• Journal of Institute of Control, Robotics and Systems
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• v.3 no.6
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• pp.569-575
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• 1997

모델 불확실성이 있고 n축 자유도(degree of freedom)를 갖고 있는 로봇 동작부(manipulator)에 대해서 위치 정보만을 이용하여 가변 구조 제어기(variable structure controller)를 설계하였다. 모델의 불확실성이 존재하는 경우에도 제어기에 사용되는 속도를 잘예측하기 위해 고이득 관찰기를 사용 하였으며 고이득 관찰기를 사용할때 발생할 수 있는 상태변수의 피킹현상(peak phenomenon)를 적게 하게 하기위하여 제어기의 값을 제한 (globally bounded)하여 제어기를 설계하였다. 부하(payload)의 범위만 알고 있는 2축 자유도를 갖는 로봇 동작부에 대해서 제안된 제어 방법에 따라 제어기를 설계하여 그 성능를 확인 하였다.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.9
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• pp.1300-1305
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• 2012

A triaxial Blumlein pulse forming line has been designed to generate a pulse whose voltage is ~300 kV, pulse duration is ~5 ns, and rise time is ~500 ps. It turns out, however, that the rise time of the pulse becomes much longer than 500 ps due to parasitic inductances and capacitances existing inside the system. A peaking switch has been developed to shorten the rise time of the pulse from Blumlein pulse forming line. In the peaking switch, a wedge-shaped dielectric material (MC 901 nylon) is employed to surround the electrode on the antenna side. This shape inhibits an abrupt change of the output impedance, thereby minimizing the reflection of the output pulse. Experimental results show that the peaking switch is capable of improving the rise time of the pulse at a level of 500 ps.

• Proceedings of the Korean Information Science Society Conference
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• 2003.10b
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• pp.688-690
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• 2003

본 논문에서는 다해상도 2차원 실루엣 영상들을 이용하여 3차원 모델간의 형상 유사성을 비교하기 위한 방법을 제안한다. 제안 시스템은 포즈 정규화 모듈, 유사성 계산 모듈, 3차원 시각화 모듈로 구성된다. 형상 비교를 위해서 먼저, 3차원 인체 장기 모델을 입력으로 받아서 정규화를 수행하고, 다해상도 깊이맵을 획득한다. 이어서 유사성 비교를 위해 실루엣 영상을 추출한 후, 유사도 측정을 위해 시그니쳐를 측도로 사용한다. 최종적으로 계산된 결과들은 3차원 글리프 및 컬러 코딩을 이용하여 시각화된다. 본 논문에서 제시한 3차원 형상 비교 시스템은 전처리 단계에서의 정규화 수행을 통하여 스케일 및 회전 변환에 불변하는 특성을 보인다. 그리고 다양한 레벨의 깊이맵을 형상 비교에 사용하여 다해상도 기반의 유사성 평가를 지원하며, 평가 계산 속도와 정확성간의 유연성을 제공한다. 또한 3차원 히스토그램. 3차윈 글리프. 컬러 코딩 시각화 기법들과 2차원 실루엣 피킹 인터페이스를 통하여 인체 장기 모델간의 정량적 형상 차이를 사용자가 직관적으로 평가할 수 있도록 한다. 본 시스템은 차후 데이터베이스를 이용한 원격 진료 시스템에서의 질병 진단, 추적 관찰. 치료계획 등에 활용될 수 있을 것이다.

• Proceedings of the Korea Multimedia Society Conference
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• 2004.05a
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• pp.688-691
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• 2004

본 논문에서는 메쉬, 복셀, 골격 데이터를 포함하는 복합적인 옥트리 기반의 형상 표현을 이용하여 해마의 형상을 분석하기 위한 효과적인 방법을 제공한다. 먼저, 자기공명영상으로부터 분할된 해마 영역에 마칭큐브 알고리즘을 적용하여 다단계 메쉬 데이터를 생성한다. 이렇게 생성된 메쉬 모델을 하드웨어 깊이맵을 이용한 복셀화 과정을 통하여, 중간 단계의 이진 복셀 표현으로 변환한다. 마지막으로 광선 추적 방법에 의해 추출된 샘플 메쉬들에 대하여 L2 Norm을 계산함으로써 형상 특징을 생성한다. 본 연구에서 제시한 방법은 사용자 피킹 인터페이스를 이용하여 국부적 부위에서의 계층적 형상 분석을 가능하게 한다. 또한 계층적 Level-of-Detail 접근방법은 정확도를 유지하며 형상분석의 소요 시간을 절약하도록 한다.

