• 한국산업정보학회논문지
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• 제6권2호
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• pp.74-79
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• 2001

로봇과 자동화기기에 범용으로 사용되는 Stewing Motor의 Driving을 위하여 unipolar 방식과 bipolar 방식의 Controller Circuit를 design 하였으며 특히 design시 Digital logic을 이용하여 Controller를 설계 제작하여 실험을 통해 그 응용성을 실험하였다. 또한 Motor의 효율 향상을 위하여 Motor의 Winding에 흐르는 전류를 제어하기 위하여 constant Current Limit Methode와 Constant Voltage Limit Methode를 분석하고 실재 회로 제작 시 응용하여 Motor의 효율을 향상시켰다.

• 한국표면공학회:학술대회논문집
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• 한국표면공학회 2015년도 춘계학술대회 논문집
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• pp.57-57
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• 2015

전해동박(Electrodeposited Copper Foil)은 전기도금 공정으로 제조되는 얇은 구리 포일로서, 주로 TV, PC, 스마트폰 등 전자제품의 인쇄회로기판에서 전기신호를 전달하는 회로소재로 사용이 되며, 최근에는 모바일 IT, 전기자동차, 지능형 로봇, 그린 에너지 산업 등에서 필수적으로 적용되는 소재로 이용이 급증하고 있는 핵심소재이다. FPCB/PCB용 전해동박은 최근 휴대폰, PC와 더불어 전 세계적으로 열풍이 불고 있는 스마트폰, 태블릿 등의 최신 전자 모바일기기의 보급이 가속화됨에 따라 해당 제품들의 다기능화, 고집적화가 진행되고 있으며, 5G 이후의 Mobile 기기를 중심으로 하는 차세대 전자기기의 소재 분야의 선점을 위해서 광폭(600 mm 이상) 제품 제조가 가능한 전해 동박으로 다양한 표면처리의 $18{\sim}2{\mu}m$ 급의 얇은 두께를 갖는 경제성이 확보된 고특성 동박이 필요로 되는 상황이다. 이와 더불어 PCB/FPCB에서 요구하는 동박기술의 소개 및 현재 연구 개발 Trend를 소개하고자 한다.

• 한국산업융합학회 논문집
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• 제20권2호
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• pp.89-95
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• 2017

In this paper, we suggest the method for a mobile robot to move safely from an initial position to a goal position in the wide environment like a building. There is a problem using odometry encoder sensor to estimate the position of a mobile robot in the wide environment like a building. Because of the phenomenon of wheel's slipping, a encoder sensor has the accumulated error of a sensor measurement as time. Therefore the error must be compensated with using other sensor. A vision sensor is used to compensate the position of a mobile robot as using the regularly attached light's panel on a building's ceiling. The method to create global path planning for a mobile robot model a building's map as a graph data type. Consequently, we can apply floyd's shortest path algorithm to find the path planning. The effectiveness of the method is verified through simulations and experiments.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2015년도 추계학술발표대회
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• pp.812-814
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• 2015

유비쿼터스 시대가 ICT 산업의 발달과 함께 도래함에 따라 이용자들의 요구를 충족시켜 주는 다양한 서비스들이 소프트웨어 형태로 등장하고 있다. 이제는 단순 컴퓨터 뿐만이 아니라 모바일, 웨어러블 디바이스, 자동차, 로봇, 의료 산업 등 까지 소프웨어는 현대 사람들의 삶에 깊이 연계되어 있으며 아직도 그 영역은 팽창하고 있다. 이러한 소프트웨어의 풍부한 발달과 비례로 소프트웨어의 취약점을 공략하여 서비스에 치명적인 위협을 가해 이익을 얻으려는 단체도 증가하게 되었다. 본 논문에서는 소프트웨어를 출시하기 전에 취약점을 미리 탐지 식별 할 수 있는 그레이 박스를 활용한 스마트 퍼징 시스템을 제안한다.

• 한국산업융합학회 논문집
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• 제24권6_2호
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• pp.947-952
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• 2021

In this paper, the simplified kinematic error model for Delta parallel robot is presented, which can enable the analytical forward kinematics essentially for kinematic calibration calculations instead of the numerical one. The simplified kinematic error model is proposed and the forward kinematics including the error parameters is analytically derived. The kinematic calibration algorithm of the Delta parallel robot with 90 degree arrangement using laser tracker and the experiment result are presented.

• 한국산업융합학회 논문집
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• 제22권3호
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• pp.315-324
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• 2019

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

• 한국산업융합학회 논문집
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• 제22권2호
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• pp.87-93
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• 2019

This research deals with posture optimization for humanoid robot against external forces using genetic algorithm and neural network. When the robot takes a motion to push an object, the torque of each joint is generated by reaction force at the palm. This study aims to optimize the posture of the humanoid robot that will change this torque. This study finds an optimized posture using a genetic algorithm such that torques are evenly distributed over the all joints. Then, a number of different optimized postures are generated from various the reaction forces at the palm. The data is to be used as training data of MLP(Multi-Layer Perceptron) neural network with BP(Back Propagation) learning algorithm. Humanoid robot can find the optimal posture at different reaction forces in real time using the trained neural network include non-training data.

• 한국산업융합학회 논문집
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• 제22권2호
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• pp.191-199
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• 2019

In this paper, dissimilar friction welding were produced using 15 mm diameter solid bar in chrome molybedenum steel(SCM440) to stainless steel(STS316L) to investigate their mechanical properties. Consequently, optimal welding conditions were n=2000 rpm, HP=70 MPa, UP=140 MPa, HT=10 sec and UT=10 sec when the metal loss(Mo) is 8.6 mm. In addition, an acoustic emission technique was applied to evaluate the optimal friction welding condition. AE parameters including the cumulative count, amplitude and energy showed a various changes according to the friction condition. A continuous type waveforms and low frequency spectrum was presented in friction time. On the other hand, a burst type waveform and high frequency spectrum was exhibited in pressing time.

• 한국산업융합학회 논문집
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• 제24권4_2호
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• pp.501-507
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• 2021

In this study, In order to prevent the safety accidents caused by the sliding, to develop the non-slip grating, the stability judgment based on the span length of the grating and the gap of the bearing bar is performed. The structural analysis of Grating was carried out in accordance with the provisions set out in Grating's load-bearing test conditions. As the span length increases, the deflection increases and the stress and span length tend to be proportional to each other. It was shown that the larger the span, the linear increase in stress and exponential increase in deformation of grating. The maximum stress of grating was approximately 58.2 MPa, indicating a very stable safety rate of about 4.3 compared to the yield strength of the grating material. Based on these results, it will be able to be utilized as the basic data for determining the optimal dimensions of non-slip grading by performing optimal designs in the future.

• 한국산업융합학회 논문집
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• 제24권3호
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• pp.351-361
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• 2021

This study proposes an intelligent control of manufacturing robot with dual arm based on neural network for smart factory implementation. In the control method of robot system, the perspectron structure of single layer based on neural network is useful for simple computation. However, the limitations of computation are emerging in areas that require complex computations. To overcome limitation of complex parameters computation a new intelligent control technology is proposed in this study. The performance is illustrated by simulation and experiments for manufacturing robot dual arm robot with eight axes.