• 한국산업정보학회논문지
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• 제27권2호
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• pp.53-59
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• 2022

본 논문에서는 사용자의 다양한 작업 환경을 고려하여 원격 제어가 가능한 이동식 로봇을 설계한다. 구체적으로는 소정의 방향으로 이동하며, 사용자의 손동작 움직임에 동기화되어 일련의 작업을 수행할 수 있는 이동식 원격작업 로봇, 그리고 이를 제어하는 제어시스템 및 제어방법을 제안하였다. 위험물 또는 고중량 물품 운반과 같은 작업 보조를 위해 로봇 손과 이동을 위한 휠을 이용하여 구현하였다. 개발한 로봇의 성능 평가를 위하여 로봇 손의 운반 가능한 최대 중량과 로봇의 이동 가능한 경사 등을 테스트하였고, 시험 평가 결과는 목표한 대부분의 설계 사양을 만족하였다.

• 한국자동차공학회논문집
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• 제20권3호
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• pp.37-44
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• 2012

In this paper, the application of robust fuel gauge algorithm in the external environment to general fuel gauge system is proposed. The proposed fuel gauge system is composed of two modules which are Moving Average Filter (MAF) and Inclination Filter (IF). They are used to show correctly the amount of fuel in the external environment which are curve road, slope or acceleration/deceleration driving. In parallel, verification and validation processes using Software In the Loop Simulation (SILS) in personal computer and Hardware In the Loop Simulation (HILS) similar to actual vehicle environments are established. Through this research, it turned out to be possible to operation of gauge become correct of external environment.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2003년도 하계학술대회 논문집 Vol.4 No.2
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• pp.807-810
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• 2003

금속 평행판 전극 사이에 주입된 액체 유전체의 움직임에 의해서 발생되는 차동 전기용량 변화를 이용하여 기울기 측정센서를 개발하였다. 기울기 $0^{\circ}{\sim}{\pm}90^{\circ}$의 범위에서 직선에 대한 상관계수가 0.999 99로 분석이 되어 우수한 선형성을 보였다. 센서의 전극구조를 완벽한 3-전극형 전기용량기로 설계하였기 때문에 외부로부터의 전자기 잡음 및 전기장의 영향에 관계없이 기울기를 정밀하게 측정할 수 있었다. 또한 안정된 디지털 출력을 이용하여 기울기의 정밀측정 뿐만 아니라 장치나 구조물 등의 기울기를 원격조정 또는 monitoring에도 적용이 가능하다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.166-171
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• 1989

In the view of the fact that mobile robot in nuclear facilities should be able to turn in narrow space, go over obstacles, and climb stairs for the inspection and maintenance, a robot, named as KAEROT, is developed. It adopts 2DWIS (2-Driving Wheels, 1-Steering) and has three planetary wheels that are composed of two star-like arms and three small wheels. The experiments were carried out in two locomotion methods; (1) by controlling the rear wheel speed as a function of steering angle, and (2) by using inclination and stair-detection sensor to control the position of planetary and small wheel. The developed robot moved on the floor with stability. Results from the experiment on the rectangular obstacle as well as the computer simulation showed a feasibility on the stairs.

• 한국정밀공학회지
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• 제18권11호
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• pp.42-50
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• 2001

In this paper, a new technique and theory are proposed which correct the orientation (inclination of a vertical axis) of a cylinder in vertical-micro positioning device. An algorithm for determining the orientation of the cylinder with a pair of displacement sensor units is derived and two types of the correction methods are described. To assess the performance and efficiency of the developed correction technique, the compensation errors originated from the correction algorithm and the machined characteristics of cylinder surface are evaluated from the geometrical considerations and the statistical techniques. Based upon the evaluation results, the maximum compensation error is estimated for the orientation of cylinder and the optimum correction technique is derived.

