• Journal of Power System Engineering
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• v.21 no.3
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• pp.74-84
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• 2017

This paper presents the development of the underwater cleaning robot platform for a higher efficiency in manufacturing industry. Human operators directly go into the cistern and clean sludge after drainage of the water so far. It is sometimes dangerous because of the harmful chemical materials from the product making process. In addition, it takes long time for water drainage and supplying it back. However, the robot cleaning operation does not need to drain water so that it could be applied to the sludge cleaning work at any time without the plant pause. Moreover, it can prevent the safety accidents because human operators are not necessary to enter directly the sludge cisterns. This paper shows the performance of cleaning work that can be applied in the industrial field through the design and development of underwater cleaning robot platform. And these results demonstrate that the developed underwater cleaning robot has great possibilities to clean other industrial water cisterns.

• Current Industrial and Technological Trends in Aerospace
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• v.7 no.1
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• pp.141-152
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• 2009

The simultaneous operation of multiple UAV's makes it possible for us to raise the mission accomplishment and cost efficiency. For this we need an easily scalable control algorithm, and swarm intelligence having the characteristics such as flexibility, robustness, decentralized control and self-organization comes into the spotlight as a practical substitute. In this paper the features of swarm intelligence are described, and various research results are introduced which show that the application of swarm intelligence to the control of multiple UAV's enables the missions of surveillance, path planning, target tracking and attack to be accomplished efficiently by simulations and tests.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.12
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• pp.128-141
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• 1998

We propose the robust nonlinear controller design methodology for the multivariable system which has hard nonlinearities (Coulomb friction, dead-zone, etc) and the structured real parameter uncertainty. The hard nonlinearity can be linearized by the RIDF technique and structured real parameter uncertainty can be modelled as the sense of Peterson-Hollot's quadratic Lyapunov bound. For this system, we apply the robust QLQG/H$_{\infty}$ control and then can obtain four Riccati equations. Because of the system's nonlinearity, however, one Riccati equation contains the nonlinear correction term that is very difficult to solve numerically, In order to treat this problem, using some transformations to Riccati equations, the nonlinear correction term can be eliminated. Then, only two Riccati equations need to design a controller. Finally, the robust nonlinear controller is synthesized via IRIDF techniques. To test this proposed control method, we consider the direct-drive robot manipulator system that has Coulomb frictions and varying inertia.

• Journal of Internet Computing and Services
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• v.7 no.3
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• pp.31-39
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• 2006

Ubiquitous and pervasive environment presents opportunities for a rich set of location aware applications such as car navigation and intelligent robots, interactive virtual games, logistics service, asset tracking etc. Typical indoor location systems require better accuracy than what current outdoor location systems provide, Outdoor location technologies such as GPS have poor indoor performance because of the harsh nature of indoor environments, In this paper we present a novel reducing interference location system that is particularly well suited to support context aware computing. The system, called EEM (Enhance Envelop Method) alms to combine the advantages of real time tracking systems that implement distributed environment with the suitability of infrastructure sensor network.

• Ocean and Polar Research
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• v.36 no.4
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• pp.455-463
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• 2014

This paper presents data from performance tests carried out to assess a manganese nodule crusher. Manganese nodules should be crushed into smaller pieces in order to assure the slurry flow of the lifting system. Both artificial nodules and real manganese nodules are used to evaluate nodule breaking ability of the crusher. The crushing performance of the crusher depends on the flow rate and pressure of the power transmission device. The size of the crushed manganese nodules also depends on the shape of the crushing drum. In this paper, several comparative tests are carried out to evaluate and improve the crushing performance and find the optimal design point of the crusher.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.77-82
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• 2010

In this paper, a haptic fishing robot, Fishbot, for a Virtual Fishing System is presented. Fishbot is 3DOF robot and it consists of a XY table and a wheel motor. To simulate the motion of fish, XY table is controlled by position servo drivers with variable torque constraint, and wheel axis is controlled by torque servo driver. Finally, Fishibot detects the end point of fishing pole with cameras to recognize the pose of user, and it can interface with a Virtual Reality System.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.14 no.2
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• pp.135-140
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• 2014

