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미끄럼 조향 로봇의 강인한 궤적 추종 제어에 관한 연구
백운보,김원호,Baek, Woon-Bo,Kim, Won-Ho 한국생산제조학회 2010 한국생산제조학회지 Vol.25 No.3
We consider the robust trajectory tracking control problem for a skid steering mobile robots. A dynamic model is derived accounting for the effects of wheel skidding. The control design utilizes the dynamic feedback linearization techniques, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The additive controller using the sliding mode type is then robustified against the unmodelled dynamics and parameter uncertainty. Simulation results show the good performances under excessively uncorrected estimations of the longitudinal forces and the lateral resistive forces caused by the skidding of the wheels in tracking trajectories.
Flame Image Analysis Systems for Combustion Conditions Monitoring
백운보(Woon-Bo Baek),신진호(Jin-Ho Shin) 동의대학교 정보통신연구소 2002 정보통신연구지 Vol.3 No.-
The flame image processing and analysis systems have been developed for optimal coal firing of thermal power plant, especially for low NOx and safe operation. We aimed at gaining the relationship between burner flame image and emissions of NOx and unburned carbon in furnace by utilizing the flame image processing methods, through which this system quantitatively determines the conditions of combustion on the individual burners. For the first step of development, its possibility test was undertaken with bench furnace. The test proceeded to the second step with pilot furnace, thraufh which the system was observed to be effective for evaluating the combustion conditions monitoring and burner maintenance.