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USN과 초음파 센서를 이용한 이동 로봇의 원격 감시 및 주행시스템
천창희,박종진,최규석 제어로봇시스템학회 2011 제어로봇시스템학회 국내학술대회 논문집 Vol.2011 No.5
In this paper we use wireless sensor network and ultrasonic sensors to estimate local position of mobile robots, and using the information of position, mobile robot can navigate autonomically. To solve a problem of inaccuracy we rotate ultra sonic sensor which is attached to robot in 360 degrees and obtain accurate distance. We use USB web-camera to obtain real-time images of environment. Using this information, we can monitoring places remotely. Results of Experiments show proposed method obtains accurate distance between sensors and coordinates of position of robot.
산화스케일을 이용한 산업용 보일러과, 재열기 튜브 수명평가
천창희(Chun Chang Hee),이성호(Lee Seong Ho),김범수(Kim Beom Soo),정남근(Jung Nam Kun) 대한기계학회 2001 대한기계학회 춘추학술대회 Vol.2001 No.8
Various life estimation techniques for boiler tubes, usually use the assumed temperature. The result of life estimation for boiler tubes has some deviation from real temperature of it in case of previous estimation techniques. The purpose of this thesis is to provide a validated procedure for predict ing the remaining useful life of SA213-T22 typed superheater and reheater tubes. The algorithm of life estimation for boiler tubes suggested on this thesis, is based on steamside oxide scale and tube geometry. The temperature and life consumption of superheater and reheater tubes can be identified by applying the algorithm. The result of tube temperature by algorithm has good agreement with real value within 2% error. It is expected to improve the reliability of the life estimation techniques for boiler tubes and the availability of boiler equipment in power plants.
무선 센서 네트워크와 초음파 센서를 이용한 이동로봇의 위치 인식과 주행
천창희(Chang-Hee Chun),박종진(Jong-Jin Park) 대한전기학회 2010 전기학회논문지 Vol.59 No.9
In this paper we use wireless sensor network and ultrasonic sensors to estimate local position of mobile robots, and to navigate it. Ultra sonic sensor is simple and accurate so it is good to use in local estimation and navigation of mobile robots. But to obtain accurate distance of two sensors they need to face each others as possible as they can. To solve this problem we rotate ultra sonic sensor which is attached to robot in 360 degrees and obtain accurate distance. We can estimate precise position of mobile robot by triangulation using obtained distance information. A mobile robot navigates using embedded encoder and compensates its coordinates by ultrasonic sensors. Results of Experiments show proposed method obtains accurate distance between sensors and coordinates of position of robot. And mobile robots can navigate designated path well.
스마트 폰을 이용한 모바일로봇의 리모트 주행제어 시스템
박종진,최규석,천창희,박인규,강정진,Park, Jong-Jin,Choi, Gyoo-Seok,Chun, Chang-Hee,Park, In-Ku,Kang, Jeong-Jin 한국인터넷방송통신학회 2011 한국인터넷방송통신학회 논문지 Vol.11 No.6
본 논문에서는 Zigbee 기반 무선센서네트웍과 레고 마인드스톰 NXT 모듈을 이용하여 이동로봇의 원격주행제어시스템을 개발하였다. 기존 회전센서(encoder)에 의한 이동로봇 위치제어의 오차 문제(미끄러짐 등)를 해결하고 좀 더 정확하게 이동로봇을 제어하기 위해 본 논문에서는 무선센서네트웍상의 초음파모듈을 사용하였다. 초음파의 문제점인 직진성과 협소한 감지범위의 단점을 극복하기 위해 이동로봇에 부착된 이동 노드를 360도 회전시킴으로써 4개의 고정 노드로부터 각각의 거리를 측정하여 삼각측량법에 의해 로봇의 정확한 위치를 추정하였다. 또한 이동로봇의 전면에 부착된 USB 웹 카메라를 사용하여 스마트폰으로 영상이 송신되도록 하였다. 그 결과 스마트폰을 통해 로봇의 위치와 이동로봇의 주변상황을 확인함으로써 이동 로봇을 정확하게 제어할 수 있었다. In this paper, using Zigbee-based wireless sensor networks and Lego MindStorms NXT robot, a remote monitoring and navigation system for mobile robot has been developed. Mobile robot can estimate its position using encoder values of its motor, but due to the existing friction and shortage of motor power etc., error occurs. To fix this problem and obtain more accurate position of mobile robot, a ultrasound module on wireless sensor networks has been used in this paper. To overcome disadvantages of ultrasound which include straightforwardness and narrow detection coverage, we rotate moving node attached to mobile robot by $360^{\circ}$ to measure each distance from four fixed nodes. Then location of mobile robot is estimated by triangulation using measured distance values. In addition, images are sent via a network using a USB Web camera to smart phone. On smart phones we can see location of robot, and images around places where robot navigates. And remote monitoring and navigation is possible by just clicking points at the map on smart phones.
USN과 LEGO Mindstorms NXT를 이용한 이동로봇의 위치 인식과 주행 시스템 개발
박종진(Jongjin Park),천창희(Chang Hi Chun) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.3
This paper introduces development of location estimation and navigation system of mobile robots using USN and LEGO Mindstorms NXT. Developed system includes location estimation, location and navigation information display and navigation control parts. It used ZigBee based USN which was built with CC2431 chip to locate blind node and implemented fuzzy model to improve ability of calculation of distances from reference nodes and location of mobile robots. This paper proposed combination method of location estimation using USN and encoder which is built in motors of mobile robots. Experimental results showed proposed method is superior to the method which used USN only in location estimation and navigating robots. Developed system can locate current position of mobile robots and monitor information from sensor nodes like temperature, humidity and send control signal to mobile robot to move.