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앞먹임 Image-Based Visual Servoing을 이용한 함상 자동 착륙
조강익(Gangik Cho),최준원(Joonwon Choi),배근식(Geunsik Bae),오현동(Hyondong Oh) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.6
무인비행이동체 (UAVs)의 자율 임무 수행에 있어 자동 착륙은 필수적이다. 특히 함상과 같이 좁고 빠르게 이동하는 목표물에 착륙하기 위해서는 일반적으로 UAV에 사용되는 Global positioning system (GPS)와 같은 정밀도가 낮은 센서를 이용하는 것은 불가능하다. 본 연구에서는 GPS의 낮은 정밀도를 보완하기 위해 영상을 이용한 방법 중 하나인 Image-based visual servoing (IBVS)를 이용한 자동 착륙 방법을 소개한다. 또, 빠르게 전진하는 배의 속도를 보정하기 위해 배에 부착된 GPS를 이용하여 배의 속도를 추정하고 이를 더해주는 앞먹임 IBVS를 소개한다. Autonomous landing are essential for autonomous missions of unmanned aerial vehicles (UAVs). In particular, in order to land on a small and moving fast target such as a ship, it is impossible to use a low-precision sensor such as Global Positioning System (GPS), which is generally used in UAVs. In this study, an autonomous landing method using Image-based visual servoing (IBVS), which is one of the visual control methods to replace GPS with low precision, is introduced. In addition, in order to compensate the velocity of a fast moving forward ship, feed-forward IBVS, which estimates the velocity of the ship using GPS attached on the ship and adds the its velocity as feed-forward term to control scheme is introduced.
전방향 이동 메커니즘을 적용한 콘크리트 폴리싱 로봇의 성능평가
조강익(Gangik Cho),주백석(Baeksuk Chu) 한국생산제조학회 2016 한국생산제조학회지 Vol.25 No.2
In the construction industry, concrete polishing is used to grind and rub the surface of concrete grounds with polishing machines to increase the strength of the concrete after deposition. Polishing is performed manually in spite of the generation of dust and the requirement of frequent replacements of the polishing pad. The concrete polishing robot developed in this research is a novel polishing automation system for preventing the workers from being exposed to poor working environments. This robot is able to change multiple polishing tools automatically; however, the workers can conveniently replace the worn-out polishing pads with new ones. The mobile platform of the polishing robot employs omnidirectional wheels to enable a flexible motion even in small and complicated workspaces. To evaluate the performance of the developed concrete polishing robot, extensive experiments including square trajectory tracking, automatic tool changing, actual polishing, and path generation simulation were performed.
주백석(Baeksuk Chu),조강익(Gangik Cho),성영휘(Young Whee Sung) 한국생산제조학회 2015 한국생산제조학회지 Vol.24 No.2
In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.
박예슬,권지은,정승준,조혁진,신고운하늘,조강익,박진원,이경혁,Yeseul Park,Jieun Kwon,Seungjun Jung,Hyukjin Cho,Gounhanul Shin,Gangik Cho,Jin-Won Park,Kyung-Hyuk Lee 한국화학공학회 2023 Korean Chemical Engineering Research(HWAHAK KONGHA Vol.61 No.3
The urease is covalently immobilized on the surface of the magnetic particles to catalyze the conversion of urea to bicarbonate anion. The conversion was confirmed qualitatively using high-pressure liquid chromatography and UV/Vis spectrometry, and analyzed quantitatively with cyclic voltammetry. The amount of conversion with respect to time was measured and analyzed by the reaction rate equation to calculate a reaction rate constant of 0.0474 min-1. In the 1 to 3 cycles, a conversion percentage of over 90% was found, and it was possible to reuse the urease 8 times up to the percentage of 50%. It was also observed that the stability evaluated for storage for 30 days was maintained. As a result of this study, it can be seen that the urease covalently immobilized on the scaffold can be used for urea removal for the purpose of producing ultrapure water.