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전기집진기 내부의 유동 균일성 향상을 위한 가이드 배인의 최적설계
노경욱(Kyung-Wook Noh),배성준(Seong-Jun Bae),박숙희(Sookhee Park),강선균(Sunkyun Kang),이장명(Jangmyung Lee) 대한전기학회 2013 전기학회논문지 Vol.62 No.4
In recent years, many efforts are increasingly being made to conserve the natural environment with enhanced emission standards and air quality standards. Also there are various methods necessary to be researched to minimize the emission of air pollutants. In particular, boilers of industrial facilities are major portions of the air pollution. The front duct which needs to be designed to reduce the gases to the electrostatic precipitator requires a bent tube, a reduction/extend tube and an auxiliary equipment, that is, a guide vane. This paper proposes an optimum design of the guide vane by a case study for electrostatic precipitator’s flow uniformity. The operating conditions of this study are as follows: BMCR (Boiler Maximum Continuous Rate) and MGR (Maximum Guaranteed Rate) are 75%, 50%, and 30%; turbulent fluid dynamics model is based upon K-ε formulation. Presentation of the computed motion of particles is found to be quite useful to predict the precipitator performance by use CFD (Computational Fluid Dynamics).
MR 브레이크를 이용한 햅틱 큐 가속페달 장치 설계 및 제어
노경욱(Noh, Kyung-Wook),한영민(Han, Young-Min),최승복(Choi, Seung-Bok) 한국소음진동공학회 2009 한국소음진동공학회 논문집 Vol.19 No.5
This paper proposes a new haptic cue vehicle accelerator pedal device using magnetorheological(MR) brake. As a first step, an MR fluid-based haptic cue device is devised to be capable of rotary motion of accelerator pedal. Under consideration of spatial limitation, design parameters are optimally determined to maximize control torque using finite element method. The proposed haptic cue device is then manufactured and integrated with accelerator pedal. Its field-dependant torque is experimentally evaluated. Vehicle system emulating gear shifting and engine speed is constructed in virtual environment and communicated with the haptic cue device. Haptic cue algorithm using the feed-forward control algorithm is formulated to achieve optimal gear shifting in driving. Control performances are experimentally evaluated via feed-forward control strategy and presented in time domain.
노경욱(Kyung-Wook Noh),이동혁(Dong-Hyuk Lee),한종호(Jong-Ho Han),박숙희(Sookhee Park),이장명(Jangmyung Lee) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.7
This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.
진동모터로 구성된 햅틱 디바이스를 이용한 장애물 정보 전달 및 제어 방법
이동혁(Dong-Hyuk Lee),노경욱(Kyung-Wook Noh),강선균(Sun Kyun Kang),한종호(Jong Ho Han),이장명(Jang-Myung Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.10
In this paper, a new haptic device is proposed for the teleoperation, which can recognize the invisible environment of a mobile robot. With this new device, it is possible for the user to identify the location of an obstacle and to avoid it. The haptic device has been attached on the top of a joystick so that the user can remotely control the mobile robot to avoid the obstacles which are recognized by the ultrasonic sensors. Also, the invisible environment is recognized more accurately overlapping the data from the ultrasonic sensors. There are five vibration motors in the haptic device to indicate the direction of the obstacle. So the direction of the obstacle can be recognized by the vibration at the finger on each vibration motor. For various situations and surrounding environments, experiments are performed using fuzzy controller and overlapping ultrasonic sensors. The results demonstrate the effectiveness of the proposed haptic joystick.
이동혁(Dong-Hyuk Lee),노경욱(Kyung-Wook Noh),강선균(Sun Kyun Kang),김현우(Hyun Woo Kim),이장명(Jang-Myung Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.8
In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.
능동 가상 임피던스를 이용한 이동 음원 추종 로봇의 장애물 회피
한종호(Jong-Ho Han),박숙희(Sook-Hee Park),노경욱(Kyung-wook Noh),이동혁(Dong-Hyuk Lee),이장명(Jang-Myung Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.2
An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.
곡률궤적을 이용한 실시간 이동하는 음원을 추종하는 모바일 로봇
한종호(Jong-Ho Han),박숙희(Sook-hee Park),이동혁(Dong-Hyuk Lee),노경욱(Kyung-wook Noh),이장명(Jang-myung Lee) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.1
It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound sources change, the mobile robot continuously estimates the changed target points. In such a case, the robot experiences a slip phenomenon due to the abnormal velocity and the changes of the navigating state. By selecting an appropriate curvature and navigating the robot gradually by using it, it is possible to enable the robot to reach the target points without having much trouble. In order to recognize the sound sources in real time, three microphones need to be organized in a straight form. Also, by applying the cross-correlation algorithm to the TDOA base, the signals can be analyzed. By using the analyzed data, the locations of the sound sources can be recognized. Based on such findings, the sound sources can be estimated. Even if the mobile robot is navigated by selecting the gradual curvature based on the changed target points, there could be errors caused by the inertia and the centrifugal force related to the velocity. As a result, it is possible to control the velocity of both wheels of the robot through the velocity PID controller in order to compensate for the slip phenomenon and minimize the estimated errors. In order to examine whether the suggested curvature trajectory is appropriate for estimating the sound sources, two mobile robots are arranged to carry out an actual experiment. The first robot is moved by discharging the sound sources, while the second robot recognizes and estimates the locations of the discharged sound sources in real time.