학부·대학원

지능형기전시스템연구실

지능형기전시스템 연구실 WELCOME TO OUR LABORATORY 홈페이지 바로가기
  • 지도교수 김성관 교수
  • 위치 -
  • 전화 -

연구실소개

IML (Intelligent Mechatronics Lab.)실험실에서는 지능형 기전시스템을 창조적으로 연구함을 목표로 합니다. 기계, 전기전자, 컴퓨터의 하드웨어와 소프트웨어의 총체적 접목을 통하여, Intelligent Mechatronics (지능형 기전공학), Intelligent Robotics (지능형 로봇공학), Molecular Dynamics(분자동역학) 등과 관련된 연구를 진행하고 있습니다.

연구분야

Intelligent Robotics
  • Collarborative control
    본 연구실에서 개발한 전방향 이동로봇(Mecanum Wheel Robot)과 무인항공기(Unmanned Aerial Vehicle)의 협업제어를 위하여 현재 로봇간의 통신, 무인항공기의 표적 추적 제어, 자동 착륙 알고리즘 등의 연구가 진행 중입니다. 향후 이 연구들은 이동로봇과 무인항공기의 협업제어에 이용됩니다.
Molecular Dynamics
  • 분자동역학 (molecular dynamics) 이란, Newton의 운동방정식을 원자, 유사 분자 모델 수준에서 수치적으로 푸는 방법으로 분자내의 모든 원자들의 위치를 시간의 함수로 표현하고, 이러한 계산을 통해서 분자시스템의 시간에 따른 물성을 조사하는 것을 목표로 합니다. 본 연구실에서는 GPU 기반 High Performance Computing을 이용하여 Flexible Display, 2차 전지, 고기능성 유리등의 거동분석에 분자동역학을 이용하여 연구하고 있습니다.
Intelligent Mechatronics System
  • Plant Factory Automation
    식물공장이란 '농작물에 대하여 통제된 일정한 시설 내에서 빛, 온·습도, 이산화탄소 농도 및 배양액 등의 환경 조건을 인공적으로 제어하여 계절이나 장소에 관계없이 자동적으로 연속 생산하는 시스템'을 말합니다. 본 연구실에서는 식물공장 내부 자동화 및 '태양광 병용형 식물공장'을 위한 회전형 스마트 조명시스템 등을 연구하고 있으며, 식물공장에 대하여 총 5건의 식물공장 시스템(전체출원, 건물부 구체출원, 조명부 구체출원, 작물재식부 구체출원, 외피부 구체출원) 특허를 보유하고 있습니다.
  • Intelligent Vehicle System
    EHPS 시스템은 탈 엔진형 조향 기술로 BLDC 모터를 통해 유압펌프를 작동시켜 조향력을 보조하는 동력 조향장치입니다. BLDC 모터 개발 및 제어기 개발은 24V 체계의 상용차 시장 전반에 적용될 수 있는 전기/전자 부품 기술이고 향후 국내뿐만 아니라 해외 수출을 감안할 때 전략적으로 육성해야할 대표적인 고부가가치 기술입니다. 본 연구실에서는 EHPS 시스템 탑재 차량모델을 개발하고 이와 연계하여 모델기반 EHPS 시스템 제어알고리즘 개발을 목표로 연구가 진행 중입니다.
  • Automobile Sensor
    자동차 시장의 전장부품 증가로 인하여 암전류에 의한 배터리 방전사고가 증가하고 있습니다. 이러한 암전류 사고를 방지하기 위해 자동차에서 발생하는 20mA 이하의 암전류를 측정할 수 있는 Magnetic Core를 개발하였고, 전류측정의 신뢰성을 향상시키기 위해 전류센서의 온도에 대한 자속밀도의 변화와 그에 따른 열손실을 해석하여 설계에 적용시켜 신뢰성을 향상시키는 연구를 진행하고 있습니다.

