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기구학적 불완전성을 갖는 구륜이동로보트의 기구학적 보정과 방향각 오차의 감소를 위한 속도 궤적의 설계
문종우,김원규,박종국 慶熙大學校 材料科學技術硏究所 1998 材料科學技術硏究論集 Vol.11 No.-
This paper presents the kinematic correction method for wheeled-mobile robots with 2 d.o.f. and a design of the velocity trajectory for wheeled-mobile robots'line-travelling. We derive the relative wheel-weight and the absolute wheel-weight to correct the radius of both wheels. And we use the curvature angle to correct displacement of wheel base. We show that wheeled-mobile robots can't move along a straight-line perfectly and the velocity trajectory must have the chage of velocity at least one. To prove efficiency of the method in this paper, we experiment on the wheeled-mobile robots with 2 d.o.f. and discuss the results.
문종우 한국기후변화학회 2023 한국기후변화학회지 Vol.14 No.5
Demand-side approaches become an important pillar for energy analysis, and their roles for achieving climate targets have been increasingly emphasized globally. Particularly, Korea is one of the countries experiencing a rapid transition of demographic and household structures, and accordingly, the current and future energy demand could be significantly affected. As per the importance of the understanding the energy demand characteristics, this study contributes to understanding the electricity consumption of households by analyzing how the various household characteristics can be used to understand the household’s electricity consumption with household-level survey and machine learning techniques. This study utilizes the Household Energy Standing Survey published in 2022 and selects key household, housing, and appliance ownership and usage characteristics from the entire dataset. Afterward, the study applies Support Vector Machine, Random Forest, and Decision Tree classifiers to classify the household’s monthly electricity consumption. The results suggest that the Random Forest classifier provides slightly better performances in general compared to the other models. Moreover, the feature importance suggests that the housing characteristics, such as the size of housing, and appliance usage information, and some household characteristics, such as the number of household members and household income, are relatively important features for classification. Although the study finds some evidence of the importance of household and behavioral information in understanding the household’s electricity consumption, the study also identifies the limitation of the survey dataset in extracting the behavioral information.
문종우,정용욱,김원규,박종국 慶熙大學校 1994 論文集 Vol.23 No.-
In this paper a systematic method for the kinematic modeling of a wheeled mobile robot is presented. This type of methodology is useful to analyze, design, simulate and control any kind of rolling robots. Using the four-wheeled 2-DOF mobile robot as an example, we then analyze the kinematic modeling and through the dead-reckoning updata algorithm, real-time control of WMR position is possible.
제한된 구동 토크를 갖는 4륜 2 자유도 구류 로보트의 모델링과 경로추적
문종우,박종국 대한전자공학회 1996 전자공학회논문지-B Vol.b33 No.4
In this paper are presented kinematic and dynamic modeling and path-tracking of fourwhelled mobile robot with 2 d.o.f. having the limited drivetorques. Controllability of wheeled-mobile robot is revealed by using the kinematic model. Instantaneously coincident coordinate cystem, force/torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robot follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.
文鍾寓,金鍾守,朴世承 조선대학교 전자정보통신연구소 2000 電子情報通信硏究所論文誌 Vol.3 No.1
본 논문에서는 4륜 2 자유도 구륜이동로보트의 기구학 및 동역학적 모델링과 경로 추적을 다루었다. 구륜이동로보트의 기구학 모델을 이용하여 구륜이동로보트의 가제어성을 살펴본다. 동역학 모델의 유도를 위해 순간 일치 좌표계, 힘/토크의 전파와 중첩 그리고 Newton의 평형법칙을 이용한다. 모델링 불확실성으로 인한 오차의 보상을 위해 제어기를 도입한다. 또한 모의실험을 통해 본 논문의 유효성을 입증한다. In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o f Controllability of wheeled-mobile robots is revealed by using the kinematic model Instantaneously coincident coordinate system, force/torque propagation and superposition, and Newton's equilibrium law are used to induce the dynamic model The controller is introduced to compensate for error owing to modeling uncertainty And simulation results prove that method proposed by this paper is efficient
극좌표계를 이용한 구륜이동로보트의 기구학 모델 변환과 기준모델 적응제어에 기초한 경로추적 제어기 설계
문종우,김종수,박세승 조선대학교 전자정보통신연구소 2002 電子情報通信硏究所論文誌 Vol.5 No.2
This paper presents the kinematic model and the design of a model-reference adaptive controller for wheeled-mobile robots(WMRs) with 2 d.o.f. We derive the forward kinematics and the inverse kinematics to calculate the wheel-velocity and body-velocity. The controlled variables are represented in the polar coordinate so that the number of the controlled variable can be reduced to the same number as the control input. A controller is proposed for path tracking, and then controller parameters are modified by adaptation law based on model-reference adaptive control(MRAC) each step. The designed adaptive controller is analyzed, and its stability and convergence are proved. Simulation is conducted to evaluate the control system and the results are shown.