배추 자동 수확을 위한 센서 융합 기반 자세제어 : 예비 연구

박용현 ( Yong-hyun Park ),전종표 ( Jong-pyo Jun ),김혁주 ( Hyuck-joo Kim ),손형일 ( Hyoung Il Son ) 한국농업기계학회 2020 한국농업기계학회 학술발표논문집 Vol.25 No.2

배추 수확의 기계화율은 매우 낮으며 인력을 통해 대부분의 작업이 진행되고 있으며, 배추 수확 과정의 자동화를 위한 연구가 필요하다. 절단 위치에 따라 결구부 손상으로 이어질 수 있는 문제로 경사를 대응하면서 정확한 절단 과정을 수행할 수 있는 수확기의 연구가 필요하다. 본 연구는 수확기 주행 기체가 아닌 수확기 예취부 자세를 제어하여 정확하게 배추가 수확될 수 있도록 돕는 3축 자세제어 메커니즘을 설계하였고, 칼만 필터를 통해 가속도계와 자이로 센서, 로터리 엔코더를 융합하였다. Roll(ᄒ), Pitch(ჩ ) 각도 데이터로 예취부가 지면과 수평을 유지하도록 제어하고, 지면에 접지되어 주행 되는 예취부 가이드 각(ჩ E)을 높이(೬) 데이터로 캘리브레이션 하는 과정을 걸쳐 예취부의 높이가 일정하게 유지하도록 Slide(೪) 축의 길이를 조절하게 된다. 그리고 노지 경사나 장애물에 대한 급격한 자세 변화에 대응하고 오버슈트를 줄일 수 있도록 PID 제어도 통합하여 알고리즘 안정성을 향상 시켰다. 알고리즘의 가능성을 확인해 보기 위해 배추수확기 예취부 메커니즘을 토대로 한 소형 모델을 제작해 주행 플랫폼(Clearpath Inc. Husky)에 설치하였고, 마이크로컨트롤러를 통해 3축을 제어하는 리니어 액추에이터를 동작하였다. 알고리즘을 통한 소형 모델의 자세제어 동작 유, 무에 따른 예취부 자세 비교실험은 모션 캡처 장비(Opti-Track)로 진행하였고 자세제어가 동작하였을 때 수평, 높이에 대한 RMSE가 각각 0.885, 13.23, 동작하지 않았을 때 RMSE가 2.158, 56.42인 것을 비교하면 예취부의 자세가 수평에 가깝게 제어되고 높이도 일정하게 유지하는 것을 통해 자세제어 알고리즘의 가능성을 확인할 수 있었다.

평면형 병렬 케이블 구동 로봇에 대한 형상보정

Jin Xuejun,정진우(Jinwoo Jung),전종표(Jong Pyo Jun),박석호(Sukho Park),박종오(Jong-Oh Park),고성영(Seong Young Ko) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.11

This paper proposes a calibration algorithm for a three-degree-of-freedom (DOF) planar cable-driven parallel robot (CDPR). To evaluate the proposed algorithm, we calibrated winches and an optical tracking sensor, measured the end-effector pose using the optical tracking sensor, and calculated the accurate robot configuration using the measurement information. To conduct an accuracy test on the end-effector pose, we followed guidelines from “Manipulating industrial robots - Performance criteria and related test methods.” Through the test, it is verified that the position accuracy can be improved by up to 20% for a 2m × 2m-sized planar cable robot using the proposed calibration algorithm.

男子中學生에 있어서 身體變因과 社會測定的 地位와의 關係

洪盛杓,全鐘貴 忠南大學校體育科學硏究所 1983 體育科學硏究誌 Vol.1 No.1

Fifty eight randomly sampled boys(mean age:167.4 months)of Dong-san middle school in Daejeon served as subjects. The social status score of each subject was derived from acceptance scores on a sociometric questionaire for the friend criterion. According to the Heath-Carter method, the somatotype of each subject was determined on the basis of anthropometric measurements. One hundred meter dash, standing broad jump, throwing, pull-up, and sit-up test were used for the physical fitness assessment of each subject. Product-moment correlation coefficients and tratios were calculated to observe the relationship of physical variables to social status and their statistical significance. The authors reached the following conclusions: 1. The significant positive relationship exists between body weight and social status. 2. Height is not significantly related to social status. 3. The significant positive relationship exists between the mesomorphic component of anthropometric somatotype and social status. 4. The relationship of the endomorphic and the ectomorphic component to social status are not significant statistically. 5. Among the subfactors of physical fitness, power and coordination are positively related to social status. 6. Agility and muscular endurance are not significantly related to social status.

