• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.35-44
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• 2012

This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.194-205
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• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.4
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• pp.235-245
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• 2004

In this paper, fault tolerant mechanisms are presented for a servo manipulator system designed to operate in a hot cell. A hot cell is a sealed and shielded room to handle radioactive materials, and it is dangerous for people to work in the hot cell. So, remote operations are necessary to handle the radioactive materials in the hot cell. KAERI has developed a servo manipulator system to perform such remote operations. However, since electric components such as servo motors may fail by radiation, fault tolerant mechanisms have to be considered. For fault tolerance of the servo manipulator system, duplication mechanism increasing the reliability of the transport's driving motors and reconfiguration algorithm accommodating the slave's motor failure have been presented. The reconfiguration algorithm recovering the end effector's motion in spite of one motor's failure is based on control allocation redistributing redundant axes. The constrained optimization method and pseudo inverse method have been adopted for control allocation. Simulation examples and real test results have been presented to verify the Proposed methods.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.2
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• pp.67-74
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• 2005

This paper concerns attitude controller design for a 3-staged launch vehicle which has movable nozzle TVC systems for all stages as its control systems. The PD-type control gains are determined by shaping the corresponding closed-loop natural frequencies for the purpose of guaranteeing the required stability margin. Bending filters are also designed to stabilize the bending modes by using parametric optimization method. The designed controllers are verified using six degree of freedom flight simulations in MATLAB.

• Journal of KIISE:Computer Systems and Theory
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• v.33 no.11
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• pp.810-819
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• 2006

This paper proposes an Adaptive Double Buffer Model. As a new FIFO buffer model, this technique minimizes packet losses from network congestion by logically managing buffers. It allocates the spare spaces of non-congested buffers to congested buffers by allowing receive/send buffers to share two queues, and hence it minimizes packet losses. In contrast to the buffer model utilizing a free list, this buffer model can prevent the bubble phenomenon caused by a memory leak and thereby apply to a network buffer in a restricted environment. Also, compared with the model using an way, this model brings maximum 100 percent improvement in accepting packets and compared with the model utilizing a free list, this model has the similar efficiency Results of the performance test on Adaptive Double Buffer Model, shows that this proposed model decreases packet losses and enhances memory efficiency.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.2
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• pp.273-279
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• 1998

철강석 또는 석탄의 적치장에서는 이들 원석을 퍼내어 용광로로 보내주는 불출기(reclaimer)가 사용되고 있다. 불출기를 자동화하려면 야적파일에 불출용 회전 버킷(bucket)을 자동착지시키는 방법이 요구된다. 본 논문에서는 야적 파일 표면위의 버킷 착지점을 추출하는 방법을 제시한다. 이 방법은 파일의 3차원 형상 검출, 파일의 등고선 추출, 불출기의 역기구학해의 도출 및 착지점 추출 알고리즘으로 이루어진다. 파일의 3차원 형상과 거리를 측정하기 위한 3차원 형상 검출기가 2차원 레이저 검출기에 수평주사(scanning)용 모터를 부착하여 개발하였고, 다 단계의 영상처리를 통해 버킷이 작업할 수 있도록 파일의 작업 등고선을 추출하였다. 불출기가 회전 버킷에 의해 기구학적으로 여유자유도로 이루어 졌음을 보였으며, 역기구학 해를 구하는 방법을 아울러 제시하였다. 그리고 버킷의 착지점을 과부하 방지와 단위 시간당 생산성을 최대화하는 성능기준에 근거하여 구하였다. 또한 개발된 시스템을 제철소 원석 야적장의 불출기에 설치 시험하여 타당성을 입증하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.673-678
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• 2011

This paper analyzes the standing balance of four-legged robots which are useful for delivering objects or investigating of information. For this, we specify an effective model of general four-legged robots and propose a boundary condition based on the standing stability of the four-legged walking. To verify such a standing balance, we consider some exemplary free motions at the standing mode of the robot and discuss on the robot's balance margin. The analysis specified in this paper will be applicable for effective balancing control of various quadruped robotic walking.

