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차보남(Bo-Nam Cha),노춘수(Chun-Su Roh),강성기(Sung-Ki Kang),김원일(Won-il Kim) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.2
This paper describes a new technology to develop the character recognition technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens or electronic parts for the performance verification, this development can achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch"s standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel unit though measuring is possible 1 pixel as 37㎛ ×37㎛ (0.1369×10-4㎟) the accuracy to 1.5×10-4㎜ minutely measuring is possible performance verification and trust ability through an experiment prove.
공정 자동화를 위한 싱글 휠 드라이빙 모바일 로봇의 견실제어에 관한 연구
신행봉(Haeng-Bong Shin),차보남(BO-Nam Cha) 한국산업융합학회 2016 한국산업융합학회 논문집 Vol.19 No.2
This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn"t have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.
퍼지추론 및 뉴럴네트워크 기반 2휠구동 로봇의 주행제어알고리즘 개발
강언욱(Eon-Uck Kang),양준석(Jun-Seok Yang),차보남(Bo-Nam Cha),박인수(In-Soo Park) 한국산업융합학회 2014 한국산업융합학회 논문집 Vol.17 No.2
This paper proposes a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.
정동연,장영희,차보남,한성현 한국공작기계학회 2004 한국공작기계학회 춘계학술대회논문집 Vol.2004 No.-
Developed shape awareness technology and vision technology for optical lens slant in this research, and including external form state of lens for the performance verification, developed so that can be good, achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1pixel unit though measuring is possible 1pixel as 3.7μm×3.7μm(0.1369×1O^(-4)mm²) the accuracy to 10^(-4)mm minutely measuring is possible performance verification and trust ability through an experiment prove.