中.長距離 달리기의 最適戰略에 關한 數理的 模型

洪盛杓,全鍾貴,崔哲圭 忠南大學校體育科學硏究所 1988 體育科學硏究誌 Vol.6 No.1

The mathematical theory of competitive running by Keller, which is based on the Newton's second law of motion, is applied to analyze the track records of the Asian and Korean athlets. In addition, the empirical formular proposed by Toots is used to represent the aver age speed of the runners for various races. The main conclusions arrived at are as follows. 1. According to the Keller theory, running at a constant speed is an optimum strategy throughout the races except the initial two seconds and the final 3 seconds, approximately, for distances greater than certain critical distances. But it is effective to run at a full speed with maximum propulsion, for the short distance sprints. 2. The critical distances obtained from the records are 291m for the World records, and 298 (320m for women) and 303m (330m for women) for Asian and Korean records, respectively. Thus the 400m race may be considered the reference item for the mid-range race. 3. Korean athletes show rather inferior physiological characteristics for the most cases analyzed, with the only exception for the oxygen supply rate of male athelets, which is somewhat greater than that of the Asian records. This may indicate a passilility of future development of superior mid and long distance runner from Korean athletes.

과다체중이 지구성 운동중 대사작용 및 호흡순환계 반응에 미치는 영향

전종귀,박해근,홍성표 忠南大學校體育科學硏究所 1989 體育科學硏究誌 Vol.7 No.1

Six male physical education major students (2 volleyball players, 1 alpinist, and 3 non-athletes) were studied to determine the effect of excess body weight or fat on metabolic and cardiorespiratory responses to treadmill walking. The metabolic and cardiorespiratory responses to treadmill walking (speed : 90m/min) were measured in six subjects under each of four added-weight(AW) conditions : normal body weight and 5, 10, and 15% additional external weight, added to the trunk. AW was found to systematically and significantly increase HR, Systolic BP, VE, VO₂, VCO₂, But AW did not change RER, urine osmolality, Na+, and K+ concentrations. It was concluded that excess body weight or fat may lead to detrimental effect on cardiorespiratory responses during prolonged exercise.

中·長距離달리기의 科學 : 生理學的 先行硏究와 現場適用

민창기,홍성표,김동건,전종귀 忠南大學校體育科學硏究所 1985 體育科學硏究誌 Vol.3 No.1

There are many difficulties in bridging the gap between scientific abservation and the assimilation into sports performance. The purpose of this review is to provide a digest of the technical aspects of research that form the scientific basis for the concepts that affect the sports of middle and long distance running. The authors reviewed the previous researchs about the following contents: the anatomical, physiological characteristics of the middle, long distance runner; the physiological responses during middle, long distance running; training for the systems of aerobic metabolism; the beforehand researches and their applications.

Caffeine 과 Glucose 투여가 지구성 운동중 대사 및 호흡기능에 미치는 효과

박해근,전종귀,홍성표,민창기 忠南大學校體育科學硏究所 1986 體育科學硏究誌 Vol.4 No.1

Twelve male students (major in physical education; non-coffee drinkers; 6 endurance athletes; 6 non-athletes) were studied to determine the effects of caffeine, and Glucose feedings on submaximal endurance performance. Each subject performed three submaximal cycling trials at an absolute intensity of 900kpm. The trials were randomized to negate any possible order or training effects. For the caffeine trial, 2.5 mg/kg body weight of caffeine in 250ml of artificially sweetened barley tea was ingested twice one hour and 30.min prior to the ride. In the glucose trial, 0.5g/kg. body weight of glucose in 250m1 of barley tea was ingested twice one hour and 30 min prior to the ride. During the control trial, 250ml of artificially sweetened barley tea was ingested twice one hour and 30 min prior to the ride. obtained data from the three trials were analyzed with one way ANOVA for repeated measures design. Significant differences between means were located using a multivariate comparison. The level of significance was established at p<0. 05. The results were summerized as follows : Ingestion of glucose elevated blood glucose and insulin levels at rest , but no significant differences in blood glucose concentration were found between the three trials . Glucose ingestion resulted in rapid hypoglycemia and inhibition of FFA mobilization during exercise. Caffeine ingestion increased significantly in VE, Vo2 and plasma osmolarity during the exercise. But caffeine ingestion failed to elevate plasma FFA concentration, HR and blood pressure significantly. Glucose or caffeine ingestion did not change in blood lactate, Hb , plasma Na+ concentration, Hit and RQ during exercise. In the above results, It was suggested that ingestion of caffeine prior to the exercise fail to increase in lipid metabolism during exorcise and may have some detrimental effects on endurance performance besides psychological ergogenic effect of caffeine, and that glucose ingestion prior to the exercise elevate blood glucose and insulin level at rest but may have detrimental effect of endurance performance because of rapid hypoglycemia caused by hyperinsulinemia.

취학전 아동의 체력 실태와 평가

권영옥,김동권,민춘기,이용인,전종귀,진윤수,홍성표 忠南大學校體育科學硏究所 1995 體育科學硏究誌 Vol.13 No.1

The purpose of this study was analyze children's Physical Fitness and basic rate by observing the change in the heart rate of the 1230 children of five of six years of age. Following conclusions were obtained The muscular strength was relatively low according to places. And the muscular strength of boys was higher than that of girls. The flexibility of girls was higher than that of boys according to places and sexes. The muscular endurance, power, balance and agility of boys were higher than those of girls according to places and sexes. Thus the development of physical fitness was improved with their ages, the physical fitness for physique seemed rather low. So the programs of physical plays for children's physical fitness ought to be developed and physical play showed to be done at kindergarten school.