보유장비

  • 3D Print (Zortrax M200, M300)
  • GPU Based High Performance Computing
  • Mobile Robot
  • Omega Haptic Device
  • Microcontroller
  • DSP Controller (dSPACE, NI )

특허출원

등록특허
  • 이동장치 [국내] [2019. 7. 19]
  • 식물공장 시스템(전체출원), [국내] [2012. 4. 5]
  • 로봇의 캘리브레이션 장치 및 그 방법, [국내] [2005. 6. 23]
  • 로봇의 운동학적 Calibration 위치 및 그 방법, [국제] [2008. 4. 18]
출원특허
  • 재활장치 [국내] [2019. 9. 16]
  • 식물공장 시스템(전체출원), [국제] [2012. 7. 30]
  • 식물공장 시스템(건물부 구체출원), [국내] [2011. 7. 20]
  • 식물공장 시스템(조명부 구체출원), [국내] [2011. 7. 20]
  • 식물공장 시스템(작물재식부), [국내] [2011. 7. 29]
  • 식물공장 시스템(외피부), [국내] [2011. 8. 3]
  • 세라믹칩 성능검사기, [국내] [2010. 6. 14]

발표논문

Journal Papers
  • K. J. Seo, J. H. Yun, K. S. Nam, S. G. Kim,“ Development of the Educational V-Factory system combining Virtual Reality”, ournal of the Korea Academia Industrial cooperation Society, Vol. 19, No. 4, pp. 617-622, 2018.
  • S. H. Park, K. J. Seo, S. G. Kim, “Development of wall climbing robot using vacuum adsorption with legged type movement”, Journal of the Korea Academia Industrial cooperation Society, Vol. 18, No. 8, pp. 344-349, 2017.
  • S. K. Deb Nath, C. H. WONG, V. SORKIN, Z. D. SHA Y. W. ZHANG, Sung-Gaun Kim, "Study of the spreading of perfluoropolyether lubricants on a diamond-like carbon film",Tribology Transactions , Vol.112, No.12, FEB 2013.
  • B-C Kang , J. Yun , Sung-Gaun Kim, M. Yang, "Adaptive Fabrication of a Flexible Electrode by Optically Self-Selected Interfacial Adhesion and Its Application to Highly Transparent and Conductive Film", SMALL, JAN 2013.
  • K Sharma, Inkyu Moon, Sung-Gaun Kim, "Extraction of visual landmarks using improved feature matching technique for stereo vision applications", IETE TECHNICAL REVIEW, Vol.29, No.6, DEC 2012.
  • S. K. Deb Nath, Sung-Gaun Kim, "On the elastic, elastic-plastic properties of Au nanowires in the range of diameter 1-200nm", Journal of Applied Physics, Vol.112, No.12, DEC 2012.
  • K Sharma, Inkyu Moon, Sung-Gaun Kim, "Depth estimation of features in video frames with improved feature matching technique using Kinect sensor",Optical Engineering, Vol.51, No.10, OCT. 2012.
  • K Sharma, Sung-Gaun Kim, M P Singh, "An Improved Feature Matching Technique for Stereo Vision Applications with the Use of Self-Organizing Map", International Journal of Precision Engineering and Manufacturing, Vol.13, No.8, pp.1359-1368, August 2012.
  • S. K. Deb Nath, C. H. Wong, Sung-Gaun Kim, "A finite-difference solution of boron/epoxy composite plate with an internal hole subjected to uniform tension/displacements using displacement potential approach", International Journal of Mechanical Sciences, Vol.58, pp.1-12, February 2012.
  • H.M. Khan, Sung-Gaun Kim, "On the wear mechanism of thin nickel film during AFM-based scratching process using molecular dynamics", Journal of Mechanical Science and Technology, Vol.25. No.8, pp.2111-2120, August 2011.
  • J Y Choi, Sung-Gaun Kim, "Study on the Localization Improvement of the Dead Reckoning using the INS Calibrated by the Fusion Sensor Network Information", Journal of Institute of Control, Robotics and Systems, Vol.18, No.8, pp.744-749, August 2012.
  • W S Lee, Sung-Gaun Kim, "Development of the Rotational Smart Lighting Control System Using Artificial Light for Plant Factory", Journal of KAIS, Vol.13, No.4, pp.1474-1479, April 2012.
