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단일 센서를 이용한 중간점 경유 목표점 이동간 장애물 회피 알고리즘에 관한 연구
박용군,김지홍,이창구,김연술,양균의 제어로봇시스템학회 2009 제어로봇시스템학회 합동학술대회 논문집 Vol.2009 No.12
This paper gives efficient guidelines for a composing unman guidance vehicle using single sensor. Path tracking and obstacles avoidance methods using a single sensor have been need very complicated equations about relation velocity and distance between an obstacle and an UGV. But here is introduced the algorithm for simple calculating to be fast control and operating of a sensor. For these, the algorithm has the way for setting the range for detecting obstacles, adjusting the obstacle and making new way-point. An UGV can move to goal point via pre-making way-points and avoid arbirary obstacles with new making way points by this algorithm.
Force Plate 와 불안정판을 이용한 평형감각 훈련
박용군(Young Kyoon Park),유미(Mi Yu),권대규(Tae Kyu Kwon),홍철운(Chul Un Hong),김남균(Nam Gyun Kim) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
This paper proposes a new training system for equilibrium sense and postural control using unstable platform and force plate. This system consists of unstable platform, force plate, computer interface, software and the computer. Using this system and training programs, we perform the experiment to train the equilibrium sense and postural control of subject. To evaluate the effects of balance training, we measured some parameters such as the maintaining time in the target, the moving time to the target and the mean absolute deviation of the trace before and after training. The result shows that this system can improve the equilibrium sense and balance ability of subject. This study shows that proposed system had an effect on improving equilibrium sense and postural control and might be applied to clinical rehabilitation training as a new effective balance training system.
형상기억합금 작동기를 이용한 유연 구조물의 능동진동제어
차일남,박용군 서울産業大學校 1997 논문집 Vol.45 No.1
본 논문은 형상기억합금 액튜에이터를 이용한 유연 구조물의 능동 진동제어에 관 한 것이다. 먼저, 제시된 형상기억합금 자체의 동적 특성을 실험적으로 도출한 후, 이를 해밀톤 법칙과 연계하여 제안된 유연 구조물 시스템의 운동지배 방정식을 유도하였다. 외란에 강건한 슬라이딩 모드 제어기를 도입하여 제안된 시스템에 대한 능동 진동제어기를 설계하였다. 그리고, 제시된 제어 방법론의 타당성을 입증하기 위해 구조물 양측면에 형상기억합금이 .부착된 유연 구조물을 제작한 후, 능동 진동 제어 시스템을 실험적으로 구현하였다 그리고, 실험과 시뮬레이션을 통해 유연 구조물의 선단에 대한 강제진동과 위치 추적제어를 실시하였다. 연구 결과를 통해, 향후 형상기억합금 애튜에이터가 소형 유연 그리퍼에 매우 효과적으로 적용할 수 있음을 알 수 있었다. This paper deals with forced-vibration and tip-position tracking control of a flexible structure via shape memory alloy(SMA) actuators. Firstly, an experimental identification of dynamic characteristics for the employed NiTi SMA actuators itself with 5% extensional prestrain is conducted. A flexible structure of which two SMA wires are attached on the outer surfaces is then fabricated. In addition, a governing equation of lateral motion including the measured dynamic characteristics of the SMA actuator is formulated through Hamilton's principle and a state space control model is subsequently synthesized by means of mode summation. Moreover, a sliding mode controller inherently robust to external disturbances is adopted to carry out both forced-vibration control and tip-position tracking control in theoretical and experimental stages. In order to demonstrate the proposed methodology, a remarkable deflection suppression is evaluated in the forced vibration. Furthermore, tracking performances in sense of tracking accuracy and time are investigated in the position tracking control on the desired sinusoidal and step trajectories. Both the favorable results are to provide a feasibility of using the SMA actuator in a practical flexible gripper system.