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RISS 인기검색어
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- 저자 : 정지훈(Ji-Hoon Joung) (검색결과 4 건)
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정지훈(Ji Hoon Joung),신현호(Hyeon-Ho Shin),송영훈(Young Hoon Song),김수종(SooJong Kim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.10
In this paper, we introduce an intelligent robotic arc welding system which exploits sensors like as LVS (Laser Vision Sensor), Hall effect sensor, voltmeter and so on. The use of industrial robot is saturated because of its own limitation, and one of the major limitations is that industrial robot cannot recognize the environment. Lately, sensor-based environmental awareness research of the industrial robot is performed actively to overcome such limitation, and it can expand application field and improve productivity. We classify the sensor-based intelligent arc welding robot system by the goal and the sensing data. The goals can be categorized into detection of a welding start point, tracking of a welding line and correction of a torch deformation. The Sensing data can be categorized into welding data (i.e. current, voltage and short circuit detection) and displacement data (i.e. distance, position). This paper covers not only the explanation of the each category but also its advantage and limitation.
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평면 구조물의 단일점 일치를 이용한 2차원 레이저 거리감지센서의 자동 캘리브레이션
정지훈(Ji Hoon Joung),강태선(Tae-Sun Kang),신현호(Hyeon-Ho Shin),김수종(SooJong Kim) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.2
In this paper, we introduce an autonomous calibration method for a 2D laser displacement sensor (e.g. laser vision sensor and laser range finder) by matching a single point on a flat structure. Many arc welding robots install a 2D laser displacement sensor to expand their application by recognizing their environment (e.g. base metal and seam). In such systems, sensing data should be transformed to the robot’s coordinates, and the geometric relation (i.e. rotation and translation) between the robot’s coordinates and sensor coordinates should be known for the transformation. Calibration means the inference process of geometric relation between the sensor and robot. Generally, the matching of more than 3 points is required to infer the geometric relation. However, we introduce a novel method to calibrate using only 1 point matching and use a specific flat structure (i.e. circular hole) which enables us to find the geometric relation with a single point matching. We make the rotation component of the calibration results as a constant to use only a single point by moving a robot to a specific pose. The flat structure can be installed easily in a manufacturing site, because the structure does not have a volume (i.e. almost 2D structure). The calibration process is fully autonomous and does not need any manual operation. A robot which installed the sensor moves to the specific pose by sensing features of the circular hole such as length of chord and center position of the chord. We show the precision of the proposed method by performing repetitive experiments in various situations. Furthermore, we applied the result of the proposed method to sensor based seam tracking with a robot, and report the difference of the robot’s TCP (Tool Center Point) trajectory. This experiment shows that the proposed method ensures precision.
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무인 차량의 자율 주행을 위한 2차원 레이저 거리 센서와 카메라를 이용한 입방형 격자 기반의 3차원 지형형상 복원
정지훈(Ji Hoon Joung),안광호(Kwang Ho An),강정원(Jung Won Kang),김우현(Woo Hyun Kim),정명진(Myung Jin Chung) 대한전자공학회 2008 電子工學會論文誌-SC (System and control) Vol.45 No.6
차량의 접근 가능한 구역에 대한 판단과 경로 계획은 무인 차량의 자율 주행에 있어서 필수적이다. 차량의 접근 가능한 구역과 경로계획을 위한 정보는 3차원 지형형상을 분석하여 얻을 수 있다. 이 논문에서는 카메라의 색 정보와 2차원 레이저 거리센서(2D LRF)를 융합하여 모바일 로봇의 휠 인코더를 통해 복원한 3차원 지형형상과, GPS/IMU 정보와 2차원 레이저 거리센서로 복원한 3차원 지형형상을 적은 데이터로 표현하는 방법을 제시하였다. 카메라의 색 정보와 2차원 레이저 거리센서의 융합을 위해 카메라의 좌표계와 LRF의 좌표계 사이의 기하학적인 관계를 격자무늬 평면을 이용하여 구하였다. 카메라와 2차원 레이저 거리센서의 융합을 통한 3차원 지형형상 복원은 모바일 로봇을 이용하여 실내에서 실험하였고, GPS/IMU 정보와 2차원 레이저 거리센서를 통한 3차원 지형형상 복원은 차량을 이용하여 실외에서 실험하였다. 이런 시스템에서 복원한 3차원 지형형상은 점군 기반으로 되어있고, 이는 매우 많은 양의 정보를 필요로 한다. 정보의 양을 줄이기 위해 점군 기반을 대신하여 입방형 격자 기반의 지형형상으로 복원하였다. The information of traversability and path planning is essential for UGV(Unmanned Ground Vehicle) navigation. Such information can be obtained by analyzing 3D terrain. In this paper, we present the method of 3D terrain modeling with color information from a camera, precise distance information from a 2D Laser Range Finder(LRF) and wheel encoder information from mobile robot with less data. And also we present the method of 3D terrain modeling with the information from GPS/IMU and 2D LRF with less data. To fuse the color information from camera and distance information from 2D LRF, we obtain extrinsic parameters between a camera and LRF using planar pattern. We set up such a fused system on a mobile robot and make an experiment on indoor environment. And we make an experiment on outdoor environment to reconstruction 3D terrain with 2D LRF and GPS/IMU(Inertial Measurement Unit). The obtained 3D terrain model is based on points and requires large amount of data. To reduce the amout of data, we use cubic grid-based model instead of point-based model.
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Speedup Banyan 스위치를 이용한 대규모 ATM스위치의 설계에 관한 연구
박찬수(Chan-Su Park),정지훈(Ji-Hoon Joung),이팔진(Pal-Jin Lee),박동선(Dong-Sun Park),김영천(Young-Chon Kim) 한국정보과학회 1993 한국정보과학회 학술발표논문집 Vol.20 No.1
In this Paper, We propose a speedup Banyan ATM switch to improve the throughput and the cell loss rate. And, we also propose a large-scale ATM switch with ,two stage, which is based on proposed unit switch. The first stage is consist of binary tree and speedup Banyan switch for expanding network. And the second stage is consist of multiplexers for concentrating network. In order to evaluating the performance of the proposed switches, we analyze states of switch and compute the probability of each state using Markov chain. The factors of performance evaluation are the cell loss rate of internal and output buffer and the normalized throughput of switch in terms of variable speedup factors, the size of switch, and the size of output buffer.
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