism of the developed robot were carried out. .
실시간 구조물 변위 모니터링을 위한 증분형 변위 측정 알고리즘
전해민(Haemin Jeon),신재욱(Jae-Uk Shin),명완철(Wancheol Myeong),명현(Hyun Myung) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.6
The purpose of this paper is to suggest IDE (Incremental Displacement Estimation) algorithm for the previously proposed visually servoed paired structured light system. The system is composed of two sides facing with each other, each with one or two lasers with a 2-DOF manipulator, a camera, and a screen. The 6-DOF displacement between two sides can be estimated by calculating the positions of the projected laser beams and rotation angles of the manipulators. In the previous study, Newton-Raphson or EKF (Extended Kalman Filter) has been used as an estimation algorithm. Although the various experimental tests have validated the performance of the system and estimation algorithms, the computation time is relatively long since aforementioned algorithms are iterative methods. Therefore, in this paper, a non-iterative incremental displacement estimation algorithm which updates the previously estimated displacement with a difference of the previous and the current observed data is introduced. To verify the performance of the algorithm, experimental tests have been performed. The results show that the proposed non-iterative algorithm estimates the displacement with the same level of accuracy compared to the EKF with multiple iterations with significantly less computation time.