• 전기의세계
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• v.46 no.7
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• pp.84-87
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• 1997

자동화 및 디지털 제어 기술은 대량 생산 체제의 기반 기술로서 국내 산업계의 발달에 지대한 공헌을 해왔으며 최근들어 생산성의 고효율화가 주요 문제로 지적되면서 그 중요성이 크게 부각되고 있는 분야이다. 본고에서는 자동화 및 디지털 제어 기술을 프로그램형 제어기(PLC), 분산제어 시스템(DCS), 로봇(Robot), 컴퓨터 수치제어기(CNC), 서보(Servo) 구동 기술 등의 5개 분야로 나누어 각 분야의 국내 기술 발전 현황 및 동향에 대해 알아본다.

• Aerospace Industry
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• v.79
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• pp.10-17
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• 2002

지난 10월 5일~6일까지 제1회 한국 로봇 항공기 경연대회가 한국항공대학교에서 개최되었다. 이 대회는 국내에서 처음으로 개최된 무인기 대회로 참가자 및 관계자들의 지대한 관심속에서 치루어져 국내 무인기 시스템 개발의 기술적인 수준을 확인함과 동시에 이 분야에 대한 개발의 필요성과 가능성을 엿 볼 수 있는 계기가 되었다.

• Information and Communications Magazine
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• v.31 no.1
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• pp.45-47
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• 2013

정보통신기술의 발달로 생산의 자동화와 로봇화를 통해 생산성이 증가하고, 소비자 환경과 시장의 글로벌화는 소비환경과 유통구조의 변화를 가져오고 있다. 본고에서는 빠르게 발전하면서 변화해가는 디지털미디어 기술과 디지털콘텐츠 산업 현황에 대해서 살펴보고 이를 바탕으로 한 디지털콘텐츠 R&D 추진방향에 대해서 알아보도록 한다.

• Proceedings of the KAIS Fall Conference
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• 2008.05a
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• pp.177-179
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• 2008

본 논문에서는 Grafchart의 기본 정의 및 설계 방법을 설명하고, 이 Grafcet와 Petrinet의 차이점을 비교하고 산업용 제어에 응용할 수 있는지를 검토한다. 본 논문에서는 LCD 장비중에 LCD의 제공정들을 처리하기 위해 LCD를 이송시키는 캐링 로봇에 Grafchart를 적용하고 그이 타당성을 확인하였다.

• Journal of Digital Convergence
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• v.13 no.8
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• pp.301-313
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• 2015

Robot technology has become a crucial part of today's business operation. In fact, more manufacturing firms have been utilizing robot technology in order to increase operational efficiency and productivity. Thus, this study develops the research model investigating firms; behavior for process innovation with intelligent robot. Three categories - Technical, Entrepreneur, and Environmental characteristic - are proposed in the research model as determinants of process innovation. These three characteristics include six variables(Perceived Direct Usefulness, Perceived Indirect Usefulness, Innovation, Risk Senstivity, Perceived Industry Pressure, and Perceived Government Pressure) as influencing factors on process innovation. The data from 77 employee at manufacturing firms were analyzed to test proposed hypotheses. The results reveal that all variables with exception of Perceived Government Pressure have a significant influence on process innovation. Based on the study results, theoretical and practical implications for process innovation with intelligent robot technology are discussed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.9
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• pp.1679-1687
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• 2016

Mobile robots are effectively used in industrial fields that require flexible manufacturing systems. Mobile robots have to move with mechanical loads such as product parts along the specified paths, and are usually equipped with kinematic controllers. When the loads and nonlinear frictions are too high, satisfactory control performances can not be expected with the kinematic controllers, so some dynamic controllers have been developed. Conventional dynamic controllers require the exact weights and locations of the loads; however, the loads are frequently changed and unknown so that the control performances of the conventional controllers are limited. This paper proposes an adaptive PD control method using gradient descent learning to have sufficient dynamic control performance for unknown loads. Simulation studies have been conducted for various load conditions to verify that the adaptive PD control method have much broader convergence region than the convention method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.9-10
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• 2012

This paper presents an observer to measure the lengths of cylinders of an underwater robot for harbour construction using a pressure sensor. In harbour constructing, we place heavy armour stones weighing over 2~3 tons on the surface of the bank to protect it from storming wave. This work typically done by a diver is difficult and dangerous so that we have developed Stone Diver which is the underwater robot for harbour construction. The robot needs a position sensor to control the hydraulic cylinder. The position sensors mounted outside the cylinders cause poor durability in construction site where shock and dust usually occur. However, the pressure sensor mounted inside a waterproof box improves the durability. Based on the dynamic parameters and the pressures in the cylinder, the observer measures the cylinder's position. This paper presents the positional accuracy of the pressure based observer and the performance of the underwater robot to assemble the armour stones.

• The Journal of the Korea Contents Association
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• v.6 no.8
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• pp.124-132
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• 2006

The present cutting-edge industry demands talents with engineering mind that enables them to think and operate in creative manners by themselves while escaping from simple maneuvering activities. Pursuant to the demand of the times, micro-robot manufacturing education at an elementary school level will be an appropriate alternative for developing creativity of children. According to such a need, I designed an effective micro-robot education program for creativity development, and researched it by applying it to the field of education. As a result, in the first place, I could propose teaching-learning material for elementary school for micro-robot manufacturing, Second, I designed a learning program suited to elementary students by dividing it into seven steps. Lastly, there was an improvement in creativity of learners who used the designed teaming program as a result of applying and analyzing the Program.

• Journal of Navigation and Port Research
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• v.36 no.10
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• pp.865-871
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• 2012

This paper presents an observer to estimate the displacement of hydraulic cylinders of an underwater robot for harbour construction using a pressure sensor. In harbour constructing, we place heavy armour stones weighing over 2~3 tons on the surface of the bank to protect it from storming wave. This work typically done by a diver is difficult and dangerous so that we have developed Stone Diver which is the underwater robot for harbour construction. The robot needs a displacement sensors to control the position of hydraulic cylinders. The position sensors mounted outside the cylinders cause poor durability in construction site where shock and dust usually occur. However, the pressure sensor mounted inside a waterproof box improves the durability. Based on the dynamic parameters and the pressures in the cylinder, the observer estimates the cylinder's position. This paper presents the positional accuracy of the pressure based observer and the performance of the underwater robot to assemble the armour stones.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1409-1410
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• 2015

현대기술의 발달로 인해 인간의 삶 중 많은 부분을 기계가 차지하고 있다. 특히 로봇공학 분야는 위험하거나 혹은 매우 정밀함을 요하는 일, 단순반복 등 인간이 기피하거나 하기 어려운 일을 대신 해줌으로서 많은 관심을 받고 있다. 이에 우리는 우리 생활에 가장 깊숙히 들어와 있는 로봇팔분야에 대해 말하고자 한다. 현재 로봇팔은 산업용은 물론, 의료용, 재해용 등 다양한 분야에서 사용되고 있다. 하지만 매우 정밀하고 정확한 작업을 위해 만들어져 있음에도 불구하고, 약간의 충격에도 이상이 생긴다거나, 기기의 이음세 부분의 잦은 회전으로 마모가 발생하게 되고 그에 따라 미세한 오차가 발생한다. 그런 상황을 방지하고자, 우리는 PSD(Position Sensitive Detecter)센서를 이용해 실시간으로 굽힘각을 측정 및 감시하여 보다 정확한 구동을 유도하려 한다. 이는 단순한 로봇팔만이 아닌 휴머노이드나 다른 회전을 이용하는 기기라면 어디든 쉽게 적용 할 수 있을 것이다.