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신현재,김수인,최인호,손영우,안영환,김대욱,이재수,Shin, Hyeon-Jae,Kim, Soo-In,Choi, In-Ho,Shon, Young-Woo,An, Young-Hwan,Kim, Dae-Wook,Lee, Jae-Soo 한국조명전기설비학회 2007 조명·전기설비학회논문지 Vol.21 No.8
본 논문에서는 영역기반의 MAD(Mean Absolute Difference) 알고리즘과 변형된 PID(Proportional Integral Derivative) 기반의 팬/틸트 제어기를 이용하여 적응적인 스테레오 물체추적을 수행함으로써 물체추적 시스템의 오류검출 및 안정도를 분석하였다. 즉 순차적인 스테레오 입력영상에 영역기반의 MAD 알고리즘과 스테레오 카메라의 기하학적 정보를 이용하여 좌, 우측 표적물체의 위치정보를 추출해 낸 다음, 이 값으로 변형된 PID 제어기에 사용하여 잡음들이 존재하는 환경에서도 스테레오 카메라의 팬/틸트를 효과적으로 제어할 수 있었다. 따라서 본 논문에서 제시된 알고리즘을 이용할 경우 3D 로봇비전과 같은 정밀시스템에서 이동하는 추적물체에 대한 적응적인 제어와 실질적인 로봇 시각 시스템의 구현 가능성을 확인하였다. In this paper, we analyzed the mr detection and the stability of the object tracking system by an adaptive stereo object hacking using region-based MAD(Mean Absolute Difference) algorithm and the modified PID(Proportional Integral Derivative)-based pan/tilt controller. That is, in the proposed system, the location coordinates of the target object in the right and left images are extracted from the sequential stereo input image by applying a region-based MAD algorithm and the configuration parameter of the stereo camera, and then these values could effectively control to pan/tilt of the stereo camera under the noisy circumstances through the modified PID controller. Accordingly, an adaptive control effect of a moving object can be analyzed through the advanced system with the proposed 3D robot vision, in which the possibility of real-time implementation of the robot vision system is also confirmed.
신현재(Shin Hyeon-Jae),한형석(Han Hyung-Suk),이종민(Lee Jong-Min),노규석(Rho Kyu-S?k) 한국철도학회 2009 한국철도학회 학술발표대회논문집 Vol.2009 No.5월
The air gap between electromagnet and guiderail in an EMS-type Maglev vehicle must be maintained within an allowable deviation by controlling the voltage on the magnet. In this type of vehicle, the air gap response is strongly dependent on the structural characteristics of the elevated guideway, such as stiffness, damping and mass. For this reason, the dynamic interaction between the vehicle with electromagnets and the elevated guideway must be understood to ensure safe running. The response of the air gap to guideway characteristics such as mass, stiffness, and damping are analyzed through vehicle tests over different guideways. Through such tests, the design requirements for Maglev vehicles and elevated guideways can be established, improving levitation stability.
긴고정자 LSM 이 적용된 자기부상 이송 시스템의 진동분석
신현재(Shin Hyeon-Jae),조한욱(Cho Han-Wook),한형석(Han Hyung-Suk),김동성(Kim Dong-Sung),김창현(Kim Chang-Hyun) 한국철도학회 2009 한국철도학회 학술발표대회논문집 Vol.2009 No.11월
The application of conventional transfer systems, such as roller and belt conveyor, to semiconductor, LCD, and OLED manufacturing, which require a very high level of cleanness becomes difficult due to the presence of particles in their mechanical contact. As an alternative, non-contact transfer systems based on magnetic levitation and linear drive are being employed to reduce the influence of particles. However, this type of transfer system may have mechanical vibration problems induced by levitation control. The objective is to analyze the mechanical vibration induced by the levitation control of the transfer system with a long-stator LSM. To do this, the vibration responses are analyzed, both numerically and experimentally. In addition, the effect of the gains of PID levitation controller on vibration and the proper gains are determined for lowering vibration. Through this, the relationship between the levitation control and mechanical vibration can be clearly understood.