  • J H Kim, Sung-Gaun Kim, "A Study on the Modeling and Simulation of an Electro-Hydraulic Power Steering system", Journal of KAIS, Vol.13, No.3, pp.1008-1013, March 2012.
  • S. K. Deb Nath, S R Ahmed, Sung-Gaun Kim, C. H. Wong, "Effect of Tire Material on the Prediction of Optimum Tire-Tread Sections", International Journal for Computational Methods in Engineering Science and Mechanics, Vol.12, pp.290-302, October 2011.
  • J H Bae, Sung-Gaun Kim, "Development of a High speed Actuator for electr ic per formance testing System of cer amic chips", Journal of KAIS, Vol.12. No.4, pp.1509-1514, April 2011.
  • J H Bae, S W Ra, P S Yu, Sung-Gaun Kim, “Development of Automatic Inspection System for Lead Screw of Computer”, Journal of KAIS, Vol.11. No.11, pp.4115-4120, November 2010.
  • S K Deb Nath, S R Ahmed and Sung-Gaun Kim, "On the displacement potential solution of plane problems of structural mechanics with mixed boundary conditions", Archives of Applied Mechanics, Vol.80 pp.1125-1147 October 2010.
  • S K Deb Nath, S R Ahmed and Sung-Gaun Kim, "Analytical solution of a stiffened orthotropic plate using alternative displacement potential approach", Proc. of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Vol.224, No.1, pp.89-99, January 2010.
  • H-S Lee, J-M Park, C-S Kim and Sung-Gaun Kim,"A Study on the Magnetic Field Analysis and Optimal Core Design of DC Current Sensor for Vehicles", Transactions of the KSAE, Vol.17, No.5, pp.74-83, September 2009.
  • Sung-Gaun Kim, I-H Kim, A-K Kim, S-J Kim and J-H Park,"Dynamic properties of Al-alloy foam beam damaged by compressive fatigue", Acta Mechanica Solida Sinica, Vol.21, No.3, pp.241-246, June 2008.
  • S-H Yoon, H-J Kim and Sung-Gaun Kim.,"Development of Stereo Vision Based Welding Quality Inspection System for RV Sinking Seat", Journal of the KSMTE, Vol.17, No.3, pp.71-77, June 2008.
  • S-H Yoon, H-J Kim and Sung-Gaun Kim,"Development of Welding Quality Inspection System for RV Sinking Seat", Journal of Institute of Control,Robotics and Systems, Vol.14, No.1, pp.75-80, January 2008.
  • J-H Ji, K-Y Jeong and Sung-Gaun Kim, "A Study on the Engine/Brake integrated VDC system using Neural Network", Journal of Institute of Control,Robotics and Systems, Vol.13, No.5, pp.414-421, May 2007.
  • Sung-Gaun Kim and M. Sitti, "Task-Based and Stable Tele-Nanomanipulation in a Nanoscale Virtual Environment," IEEE Transactions on Automation Science and Engineering, Vol. 3, No. 3, pp. 240-247, July 2006.
  • Sung-Gaun Kim and Ryu, J, "New Dimensionally-Homogeneous Jacobian Matrix Formulation by Three End-Effector Points for Optimal Design of Parallel Manipulators," IEEE Transactions on Robotics and Automation, Vol. 19, No. 4, pp. 731-737, August 2003.
  • Bonev, I. A., Ryu, J., Sung-Gaun Kim, and Lee, S.K., "A Closed-Form Solution to the Direct Kinematics of Parallel Manipulators Using Optimally Located Three Linear Extra Sensors," IEEE Transactions on Robotics and Automation, Vol. 17, No. 2, pp. 148-156, April 2001.
  • A. Rauf, Sung-Gaun Kim, and Ryu, J. "Complete Parameter Identification of Parallel Manipulators with Partial pose Information using a New Measurements device," Robotica, Vol. 22, No.6, pp. 689-695, November 2004.
  • Sung-Gaun Kim, and Ryu, J. "Force Transmission Analyses with Dimensionally Homogeneous Jacobian Matrices for Parallel Manipulators," KSME International Journal, Vol. 18, No. 5, pp.780-788, May 2004.
