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박근우(K.W.Park),김태성(T.S.Kim),정진욱(J.W.Chung),김용희(Y.H.Kim),이민기(M.K.Lee) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.11
This research develops a robot as the device which construets underwater harbour. This construetion is to build a breakwater, which is dangerous and difficult, The hydraulic parallel machanism-typed robot is developed to machanize the construetion by operating of a stoneworker (or diver) through a goystick. The six-dof robot is able to carry 2-3 ton`s heavy stone and put it an the surface of breakwater. This paper presents the machanical design of a miniature robot, its control and application for the breakwater construetion.
장소 이미지 딥러닝 기반의 위치 정보 서비스 설계 및 구현
김현우(Kim, Hyun-Woo),이정우(Lee, Jung-Woo),홍기태(Hong Ki-Tae),김연우(Kim Yeon-Woo),장진욱(Jang Jin-wook) 한국IT서비스학회 2019 한국IT서비스학회 학술대회 논문집 Vol.2019 No.2
본 연구에서는 딥러닝 처리기술을 통한 이미지 분석을 이용해 GPS(Global Positioning System) 정보가 없는 사진의 위치를 사용자에게 제공하는 서비스를 설계하고 구현하였다. 본 서비스는 상용 서비스를 목적으로 사용자가 생활 중에 관심있는 장소 이미지 사진을 서비스에 업로드하면 해당 장소의 이름과 위치뿐만 아니라 관련 맛집, 주변 명소의 정보를 확인 할 수 있는 서비스 제공을 목표로 개발되었다. 본 시스템은 이미지에 해당하는 정보를 제공하고 그 위치 정보를 기반으로 사용자가 관심있는 주변정보를 제공할 수 있는 시스템이다, 이를 통하여 다양한 서비스와 연계 발전이 가능하다
수중 고르기 로봇의 유압서보제어를 위한 실린더 길이 옵서버 개발
최태수(T. S. Choi),김치효(C. H. Kim),김태성(T. S. Kim),박근우(K. W. Park),이민기(M. K. Lee) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
This research is about the development a observer to estimate cylinder length of underwater rubble leveling robot. The underwater rubble leveling is the foundation work of harbor construction. This work is difficult and dangerous for divers because muddy water blurs the objective under the water. The diver can't see but recognize the objective unclearly by touching, which causes the occasional accidents. We're developing a prototype robot to solve the problem and to gain the efficiency. The robot needs a displacement sensor to control the hydraulic cylinder. The typical displacement sensors are mounted on the outside of cylinder, it causes poor durability in a construction site where shock and dust usually come out. However, the pressure sensor is mounted the inside of a hydraulic valve box or can be indirectly mounted on the body of cylinder so that it is protected by the shock and easy to waterproof. We will develop a observer to measure the cylinder length and apply it to the control of the underwater rubble leveling robot.
김태성(T. S. Kim),정진욱(J. W. Jung),김용희(Y. H. Kiln),박근우(K. W. Park),이민기(M. K. Lee) 대한기계학회 2003 대한기계학회 춘추학술대회 Vol.2003 No.11
This paper presents the calibration for the parallel typed tilting table. The calibration system needs only simple sensing device which is a digital indicator to measure the orientation of a table. The calibration algorithm is developed by a measurement operator. It eliminates the concern about the poor parameter observability due to a large number of parameters of parallel-mechanism. This paper uses the QR-decomposition to find the optimal calibration configurations maximizing the linear independence of rows of a observation matrix. The number of identifiable parameters is examined by the rank of the observation matrix, which represents the parameter observability. The method is applied to a Parallel-typed Tilting Table and all the necessary kinematic parameters arc identifiable.
김태성(T. S. Kim),김치효(C. H. Kim),박근우(K. W. Park),이민기(M. K. Lee) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.11
This research develops a sensorless hydraulic servo system of Parallel-Typed robot for harbour construction. Purpose of the robot is to mechanize the construction, which is accomplished through a joystick's operating by a stoneworker (or diver). The robot is attached on the end of an excavator as its attachment or transported by a crane to reach the desired place. The embedded compact controller is installed on the robot body and controlled by wireless telecommunication. For underwater work, it is necessary to waterproof the robot and its sensors. Especially, a sensor waterproof is a main drawback for the underwater robot. This leads us to develop a hydraulic robot position controller using an observer which gives the position information without any position sensor. We design a neural network to identify the displacement change according to the command voltage to servo valve. To verify the sensorless controller, this paper presents the performance of the sensorless control for which the position is given by the observer comparing with that of the sensor control for which the position is measured by LVDT sensors.