• Journal of the Korea Safety Management & Science
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• v.24 no.2
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• pp.11-16
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• 2022

When picking up cargo, workers manually load and unload the cargo. Workers have different intensity of work depending on the amount and weight of cargo. In particular, as the intensity of manual work increases, workers are exposed to cumulative traumatic diseases. A manual for picking safety work for workers cargo handling in the distribution center is required. In this study, the worker's picking safety work based on the cargo volume and weight was presented as an experimental design model. Like the research results, the disease begins when the worker feels the number of pains presented by the model.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_2
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• pp.249-254
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• 2023

The use of robots in automated factories requires accurate bin-picking to ensure that objects are correctly identified and selected. In the case of atypical objects with multiple reflections from their surfaces, this is a challenging task. In this paper, we developed a random 3D bin picking system by integrating the low-cost vision system with the robotics system. The vision system identifies the position and posture of candidate parts, then the robot system validates if one of the candidate parts is pickable; if a part is identified as pickable, then the robot will pick up this part and place it accurately in the right location.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.6
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• pp.61-69
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• 2016

Since 2000, the market of convenient stores in Korea has developed rapidly due to the explosive growth in single households but it still consists mainly of manual work due to the nature of the domestic industry. Hence the explosive increase in demand in the market is mostly due to workers. Therefore, the research aimed at encouraging efficiency via automation, which is carried out in manufacturing, such as electronic, cars and so on, is inadequate. This study performed a feasibility analysis of investment for introducing an automated system on brand A, which is domestic famous convenience store company. Productivity growth according to the introduction of an automated guided vehicle and the cost-benefits was studied with using a simulation for the picking process, which is most personnel and time consuming. As a result, the simulation showed that the equipment AGV introduced for choosing the process has the effects of cost saving and increased time efficiency for performing manual labor. Furthermore, appropriate numbers of AGV were forecasted considering the capacity of the distribution Center in the brand A convenient store, which has been growing steadily. There are increasing numbers of worker labor costs in the distribution industry these days. Before building a large new automate center, it is expected to provide a good information to investors who are considering increasing productivity through partial automation of each of unit process to achieve some cost reduction.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.20 no.8
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• pp.813-822
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• 2009

We have investigated operation of a 1:2:2 asymmetric 3-stage Doherty PA(Power Amplifier) and implemented using the Freescale's 4 W, 10 W PEP LDMOSFETS at 1 GHz. By employing the three peak efficiency characteristics, compared to the two peak N-way Doherty PA, the asymmetric 3-stage Doherty can overcome the serious efficiency degradation along the backed-off output power region and maximize the average efficiency for the modulation signal. To maximize the efficiency characteristic, the inverse class F PA has been designed as carrier and peaking amplifiers. Furthermore, to extract the proper load modulation operation, the adaptive gate bias control signal has been applied to the two peaking PAs based on the envelope tracking technique. For the 802.16e Mobile WiMAX(World Interoperability for Microwave Access) signal with 8.5 dB PAPR(Peak to Average Power Ratio), the proposed Doherty PA has shown 55.46 % of high efficiency at an average output power of 36.85 dBm while maintaining the -37.23 dB of excellent RCE(Relative Constellation Error) characteristic. This is the first time demonstration of applying the saturated PA and adaptive gate bias control technique to the asymmetric 3-stage Doherty PA for the highly efficient transmitter of the base-station application.

• Journal of Biosystems Engineering
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• v.33 no.1
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• pp.51-57
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• 2008

The purpose of this study was to develop an optimal path planning program for autonomous speed sprayer in orchard. A digital map which contained coordinate information and entity information including height, width, radius of main stem, and disease of a trees was developed to build an optimal path. The digital map, dynamic programming and order-picking algorithm were used for planning an optimal path for autonomous speed sprayers. When this algorithm applied to rectangular-shaped orchards to travel whole trees, the developed program planned the same working path and same traveling distance as those of created by conventional method. But for irregular-shaped orchards, developed program planned differently and 5.06% shorter path than conventional method. When applied to create path for multi-selected trees, irregular-shaped orchards showed 13.9% shorter path and also rectangular-shaped orchards showed 9.1% shorter path. The developed program always planned shorter path than the path created by conventional method despite of variation of shape of orchards.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.4
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• pp.62-72
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• 2013

To operate an automatic picking system in distribution center with high precision and high dynamics, this paper presents a robust control scheme of a linear induction motor (LIM) using the mass estimation and disturbance force observer. The force disturbance which gives a direct influence on the control performance of LIM is estimated in real-time through the disturbance observer and compensated by a feedforward manner. To get a satisfactory performance even under the mass variation by reducing the disturbance force due to the mismatched mass during the speed transient such as the acceleration and deceleration periods, a mass estimation algorithm is proposed. A Simulink model for LIM is developed and the validity of the proposed scheme is verified through the comparative simulation studies using Matlab - Simulink.