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전승우(Seung-woo Jeon),정우태(Wootae Jeong),박덕신(Duck shin Park) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
Skid steering system which is widely used to the mobile robot platform changes direction by differential speed between wheels. The mobile platform is able to move and turn in the limited space without using steering devices. However, the system has to overcome nonholonomic constraint in controlling the position of the platform precisely. Variable studies have been carried out such as the robust motion control algorithm of nonlinearity and uncertainty by considering dynamic characteristics of skid-steered platform. Meanwhile, studies about the motion control of skidsteered mobile robot have not been considered by working devices mounted on the platform. In case of mass transformation occurred by the mechanism performing tasks and the platform moved simultaneously, the center of mass(COM) of the robots can be moved and the trajectory error of the platform would be increased. Therefore, the trajectory of moving platform has been calculated with determining ICR in variable COM of the overall platform to examine possibility of controlling the motion.
모의주행성능시험기의 차륜/레일 접촉부 CREEP FORCE에 미치는 영향 인자에 대한 연구
전승우(Jeon Seung-Woo),구동회(Koo Dong-Hoe),김재철(Kim Jae-Chul),황석열(Hwang Seok-Youl) 한국철도학회 2008 한국철도학회 학술발표대회논문집 Vol.- No.-
Creep force is one of the only appeared at conventional train which used to be driven by metallic wheel and rail contact. Due to the elastic deformation of wheel/rail contact patch by the weights of wheel and all the components related to it, creep force generates and becomes to the decision factor of critical speed of bogie(or railway vehicle) which is the criteria of avoiding vehicle to be unstable. There are many kind of factors which affect generation of creep force at a wheel/rail contact surface such as viscosity of contact patch, velocity, wheel and rail geometric profile, mechanical properties of wheel and rail. This paper concentrates on a wheelset simple 2 DOF Equation of Motion being exerted. From the simple numerical analysis using linear solution about getting creep force some factors could find roughly. Among the factors geometric parameter could be the one of most important for this study. In the future we"ll prolong the range of study to find out method of measuring creep force easily.
김승민(Kim, Seung-Min),김흥일(Kim, Heung-Il),전승우(Jeon, Seung-Woo),황정길(Hwang, Jeong-Kil),우윤환(Woo, Yoonhwan) 한국산학기술학회 2013 한국산학기술학회논문지 Vol.14 No.12
최근 DSLR 카메라의 보급이 높아졌고, 이로 인해 DSLR을 활용한 여러 가지 촬영기법 중 동영상 촬영기법 의 하나인 Time-lapse 촬영기법이 개발되었다. Time-lapse란 기존 동영상 촬영을 하지 않고 한 컷 당 일정 시간 간격 을 두고 연속 사진 촬영하여 효율적이고 고화질의 동영상을 제작하는 촬영기법이다. 이를 위해서는 카메라의 이동속 도와 방향 셔터속도 제어가 가능한 기계적 장치(dolly)가 필요하며 이에 본 논문에서는 주어진 설계조건을 만족하는 이동시스템의 설계방법을 제시하고 최종설계에 대한 정적, 동적 각 상태에서의 응력해석을 통한 설계의 타당성을 검증하였다. The supply of DSLR cameras has increased recently. Because of its widespread use, different types of DSLR camera video techniques have also been developed. Time-lapse is an effective filming technique that helps produce a fine-quality video clip by taking pictures of multiple camera shots during certain time intervals without recording the actual video clip, as the existing technique does. Machinery equipment (dolly), which controls the speed of movement and shutter, needs to be deleted. This paper introduces a method for a designing movement system that satisfies the design conditions. In addition, this paper proved the validity of the design by performing stress analysis on the static and dynamic conditions of the final design.
청소효율 개선을 위한 덕트 청소로봇 브러쉬의 힘제어 방안
정우태(Wootae Jeong),전승우(Seung Woo Jeon),박덕신(Duck Shin Park) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
Most of underground facility and modern high storage building requires a HVAC (Heating, Ventilating, and Air Conditioning) system that supplies fresh and clean air from outdoor environment. The air duct system consists of various components such as turning ducts, diverging ducts, air dampers and filters. As the reason of complexity of duct structure, infiltrated particles and pollutants are accumulated at inner surface of duct without being exhausted. Therefore, automated duct cleaning robots and systems are recently under development to eliminate various contaminants inner duct system. In this paper, a force control logics has been applied to the designed duct cleaning robot for constant cleaning force control and proved feasibility of the autonomous duct cleaning robot.