• 동력기계공학회지
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• 제3권1호
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• pp.60-66
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• 1999

Most of the small-type fishing boats in this country don't have the autopilot system such as the large ships have. In this papers, we describes on the development of electro magnetic compass for the autopilot system of the small-type fishing boat, which is utilized the MR(magnetic resistance) device and the inclination sensor. And we investigated the validity of the developed electro magnetic compass through results of actual experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2411-2413
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• 2003

A new small humanoid robot system is developed in this paper. The humanoid robot has total 20 DOFs : 6 DOFs in each legs, 3 DOFs in each arms, and 2 DOFs in head, 34cms in height, and 2kgs in weight. The robot has the following characteristics: (1) PDA as host controller (2) network-based joint controller (3) wireless camera attached in robot's head (4) mechanism design by CATIA and high speed laser prototyping (5) graphic MMI(Man-Machine Interface) utilizing the CATIA data. By using ADXL inclination sensor, we implement the rope swing with the robot leg motion as well as walking.

• 한국항해항만학회지
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• 제43권5호
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• pp.289-295
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• 2019

In this paper, we implemented a safety navigation mobile application that converged AtoN information and location-based services. When application user uses the smartphone's GPS sensor to transmit the user's vessel location data to the data server, the user receives information of which its providing range is considered, such as stored AtoN data, neighboring vessels information, danger area, and weather information in the server. Providing information is sorted based on the smartphone's direction and inclination and it will be also delivered via wireless network (5G, LTE, 3G, WiFi). Additionally the application is available to implement other functions such as information provision through voice and text alarming service when the user's vessel is either approaching or entering the danger area, and an expanded information provision service that is available in shadow area linking with data-storing methods; other linkable data such as weather and other neighboring vessels will be applied based on the lasted-saved data perceived from the non-shadow area.

• 대한치과보철학회지
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• 제51권3호
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• pp.153-159
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• 2013

연구 목적: 근래에 들어 체크바이트 법뿐만 아니라 디지털 센서를 이용하여 하악의 운동을 기록, 분석하여 과로각을 계산하는 방법이 개발되어 사용되어져 오고 있으나 두 방법간의 비교하는 연구는 없었다. 이에 새로운 방법인 ARCUSdigma 2 system을 이용한 방법과 전통적인 방법인 체크바이트 법으로 과로각을 측정하여 두 방법 간의 차이를 비교해 보고자 하였다. 연구 대상 및 방법: 교정치료의 경험이 없고, 제3대구치를 제외한 치아의 결손이 없고, 교합평면의 변화를 수반한 광범위한 수복이 없으며, 악관절 질환이 없는 24세부터 34세 사이의 건강한 젊은 성인 남녀(남 10명, 여 10명)를 대상으로 하여 Camper's plane을 기준으로 하여 ARCUSdigma 2 system과 왁스를 사용한 체크바이트법을 각각 3번씩 측정하였으며 교합기는 KaVo Protar Evo 7 반조절성 교합기를 사용하여 각각의 방법으로 과로경사각을 측정하였다. 두 방법 간의 자료를 SPSS 20을 이용한 Mann-Whitney U Test를 사용하여 통계적으로 분석하였다. 결과: 1. ARCUSdigma 2 system에서 전방시상과로각은 좌우 각각 $26.97^{\circ}({\pm}7.38^{\circ})$, $29.80^{\circ}({\pm}8.19^{\circ})$로 측정되었으며, 측방과로경사각은 $5.75^{\circ}({\pm}3.47^{\circ})$와 $8.10^{\circ}({\pm}4.98^{\circ})$로 측정되었다. 2. 체크바이트법에서 전방시상과로각은 좌우 각각 $25.20^{\circ}({\pm}6.53^{\circ})$, $28.18^{\circ}({\pm}7.38^{\circ})$로 측정되었으며, 측방과로경사각은 $10.97^{\circ}({\pm}5.63^{\circ})$와 $12.03^{\circ}({\pm}5.22^{\circ})$로 측정되었다. 결론:두 방법 모두 남녀간 좌우간 유의적 차이는 나타나지 않았으며 두 방법 사이에서는 측방시상과로각에서 ARCUSdigma 2를 사용하여 측정한 값이 Checkbite를 사용하여 측정한 값보다 통계적으로 유의하게 작게 측정되었다(P<.05).

• Journal of Advanced Marine Engineering and Technology
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• 제17권5호
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.