In this paper, we describe the contents of noise characteristic enhancement using digital filtering to the motion vector in the pattern noise of optical mouse. The designed circuit is implemented to enhance the smoothing and trembling with filtering and averaging of x, y motion vector before PS2 or USB output. The function is verified by using FPGA and the performance is measured by the fabricated chip using $0.35{\mu}m$ standard CMOS process. The system clock is 6MHz and the motion vector has the range of +6 to -6 per 1/1700sec. It is tested using the Cartesian robot to measure the noise characteristic enhancement.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.799-802
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• 2007

최근에 웹 기술은 PC를 념어 휴대폰, PDA, 정보가전, 로봇 등 모든 디바이스로 적용이 확대되고 있으며, 웹에 대한 국제 표준을 주도하고 있는 W3C(World Wide Web Consortium)는 2007년 상반기에 유비쿼터스 웹 응용을 위한 표준 개발을 시작하였다. 이를 담당하고 있는 유비쿼터스 웹 응용 워킹그룹은 탁상용 컴퓨터뿐 아니라 사무용품, 가정 매체 기구, 이동 전화, RFID나 바코드를 포함하는 센서나 이펙터(effector) 등의 유비쿼터스 디바이스들이 다양하게 흩어져 있는 환경에서 쉽게 웹 응용 개발을 가능하게 하는 표준 개발을 목표로 한다. 본 워킹그룹의 활동은 크게 가지로 나누어 볼 수 있다. 첫 번째는 디바이스 독립 워킹그룹(Device Independence Working Group)의 활동이 종료됨에 따라 이 워킹그룹에서 완성하지 못한 표준들을 이어받아 마무리 하는 활동이다. 두 번째는 리모트 이벤팅(remote eventing), 디바이스 코디네이션(device coordination) 그리고 의향 기반 이벤트(intent-based events) 등 유비쿼터스 웹 응용을 위해 펼요한 새로운 표준 개발을 하는 것이다. 본 논문에서는 최근에 W3C에 서 추진되고 있는 유비쿼터스 웹에 대한 표준화 동향을 설명한다.

• The KIPS Transactions:PartD
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• v.12D no.7 s.103
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• pp.931-936
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• 2005

There may be subtle errors in embedded software since its functionality is very complex. Thus formal verification for detecting them is very needed. Model checking is one of formal verification techniques, and SLAM is a well-known software model checking tool for verifying safety properties of embedded C program. In this paper, we develop a software model checker like SLAM for verifying embedded Java program Compared to SLAM, our tool allows to verify liveness properties as well as safety ones. As a result, we verify some desired properties in embedded Java program for controlling REGO robot.

• Journal of Engineering Education Research
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• v.20 no.1
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• pp.18-27
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• 2017

This study aims to investigate industry needs for convergence education in the field of nano-technology, bio-technology, robot, and design. Firstly, the area of convergence technology in nano-tech, bio-tech, robot, and design fields was examined through the literature review and case study. The areas were validated by the experts review who consisted of four industry experts and four professors in the relevant fields. Second, a questionnaire was developed for investigating industry's needs on convergence education. The questionnaire consisted of three parts: 1) awareness of necessity for convergence education, 2) the needs for convergence new technology education from the perspective of industry, and 3) opinions on convergence education. The questionnaire was validated by three engineering education experts. Third, the survey was conducted in cooperation with the Sector Council of Industrial Resources. A total of 400 respondents responded to the questionnaires: 98 in the nano-technology field, 74 in the design field, 58 in the robotics field, and 170 in the bio-technology field. Fourth the industry needs for convergence education were analyzed and implications were suggested. The results of this study are expected to provide a guideline for developing convergence education programs in higher education.