• 한국산업융합학회 논문집
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• 제21권2호
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• pp.53-62
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• 2018

This study propose a new approach to control the optimal working path of vertical type articulated robot with translation joint for trimming working process automation in forging manufacturing process. The basic structure of the proposed robotic joints controller consists of a Proportional-Intergral controller and a Proportional-Derivative controller in parallel. The proposed control scheme takes advantage of the properties of the fuzzy PID controllers. The proposed method is suitable to control of the trajectory and path control in cartesian space for vertical type articulated robot manipulator. The results illustrates that the proposed fuzzy computed torque controller is more stable and robust than the conventional computed torque controller. The reliability is varified by simulation test for vertical type s articulated robot with seven joints including one trqanslation joint.

• 한국산학기술학회논문지
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• 제6권2호
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• pp.129-133
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• 2005

분자 에너지 준위, 분자구조, 흡수, 방출, 상호분자 반응, 또는 약하게 결합된 분자에너지, 광화학, 형광, PDT치료에 관한 연구를 수행하는데 분광계에서 CCD는 매우 중요하다. CCD는 현대 물리화학 분야에서 레이저 분광학에 의한 의공학 및 분자 구조의 연구에 필수적이다. 그리하여 CCD를 이용한 전자기 분광계의 설계 및 제작을 연구하였으며 프린트된 전자회로 및 포르폴린을 분석하였다. 예전에 CCD는 방송장비에만 사용한다고 생각했지만 현대에는 산업발전에 의한 응용으로 로봇공학, 기기분석 및 관측에 대한 산업적 요구에 더욱 많이 활용된다.

• 대한기계학회논문집 C: 기술과 교육
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• 제5권1호
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• pp.1-6
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• 2017

센서는 특정 물질을 '감지'하는 단순한 '검출기'로부터 시작되었지만, 수십 나노미터 이하 크기의 신소재, 마이크로미터 이하 크기를 가공하는 반도체 제조공정기술과 같은 나노/마이크로 공학이 접목됨으로써 데이터 처리, 통신 등의 신호처리 기능이 내장된 초소형 스마트 센서로 발전되고 있다. 최근 단순 통화 기능에 터치 가속도 이미지 센서, 인터넷 접속, 사용자에 의한 손쉬운 '앱' 소프트웨어 추가 기능 등이 합쳐진 스마트 폰의 폭발적인 보급으로 인하여 국내외 스마트 센서 산업의 시장이 급속히 확대 중이다. 또한 무인 운전 자동차, 웨어러블 전자기기, 지능형 로봇의 보급이 향후 본격화된다면, 다양한 스마트 센서의 개발 및 산업화가 더욱 많이 필요할 것으로 예상된다.

• 한국산업융합학회 논문집
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• 제17권3호
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• pp.136-144
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presents how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• 한국산업융합학회 논문집
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• 제17권3호
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• pp.151-169
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• 2014

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

• 한국산업융합학회 논문집
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• 제16권4호
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• pp.141-145
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• 2013

This paper is the development of industrial robotic hand system and the design methods of industrial robot hand that can mimic human fingers motion. In order to overcome problems incurred during the reduction of the mobility, this study focuses on analyzing human hand structure and finger movements from an anatomical point of view. As a result, distinctive features that improve the discovered stability in constraints for range of motion in the fingers is reflected in this design concept. A 4-bar Linkage is used in robot finger structure. Lastly, there were experiments to inspect the developed robot hands performance. The developed robot hand has many potential applications and can be in many different fields.

• 한국산업융합학회 논문집
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• 제16권4호
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• pp.113-117
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• 2013

This paper describes a new technology to develop the character recognition technology based on pattern recognition for non-contacting inspection optical lens slant or precision parts, and including external form state of lens or electronic parts for the performance verification, this development can achieve badness finding. And, establish to existing reflex data because inputting surface badness degree of scratch's standard specification condition directly, and error designed to distinguish from product more than schedule error to badness product by normalcy product within schedule extent after calculate the error comparing actuality measurement reflex data and standard reflex data mutually. Developed system to smallest 1 pixel unit though measuring is possible 1 pixel as $37{\mu}m{\times}37{\mu}m$ ($0.1369{\times}10-4mm^2$) the accuracy to $1.5{\times}10-4mm$ minutely measuring is possible performance verification and trust ability through an experiment prove.

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.88-94
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• 2016

In this paper, we describe a new approch to control method of a four joints-robot gripper for the purpose of parts assemblying. The robot gripper is specifically modeled by using a 3D CAD program (ANSYS), considering artificial grippers, and then the proposed control method is illustrated through the dynamic simulation tool (Adams). Each gripper finger is individually controlled to be located at the optimal positions where the maximal joint torque can be calculated. To verified the effectiveness of the proposed control method, we proposed two cases for the reference position of gripper. By comparing the control performance of two method, the performance of the proposed control method was verified.

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• 한국산업융합학회 논문집
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• 제18권4호
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• pp.259-266
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• 2015

This study presents new scheme for various walking pattern of biped robot under the limitted enviroments. We show that the neural network is significantly more attractive intelligent controller design than previous traditional forms of control systems. A multilayer backpropagation neural network identification is simulated to obtain a learning control solution of biped robot. Once the neural network has learned, the other neural network control is designed for various trajectory tracking control with same learning-base. The main advantage of our scheme is that we do not require any knowledge about the system dynamic and nonlinear characteristic, and can therefore treat the robot as a black box. It is also shown that the neural network is a powerful control theory for various trajectory tracking control of biped robot with same learning-vase. That is, we do net change the control parameter for various trajectory tracking control. Simulation and experimental result show that the neural network is practically feasible and realizable for iterative learning control of biped robot.