• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.692-697
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• 2011

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid mobile robot that can dock with the other robot and transforms between wheeled robot and legged robot is proposed. The hybrid mobile robot platform has docking device with a peg and a cup module. In addition, the robot is possible to walk and drive according to condition of the road. A navigation algorithm of the hybrid mobile robot is proposed to improve the mobility of robots using docking algorithm based on image processing on the broken road and uneven terrain. The proposed method recognizes road condition through PSD sensor attached in front and bottom of the robot and selects an appropriate navigation method according to terrain surface. The proposed docking and navigation methods are verified through experiments using hybrid mobile robots.

• Journal of the Microelectronics and Packaging Society
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• v.28 no.4
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• pp.109-114
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• 2021

We investigated the effects of atmospheric hydrogen plasma treatment on Cu-Cu direct bonding. Hydrogen plasma was effective in reducing the surface oxide layer of Cu thin film, which was confirmed by GIXRD analysis. It was observed that larger plasma input power and longer treatment time were effective in terms of reduction and surface roughness. The interfacial adhesion energy was measured by DCB test and it was observed to decrease as the bonding temperature decreased, resulting in bonding failure at bonding temperature of 200℃. In case of wet treatment, strong Cu-Cu bonding was observed above bonding temperature of 250℃.

• Journal of KIISE:Software and Applications
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• v.29 no.3
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• pp.192-201
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• 2002

Automated text classification is considered as an important method to manage and process a huge amount of documents in digital forms that are widespread and continuously increasing. Recently, text classification has been addressed with machine learning technologies such as k-nearest neighbor, decision tree, support vector machine and neural networks. However, only few investigations in text classification are studied on real problems but on well-organized text corpus, and do not show their usefulness. This paper proposes and analyzes text classification methods for a real application, email document classification task. First, we propose a combining method of multiple neural networks that improves the performance through the combinations with maximum and neural networks. Second, we present another strategy of combining multiple machine learning classifiers. Voting, Borda count and neural networks improve the overall classification performance. Experimental results show the usefulness of the proposed methods for a real application domain, yielding more than 90% precision rates.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.169-175
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• 2016

There are many researches to develop robots that improve its mobility and task planning to adapt in various uneven environments. In this paper, we propose the design method and task planning of quadruped robot which can have top-bottom docking structure. The proposed quadruped robot is designed to adjust leg length using linear actuators and perform top-bottom docking and undocking using octagonal cone shaped docking module. Also, to stable walking and information gathering in the various environments, a geomagnetic sensor, PSD sensor, LRF sensor and camera. We propose an obstacle avoidance method and the topbottom docking algorithm of the two quadruped robots using linear actuator. The robot can overcome obstacles using adjusting leg length and activate the top-bottom docking function. The top-bottom docking robots of two quadruped robot can walk 4 legged walking and 6 legged walking, and use 4 arms or 2 arms the upper. We verified that the docking robots can carry objects using 4 leg of the upper robot.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.470-477
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• 2009

Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.3
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• pp.236-241
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• 2015

This paper presents a study on transformable multiple quadruped robots by docking between robots and waist joints. This robot is able to go on a variety of angles because of mecanum wheels. It is also a hybrid design which allows robot use legs to overcome obstacles on complex terrains and wheels to move on flat ground. The robot is applied kinematics of mecanum wheels and walking, and its walking is based on specific patterns. Docking module is located in front and backside of robot, docking algorithm is suggested and fulfilled for docking between 2 robots. A waist joint is at the center of robot body for transformation and after docking and transformation, robot can activate new functions that carry something.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04b
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• pp.124-130
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• 1995

연삭작업에 있어서 요구되는 가공능률과 가공정밀도를 얻기 위해서는 적절한 결합도를 갖는 연삭숫돌을 선택하 는 것이 중요한 요건이 된다. 본 연구에서는 결합도를 평가하기 위한 일정한 기준을 설정할 목적으로 AE계측 시스템을 이용하여 대월식결합도시험방법에 따라 연삭숫돌표면의 일부를 파괴시켰을 때 발생되는 AE신호를 검출 하고 연삭숫돌의 파괴량과 AE 신호특성과의 관계 및 AE를 이용한 결합도평가의 가능성을 검토하였다.

• Korean Journal of Optics and Photonics
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• v.34 no.1
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• pp.1-12
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• 2023

In this study, we propose a hybrid phase-control algorithm for multi-channel coherent beam combining (CBC) system by combining the covariant matrix adaption evolution strategy (CMA-ES) and stochastic parallel gradient descent (SPGD) algorithms and analyze its operational performance. The proposed hybrid CMA-ES/SPGD algorithm is a sequential process which initially runs the CMA-ES algorithm until the combined final output intensity reaches a preset interim value, and then switches to running the SPGD algorithm to the end of the whole process. For ideal 7-channel and 19-channel all-fiber-based CBC systems, we have found that the mean convergence time can be reduced by about 10% in comparison with the case when the SPGD algorithm is implemented alone. Furthermore, we analyzed a more realistic situation in which some additional phase noise was introduced in the same CBC system. As a result, it is shown that the proposed algorithm reduces the mean convergence time by about 17% for a 7-channel CBC system and 16-27% for a 19-channel system compared to the existing SPGD alone algorithm. We expect that for implementing a CBC system in a real outdoor environment where phase noise cannot be ignored, the hybrid CMA-ES/SPGD algorithm proposed in this study will be exploited very usefully.

• Proceedings of the Optical Society of Korea Conference
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• 2002.07a
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• pp.234-235
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• 2002

최근 상호 결합된 chaotic 진동자들 간의 동기화의 문제는 그 시스템이 가지는 여러 가지 응용성 때문에 여러 과학 분야와 기술 분야 예를 들면 동력학, 레이져 동력학, 전자회로, 화학반응, 생물학적인 시스템 등에서 폭넓게 연구되어지고 있다. 더욱이 작은 파라미터의 차이를 제외하고 거의 유사한 chaotic 진동자들간의 상호작용에서 찾아 볼 수 있는 위상 동기화 현상은 뇌세포 조직과 같은 생물학적인 시스템들 사이에 흔히 찾아 볼 수 있는 기본적인 현상이다. (중략)

• Journal of Korean Society of Industrial and Systems Engineering
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• v.15 no.26
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• pp.85-93
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• 1992

수작업 또는 컴퓨터에 의하여 신뢰도 방정식을 얻을 때 반드시 그것의 옳고 그름을 검정해 볼 필요가 있다. 본 논문에서는 결합구조에 있어서 이항변수를 사용한 이항 성분으로 이항 시스템을 설계하는 법을 제시하였고 검정하기 위하여 검정 방법 두 가지를 신뢰도 방정식의 정확성을 제안하였다. 아울러 몇 가지 예를 들어 계산상의 효과가 배가되었음을 입증하였다.