• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.5
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• pp.105-110
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• 2016

Recently, as to changes in the paradigm of domestic manufacturing CNC industry, the application of advanced technologies in machine tools are actively being pursued. IT in responsible for controlling it is the most important part in the field of CNC. The biggest lack of the necessary expertise in the field of motion control in CNC is coding G-Code in setting adjust coordinate directly and convert it through expensive foreign s/w rather than using windows language in PC based controller. In this paper, We implemented G-Code convert program that is change various type of CAD data to G-Code data and CAD/CAM application program and developed exclusive motion controller which is to run a robot directly using changed data.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2006.06a
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• pp.387-395
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• 2006

홈 네트워크는 유비쿼터스의 여러 응용분야 중 활발하게 연구 구현되고 있는 분야 중의 하나로, 최근 아파트 건설업체, 가전기기 업체, 통신서비스 업체들이 지능성을 갖춘 스마트 홈을 목적으로 다양한 시험제품과 솔루션을 출시 흑은 제시하면서 이를 자사의 중요한 마케팅전략으로 활용하고 있다. 스마트 홈 네트워크를 구성하는 다양한 스마트 홈 기기의 제품 경쟁력은 제품이 얼마나 지능성을 갖추어 사용자에게 편리성과 유용성을 제공할 수 있는가의 여부가 중요한 관건이 되고 있다. 따라서 지능형 홈 기기의 지능에 대한 측정기준 마련이 필요한 시점이다. 본 연구에서는 스마트 홈 네트워크를 구성하는 여러 요소 중에서 정보가전기기를 지능성 측정 대상으로 하여 지능등급 부여모델을 개발하고자 한다. 지능형 홈 기기의 지능을 측정하기 위하여 로봇분야의 다양한 문헌 고찰을 토대로 지능성 측정에 필요한 핵심 구성요소를 도출 및 재 정의하여 등급모델을 설계하였다. 특히 설계된 등급부여모델의 실질적 이용을 위해서는 평가방식에 있어서 계량화 절차가 요구된다. 따라서 평가모델의 특성상 다차원적인 지능성의 속성을 총합적으로 나타내기 위하여 퍼지이론(Fuzzy Theory)을 사용하였으며, 이를 정규화하기 위해 퍼지적분(Fuzzy Integral)을 이용하였다. 산출된 적분값을 다시 비퍼지화하여 지능성 등급을 부여하는 모델을 개발하였다. 제시된 지능성 등급부여 모델은 스마트 홈 네트워크 산업의 발전을 촉진하는 계기가 될 수 있으리라 기대한다.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.162-169
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• 1999

In this paper, it is presented a new scheme of adaptive-neuro control system to implement real-time control of robot manipulator using digital Signal Processors. Digital signal processors DSPs. are micro-processors that are particularly developed for variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a biable computatinal tool in digital implementation of sophisticated controllers. Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method. The proposed adaptive-neuro control scheme is illustrated to be a efficient control scheme for implementation of real-time control of robot system by the simulation and experiment.

• Journal of Korea Multimedia Society
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• v.20 no.2
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• pp.298-312
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• 2017

The fourth industrial revolution is expected to show technological innovation that develops among different fields beyond boundaries through the convergence and integration of fields. With the development and convergence of digital technology, users can receive information anywhere in the world. In this paper, we propose an adaptive interaction concept in a various environment by using a mobile robot based on projection augmented reality (AR). Most previous studies have aimed fixed projector or projection for a pre-designed environment. Thus, they provide only limited information. To overcome the abovementioned problem, we provide the adaptive information by implementing a projection AR system that can be mounted on the mobile robot. For that, the mobile robot based on the projection system was defined as Pervasive AR. Pervasive AR is configured with a pervasive display, a pervasive interface, and seamless interaction. The Pervasive AR technology enables the user to access information immediately by expanding the display area into real space, which implies an environment of intuitive and convenient interaction by expanding the user interface. This system can be applied to various areas, such as a home environment and a public space.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.5
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• pp.354-361
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• 2016

Parallel robots are usually used for performing pick-and-place motion to increase productivity in high-speed environments. The present study proposes a high-speed parallel robot and a control approach to improve the tracking performance for the purpose of handling a solar cell. However, the target processes are not limited to the solar cell-handling field. Therefore, a delta-type parallel manipulator is designed, and a ball joint structure is specifically proposed to increase the allowed angle that would meet the required workspace. A control algorithm considering the synchronization between multiple joints in a closed-chain mechanism is also suggested to improve the tracking performance, where the tracking and synchronization errors are simultaneously considered. In addition, a prototype machine with the proposed ball joint is implemented. A satisfactory tracking performance is achieved by applying the proposed control algorithm, with a cycle time of 0.3 s for a 0.1 kg payload.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.6
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• pp.492-497
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• 2016