• Journal of the Korea Society for Simulation
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• v.20 no.1
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• pp.51-59
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• 2011

This paper is concerned with locomotion of dog-like quadruped robots that can adapt to various terrains, mainly dealing with implementation methods and characteristics of static and dynamic gaits. To this end, a 12-DOF robot is built in house, motional trajectories of its body and feet are generated mimicking biological life, and the corresponding leg joint angles are analytically obtained by inverse kinematics. Such joint angle data are then applied to the robot's ADAMS model for computer simulations so that the planned walk and trot gaits are both confirmed dynamically stable. However, contrary to the simulation results, previous trot patterns showed unstable behavior during experiments. This problem led us to analyze the reason, and in the course we discovered the importance of maximally utilizing the concept of WSM rather than ZMP and therefore reducing the gait period to secure the stability of dynamic gaits such as trot.

• Korean Journal of Culture and Social Issue
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• v.12 no.1
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• pp.161-195
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• 2006

The purpose of this study is to examine factors influencing quality of life for individuals in the family, school or workplace, leisure settings, and Korean society using the indigenous psychological analysis. A total of 3,406 participants, consisting of 1,331 elementary, middle, high school students and 2,075 parents and teacher, completed an open-ended questionnaire developed by Kim and Park (2004b). The respondents reported the factors that influence quality of life in Korean society as follows: Economic condition, collective effort, leisure and cultural life, harmonious interpersonal relationships, effective government policy, and educational attainment. The factors that reduce quality of life in Korean society are as follows: Economic uncertainty, political instability, lack of citizenry, ingroup favoritism, corruption, lack of facilities for leisure and social life, and overemphasis on educational achievement. Second, the factors that influence quality of life in the family are as follows: Harmonious family relations and financial security. For students relationship with friends and academic achievement are reported as important factors influencing quality of life at school. For adults, harmonious interpersonal relationship, financial factors and occupational achievement are reported as important factors influencing quality of life at the workplace. For leisure and social leisure life, financial security, leisure time and interpersonal relationships are reported as important factors influencing quality of life. Third, as for generational differences, students reported political instability and adults reported economic uncertainty as the most important factor reducing quality of life in Korean society. For family life, students reported conflicts among family members and adults reported financial constraints as the most important factor reducing quality of life. For leisure and social life, students reported lack of leisure time and adults reported financial constraints as the most important factor reducing quality of life. Fourth, for students the following characteristics were associated with higher quality of life: Higher socio-economic status of the family, younger, and higher academic achievement. For adults, the following characteristics were associated with higher quality of life: Higher socio-economic status of the family and greater achievement their social life. Implications of these results on the quality of life in Korea, focusing on human relationship, financial factors, self-regulation and educational achievement are discussed.

• Smart Media Journal
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• v.5 no.4
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• pp.96-102
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• 2016

The purpose of this study is to investigate the transformation of affordance in iOS GUI design and the relationship of affordances. We figured out variety kinds of Affordance concepts and choosed six Affordances(Visceral, Behavioral, Reflective, Explicit, Metaphorical, Pattern Affordance) Based on the previous studies. The result of investigating the transformation of iOS GUI design which based on the viewpoint of these 6 Affordance we have chosen is as follows. Firstly, the Visceral Affordance of iOS GUI design has already sufficiently become to the Reflective Affordance. So we can ignore or ellipsis the Visceral Affordance and the addition of specific Explicit Affordance can be possible. Secondly, due to the use experience of iOS, Behavioral Affordance and Pattern Affordance have already become to a kind of Reflective Affordance. Through this evolution, new kind of Pattern Affordance is formed. At the mean time, it also applied the basic field of Metaphorical Affordance. Thirdly, investigating the Flat Design of iOS based on the viewpoint of Affordance, we have figured out that Visceral Affordance has been reduced. So that the constrains of visual performance has also been reduced. This is the reason that there are more space remained in screen layout design, the color has become more natural and more Explicit Affordance has been provided, ect. Futhermore, in this thesis we have also figured out that there are some interactions and relationships between each Affordance. With the development of iOS, some Affordances have transformed to other Affordances. With the accumulation of use experience, Visceral Affordance has transformed to Reflective Affordance based on the field of Metaphorical Affordance. With the disappearance or reduction of Visceral Affordance, iOS provide Explicit Affordance instead. As a result of this kind of process, a new Pattern Affordance has been formed.