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동적 환경에서 불완전한 지도를 이용한 이동로봇의 강인한 위치인식 알고리즘의 개발
이정석,정완균,남상엽,Lee, Jung-Suk,Chung, Wan Kyun,Nam, Sang Yep 대한임베디드공학회 2008 대한임베디드공학회논문지 Vol.3 No.2
We present a robust localization algorithm using particle filter for mobile robots in a dynamic environment. It is difficult to describe moving obstacles like people or other robots on the map and the environment is changed after mapping. A mobile robot cannot estimate its pose robustly with this incomplete map because sensor observations are corrupted by un-modeled obstacles. The proposed algorithms provide robustness in such a dynamic environment by suppressing the effect of corrupted sensor observations with a selective update or a sampling from non-corrupted window. A selective update method makes some particles keep track of the robot, not affected by the corrupted observation. In a sampling from non-corrupted window method, particles are always sampled from several particle sets which use only non-corrupted observation. The robustness of proposed algorithm is validated with experiments and simulations.
접촉 압력 분포를 이용한 최소 침습 수술을 위한 의료 촉진 가이던스 시스템
김형균,정완균,Kim, Hyoungkyun,Chung, Wan Kyun 한국센서학회 2017 센서학회지 Vol.26 No.4
In this research a medical palpation guidance system for minimally invasive surgery (MIS) is proposed. Palpation is a useful tool for identifying a size and location of a lump during a surgery. However, conventional manual palpation is only available in open surgery, so there has been several researches about palpation assistant or guidance system for MIS. The previously developed systems are based on a pressure based or stiffness based approach. These previous approaches have some limitations in increasing complexity of the systems and lack of geometric information about the lump which is more important information for the lump removal than the stiffness information. We propose a palpation guidance system using a novel approach using contact pressure distribution. Since our approach gives the geometry information of the lump as well as the existence information, the operator can easily notice the currently identified lump region and the optimal position for the next palpation. The experiment results show that our approach can offer the geometry information of the lump correctly.
Sampling-Based Retraction Method for Improving the Quality of Mobile Robot Path Planning
Byungjae Park,Wan Kyun Chung,정완균 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.5
This paper presents a method for improving the quality of the initial path produced by the probabilistic roadmap (PRM)-based mobile robot path planner. The sampling-based retraction method modifies the initial path to achieve approximate maximum safety by removing unsafe and redundant sections. The updated directions and distances of the waypoints on the initial path are determined by approximately modeling clearances around the initial paths using random samples. The proposed me-thod can control the update speed to induce smooth convergence. The performance of the proposed method was verified by simulation.
강인한 내부 루프 보상기를 입력성형법에 의한 유연보-부하-대차 시스템의 잔류진동 억제
박상덕,김봉근,정완균,염영일,Park, Sangdeok,Kim, Bong-Keun,Chung, Wan-Kyun,Yeom, Yeong-Il 제어로봇시스템학회 2001 제어·로봇·시스템학회 논문지 Vol.7 No.3
In this paper, vibration suppression of an elastic beam fixed on a moving cart and carrying a fixed or moving mass is considered. A modified pulse sequence method with RIC(Robust Internal-loop Compensator) is proposed to suppress the single model residual vibration and to get accurate positioning of the beam-mass-cart system. The performance of the proposed input preshaping method is compared with that of the previous ones through simulations and experiments. Using the proposed method, it is able to suppress the initial vibration of the beam-mass-cart system carrying a concentrated mass. Accurate PTP(point-to-point) positioning of the moving mass without residual vibration is also obtained experimentally by modifying the proposed pulse sequence method. Finally, the proposed input preshaping method is applied successfully to the system to follow square trajectories of the moving mass without residual vibration.
잘못된 초음파 센서 데이터를 여과하기 위한 음압 비교법
이경민(Kyoungmin Lee),정완균(Wan Kyun Chung) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.3
In this paper, we address the problem of detecting incorrect sonar measurements. We use ideas from the inconsistency of information among sonar measurements together with the sound pressure of the wave from the sonar sensor to develop a new method, called the comparison of the sound pressure (CSP), to detect incorrect sonar readings. The inconsistency of information in cells can be a clue that indicates candidates for incorrect measurements, and the sound pressure of the wave from the sonar sensor determines incorrect readings among the candidates. From various experiments, the proposed method is confirmed that it is better than existing method at deciding the state of sonar measurements.
구동기 포화가 있는 견실 고속 온동 제어기 설계 및 정밀 위치 결정 시스템에의 적용
최현택,김봉근,서일홍,정완균,Park, Hyun-Raek,Kim, Bong-Keun,Shh, Il-Hong,Chung, Wan-Kyun 제어로봇시스템학회 2000 제어·로봇·시스템학회 논문지 Vol.6 No.9
A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechai는 (PTOD) for high-speed motion, disturbance observer (DOB) for robustness, friction compensator, and saturation handling element, In the proposed controller, DOB basically provides the chance to apply PTOS to non-double integrator systems by drastically reducing disturbances as well as unwanted signals due to difference between real system and the double integrator model. But, in DOB-based systems, if control input is saturated due to control input PTOS and/or DOB, overall system stability cannot be guaranteed. To solve this problem, ribust stability, when the control input is saturated. Eventually, a simple saturation handling element is inserted to maintain internal stability of overall system. Also, we explain the our two saturation handling methods, Additional Saturation Element (ASE_ and Self Adjusting Saturation (SAS), are the equivalent solutions of the saturation problem to maintain internal stability. The stability and performance of the proposed controller are verified through numerical simulations and experiments using a precision linear motor system.