Teaching an industrial robot is still a dangerous and time-consuming process. It is expected that a robot can track a trajectory that is repeatedly taught by a human operator. Teaching a robot in joint space is easier than that in Cartesian space or a work space because the robot will never lose its stability when it is taught and operated in a joint space. However, it is very easy for a robot to lose its stability when it is taught in a work space. This is because of the singular points problem in kinematics for manipulators. Thus, experts should teach a given task to a robot in a careful manner. A new algorithm that avoids the problem of singular points is proposed. Using this proposed method, a user can freely teach a robot without the chance of instability in an entire work space.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.345-350
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• 2003

The development of a prototype for a Bridge Transported Servo Manipulator (BTSM) system operating in a hot cell is introduced. Mechanical master-slave manipulators (MSMs) which are mounted on the hot cell wall cannot access all the areas for the equipment maintenance due to their reach limitation. The BTSM has been developed to overcome the limitation of access that is a drawback of the MSMs for the equipment maintenance. Wire driven mechanisms have been adopted to increase the handling capacity to weight. This system can be a useful reference for designing other devices in the nuclear industry.

• Journal for History of Mathematics
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• v.21 no.4
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• pp.105-126
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• 2008

This article summarizes the historical changes of the secondary school geometry to give insights into the new direction of geometry education for the 21th century. Geometry has been considered as an essential subject in high school since mid-nineteen century in accordance with the social changes. Since the development of computer softwares such as CAD effects on the role of geometry in work and professional societies, the knowledge and skills the contemporary world require to school geometry have being changed. More focus on applications and modeling aspects, expansion of reasoning and problem solving, emphasis on design-related elements are features of the school geometry for the new century.

• IEMEK Journal of Embedded Systems and Applications
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• v.15 no.2
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• pp.87-94
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• 2020

This paper introduces a method to control an industrial robot arm to imitate the movement of the human arm and hand using electromyography (EMG) signals. The proposed method is implemented on the UR3 robot that is a popular industrial robot and a MYO armband that measure the EMG signals generated by human muscles. The communications for the UR3 robot and the MYO armband are integrated in the robot operating system (ROS) that is a middle-ware to develop robot systems easily. The movement of the human arm and hand is detected by the MYO armband, which is utilized to recognize and to estimate the speed of the movement of the operator's arm and the motion of the operator's hand. The proposed system can be easily used when human's detailed movement is required in the environment where human can't work. An experiments have been conducted to verify the performance of the proposed method using the teleoperation of the UR3 robot.

• Journal of the Korean Magnetics Society
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• v.6 no.5
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• pp.340-352
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• 1996

최근 급속도로 발전하고 있는 첨단산업의 배경에는 반도체를 중심으로 한 디지틀 전자기술(Electronics)이 자리잡고 있음은 주지의 사실이다. 이러한 전자 및 정보기술 이후, 즉 포스트 일렉트로닉스(Post-electronics)시대를 겨냥한 새로운 돌파구로서 기대되고 있는 21세기 기술의 주도권을 잡을 기술이 어떤 기술이 될 것인가는 매우 흥미로운 질문이다. 현재 시점에서 볼 때 반도체를 매개로 한 20세기 정보전자혁명을 대신할 새로운 기술혁명으로 대두하고 있는것이 마이크로혁명이며, 이 마이크로혁명을 주도할 기술로서 세계적인 주목을 끌고 있는 기술중의 하나가 초소형 미소기계, 즉 마이크로머신(Micromachine)이다. 현재 '반도체를 능가할 수 있는 차세대 메카트로닉스(Mechatronics)혁명'이라 평가되고 있는 마이크로머신 기술은 과거 꿈으로나 가능하던 공상과학의 세계를 현실로 만들어 주는 경이로운 기술이며, 나아가 분자기술을 응용한 생체로봇, 생체컴퓨터 등 이른바 나노기술(Nano-technology)의 신세계로 향하는 입구라 할 수 있다. 이기술은 기계공학, 전자기술은 물론 물리학, 생물학, 화학, 재료공학 등 광범위한 분야의 기술이 총망라되어야 개발이 가능하며, 그 실현을 위해서는 매크로 한 세계와는 판이하게 다른 물리현상 등 마이크로한 세계의 특수성을 이해해야 함은 물론 에너지공급, 재료, 데이타통신, 구조조립 등 많은 기술적 난제를 극복해야 한다. 마이크로머신기술은 현재 일부 전문가를 제외하고는 일반은 물론 자기학분야의 연구자들에게도 별로 익숙하지 않은 분야이다. 그러나 이 기술의 미래 영향력이나 가능성, 필요성을 고려할 때 이제는 자기분야 연구자들도 이 분야에 관심을 가져야 할 것으로 생각하여 연구자들도 이 분야에 관심을 가져햐 할 것으로 생각하여 본고에서는 먼저 최근 마이크로머신의 기술동향을 개괄적으로 소개하고, 다음으로 마이크로머신에 사용되는 주요 재료들과 자성재료가 주도적인 기능을 하는 자기마이크로머신(Magnetic Micro-machine)에 사용되는 자성재료들에 관해 소개하고자 한다.