  • Kim, J. P., Sung-Gaun Kim, and Ryu, J. "Robust Adaptive Control of A HexaSlide Type Parallel Manipulator," Transaction on Control, Automation and Systems Engineering, Vol. 3, No. 4, pp. 262-267, December, 2001.
  • J. Ryu, F. Hossein, B. H. Kim, Sung-Gaun Kim, and N. G. Kim, "SpiderBot: A New Silver Robot Platform for the Elderly and the Handicapped" International Journal of Human-friendly Welfare Robotic Systems, Vol. 5, No. 3, pp. 9-16, 2004.
  • A. Rauf , Sung-Gaun Kim, and Ryu, J. "A New Device and Procedure for Calibration of Parallel Manipulators," IEEE Transactions on Robotics and Automation, submitted, 2003.
  • T. P. Choi, Sung-Gaun Kim, C. D. Yoo, "Determination of adequate solder volume using 3D solder joint configuration in SMT", Journal of the Korean Welding Society, v.14, n.2, 1996, pp.71-78 1225-6153, 1996.
Conference Papers
  • K. J. Seo, K. Y. Jeong, B. C. Lee, S. G. Kim, “Design of exoskeleton robotic system for lower limb rehabilitation”, 2019 Annual Conference of Korean society of Medical Robotics, pp. 59-60, 2019.
  • J. G. Park, D. G. Yang, S. J. Park, K. J. Seo, S. W. Lee, J. H. Kim, S. G. Kim, “Development of a lower body auxiliary system for frequent changing of the upper and lower phases”, Autumn Annual Conference of IEIE, pp. 790-792, 2017.
  • K. J. Seo, J. H. Yun, K. S. Nam, S. G. Kim, “Development of the Educational V-Factory System Using Virtual I/O Driver, Korean Institute of Information Technology & Digital Contents Society Conference, pp. 19-21, 2017.
  • S. H. Park, K. J. Seo, J. R. Choi, D. H. Kwon, J. H. Bang, S. G. Kim, “Development of the wall climbing robot using New Mechanism”, Proceedings of KSPE 2016 Autumn Conference, pp. 150-151, 2016.
  • J. G. Myeong, K. J. Seo, J. Y. Pak, T. H. Lee, C. H. Lee, C. H. Park, S. H. Song, S. G. Kim, “Development of Automonous Vehicle using Kinect Vision sensor and Indoor GPS", KSAE 2015 Annual Conference and Exhibition, pp. 725, 2015.
  • C. H. Lee, J. H. Lee, T. H. Lee, K. J. Seo, J. G. Myeong, J. Y. Pak, S. G. Kim, “Development of a new Robotic mechanism to climb the stair”, The Special Academic Conference marking the 70th anniversary of KSME, pp. 3628-3631, 2015.
  • J Y Choi, H S Lee, J M Park, Sung-Gaun Kim, "Development of Dark Current Sensor Core for Monitoring the Low-current of Automotive", Proc. of the KAIS Spring conference, 2012
  • J Y Choi, Sung-Gaun Kim, "Dead-Reckoning Error Calibration Using Celling Looking Vision Camera", Proc. of International Conference on Aerospace, Mechanical, Automotive and Materials Engineering(ICAMAME 2012), 2012
  • W S Lee, Sung-Gaun Kim, "Development of Rotational Smart Lighting Control System for Plant Factory", Proc. of International Conference on Aerospace, Mechanical, Automotive and Materials Engineering(ICAMAME 2012), 2012
  • J H Kim, Sung-Gaun Kim, "A Study on the Modeling and Analysis of an Electro-Hydraulic Power Steering system", Proc. of International Conference on Aerospace, Mechanical, Automotive and Materials Engineering(ICAMAME 2012), 2012
  • S. K. Deb Nath,, Sung-Gaun Kim, "Study the effect of defects and H2O on the mechanical behavior of CNT", Proc. of International Conference on Aerospace, Mechanical, Automotive and Materials Engineering(ICAMAME 2012), 2012
  • W S Lee, Sung-Gaun Kim, "Development of the Smart Lighting Control System for Plant Factory", Proc. of the KAIS Fall conference, 2011
  • J H Kim, H K Lee, S C Kim, Sung-Gaun Kim, "Development of the External Gear Pump for EHPS", Proc. of the KAIS Fall conference, 2011
  • J H Kim, Sung-Gaun Kim, "A Study on the Modeling of an Electro-Hydraulic Power Steering System", KSAE 2011 Annual Conference, 2011
  • K Sharma, K Y Jeong, Sung-Gaun Kim, "Vision based Autonomous Vehicle Navigation with Self-Organizing Map Feature Matching Technique", Proc. of 11th International Conference on Control, Automation and Systems, 2011
  • J H Bae, Y T Kim, S K Deb Nath, S I Kang, Sung-Gaun Kim, "Development of electric performance testing System for ceramic chips using PZT Actuator", Proc. of International Conference on Computer, Electrical, and Systems Sciences and Engineering(ICCESSE 2010), 2010
  • J H Bae, Y T Kim, Sung-Gaun Kim, "Development of a Actuator for testing system of ceramic chip", Proc. of the KAIS Fall conference, 2010 11
  • H.M. Khan and Sung-Gaun Kim, "High Strain Rate Induced Phenomenon in Thin Nickel Films", Proc. of 8th International Conference on Nanochannels, Microchannels, and Minichannels(ICNMM2010), 2010.
  • H.M. Khan and Sung-Gaun Kim, "Modeling of AFM-based scratching process using molecular dynamics", Proc. of 2010 International Conference on Nanoscience and Nanotechnology(ICONN 2010), 2010.
  • H.M. Khan and Sung-Gaun Kim, "Atomistic Modeling of Scratching Process based on Atomic Force Microscope: Effects of Temperature", Proc. of IEEE International NanoElectronics Conference, 2010.
  • H.M. Khan and Sung-Gaun Kim, "MOLECULAR DYNAMICS STUDY OF AFM BASED MACHINING PROCESS", Proc. of 8 th International Conference on Mechanical Engineering, 2009.
  • H.M. Khan and Sung-Gaun Kim, "Effect of tool velocity during AFM-based scratching process: A molecular dynamics approach", Proc. of 2009 International Conference on Nano Science and Nano Technology, 2009.
  • J-H Bae and Sung-Gaun Kim, "Development of an Automotive PWM shaft Inspection System using Machine Vision", KSPE 2009 Annual Conference, pp.229-230, 2009.
  • J-S Lee, Y-T Kim, E-S Jeon and Sung-Gaun Kim, "Dynamic Simulation of UAV for Hovering", KSPE 2009 Annual Conference, pp.335-336, 2009.
  • J-S Lee, Y-T Kim, E-S Jeon and Sung-Gaun Kim, "Study on Centrifugal Friction Clutch for Power Transmission in UAV", KSPE 2009 Annual Conference, pp.93-94, 2009.
  • H-S Lee, Sung-Gaun Kim and J-M Park , "A Study On the Magnetic Field Analysis of Automobile DC Current Sensor using Hall Effect", KSAE 2008 Annual Conference, pp.2392-2397, 2008.
  • Sung-Gaun Kim, A-K Kim, H-S Lee, S-J Kim and J-H Park , "Dampingin Beam of Closed Cell Al-alloy Foam Beam Damaged by Fatigue", Proceedings of The 8th Int. Conf. on Fundamentals of Fracture, pp.250-251, 2008.
  • I-H Kim, Sung-Gaun Kim, A-K Kim, S-J Kim and J-H Park , "Dynamic Characterization on Al-alloy Foam Damaged by Cyclic Load", Proceedings of The 2nd ANDE, pp.666-671, 2007.
  • S-H Yoon, H-J Kim, S-I Moon and Sung-Gaun Kim, "Development of Welding Quality Inspection System using LabVIEW for RV Sinking Seat", Proceedings of Annual meeting of KSME, pp.948-953, 2007.
  • J-H Ji, K-Y Jeong, K-H No, H-G Choi and Sung-Gaun Kim, "A Study on the TCS Control using Neural Network PI", KSAE 2006 Annual Conference, pp.850-855, 2006.
  • A. Rauf , Sung-Gaun Kim, and Ryu, J. "A New Measurement Device for Kinematic Calibration of Parallel Manipulators," accepted for presentation at DETC04: International Design Engineering Technical Conferences &Computers and Information in Engineering Conference, September 28 - October 2, UTAH, USA.
  • A. Rauf, Sung-Gaun Kim, and J. Ryu, "A New Measurement Device for Complete Parameter Identification of Parallel Manipulators with Partial Pose Measurements,” Parallel Kinematics Seminar (PKS 2004), Chemnitz, Germany, pp 89-106, April 19 - April 21, 2004.
  • A. Rauf , Sung-Gaun Kim, and Ryu, J. "Complete Parameter identification of parallel manipulators with partial pose measurements using a new measurements device," 2004 International Scientific Committee at International Symposium on Robotics (ISR2004), Paris, France, March 23 - March 26, 2004.
  • J. Ryu, B.H. Kim, H. S. Farahani, Sung-Gaun Kim, " A New Silver Robot Platform for The Elderly and The Handicapped : Spiderbot TM- Assistance Scenario and Concept Design," 5th International Workshop on Human-friendly Welfare Robotic Systems, KAIST, Daejeon, Republic of Korea, April 18 - 20, 2004
  • J. Ryu, H. S. Farahani, B.H. Kim, Sung-Gaun Kim, and N.G. KIm, "Spiderbot TM for Assisting the Elderly and the Handicapped - Analysis and Design," 5th International Workshop on Human-friendly Welfare Robotic Systems, KAIST, Daejeon, Republic of Korea, pp. 41-46, April 18 - 20, 2004
  • Abdul,R , Sung-Gaun Kim, and Ryu, J. "A New Device and Procedure for Calibration of Parallel Manipulators," 2003 International Conference on Control, Automation and Systems (ICCAS 2003), pp. 1615-1620, 2003.
  • Park J. H., Sung-Gaun Kim, Abdul,R, and Ryu, J. " Determination of Identifiable Parameters and Selection of Optimum Postures for Calibrating Hexa Slide Manipulators," 2003 International Conference on Control, Automation and Systems (ICCAS 2003), pp. 2737-2742, 2003.
  • Sung-Gaun Kim, and Ryu, J., " Inverse and Forward Force Transmission Analyses of Parallel Manipulators using Dimensionally Homogeneous Jacobian Matrices," Proceedings of Annual meeting of KSME, Muju, Korea, pp. 1500-1505, 2003.
  • Park J. H., Sung-Gaun Kim, Abdul,R, and Ryu, J. " Study on the Identifiable Parameters and Optimum Postures for Calibrating Parallel Manipulators," Proceedings of Annual meeting of KSME, Muju, Korea, 1476-1481, November 2003.
  • Abdul,R , Sung-Gaun Kim, and Ryu, J. " Calibration of Parallel Manipulators using a New Measurement Device," Proceedings of Annual meeting of KSME, Muju, Korea, 1494-1499, November 2003.
  • Sung-Gaun Kim, and Ryu, J., "Optimal Design of 6 DOF Parallel Manipulators Using Three Point Coordinates," IEEE/RSJ Inter. Conf. on Intelligent Robots and Systems (IROS2001), pp. 2178-2183, Oct. 29- Nov. 3, Maui, Hawaii, 2001.
  • Jong-Phil Kim, Sung-Gaun Kim, and Jeha Ryu, "Adaptive Control of A HexaSlide Type Parallel Manipulator," APCCM2000, Asia-Pacific Conference on Control and Measurement, Guilin, China, July 7-9, 2000, pp. 133-138.
  • Kim,J.P., Sung-Gaun Kim, Jun, G.C., Lee, S.K, and Ryu, J., "Adaptive Control of HexaSlide Type Parallel Manipulator," Proc. of the 14th KACC, pp. D5-D8, 1999. 10.
  • Kim,J.P., Sung-Gaun Kim, Lee, S.K, and Ryu, J., "Inverse Kinematic and Dynamic Analysis of HexaSlide Type Parallel Manipulators," Proc. of the 14th KACC, pp. C177-C182, 1999. 10.
  • Yoon, J.S., Lee, G.J., Kim, J.P, Sung-Gaun Kim, Park, K.H, and Ryu, J.,"A Sliding Mode Control of a HexaSlide Type Parallel manipulator," Proc. of the 14th KACC, pp. D325-D328, 1999. 10.