• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.391-395
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• 1996

This paper presents a robust force tracking control of a small-sized SMA gripper with two fingers using shape memory alloy(SMA) actuators. The mathematical governing equation of the proposed system is derived by Hamilton's principle and Lagrangian equation and then, the control system model is integrated with the first-order actuator dynamics. Uncertain system parameters such as time constant of the actuators are also included in the control model. A robust two degree of freedom(TDF) controller using H$_{\infty}$ control theory, which has inherent robustness to model uncertainties and external disturbances, is adopted to achieve end-point force tracking control of the two-finger gripper. Force tracking control performances for desired trajectories represented by sinusoidal and step functions are evaluated by undertaking both simulation and experimental works.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.9
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• pp.167-174
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• 1995

This paper experimentally demonstrates the feasibility of using shape memory alloy(SMA) actuators in controlling structural vibrations of a flexible cantilevered beam. The dynamic characteristics of the SMA actuator are identified and integrated with the beam dynamics. Three types of control schemes; constant amplitude controller(CAC), proportional amplitude controller (PAC) and sliding mode controller(SMC) are designed. The CAC and PAC are determined on the basis of physical phenomenon of the SMA actuator, while teh SMC is formulated in a mathematical manner. The proposed controllers are implemented and evaluated at various operating condirions by investigating the control level of suppression in transient vibration.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.73-77
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• 2004

This paper presents a PC-based controller of industrial SFFS(Solid Freeform Fabrication System). The SFFS has multiple sub-controllers for the building room, the powder room, the temperature, and the density of oxygen in the chambers. Hence the main PC-based controller should effectively and timely send commands to the sub-controllers, and monitor the overall SLS process. The required actuators and sensors are selected to optimize the overall performance of the SFFS.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.761-764
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• 1995

This paper demonstrates the feasibility of utilizing Shape Memory Alloy(SMA) actuators in controlling the motion of micro active catherer. The dynamic behavior of SMA is obtained by several experiments for the design of the controller. Two different type of structures which realize catheter are proposed. Each prototype of micro active catherer is fabricated, and its control performance which used the designed controller is investigated. The results obtained show the potential of the SMA as viable means for actuating the micro active catheter.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.3
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• pp.1-7
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• 1999

일대다 형상을 갖는 통신시스템에서 많이 고려되는 예약 알로하 방식 매체접속제어 프로토콜의 성능은 예약 채널과 데이터 채널의 분배 양식에 의해 달라진다. 본 논문에서는 이 프로토콜을 직렬 2단 대기열 모델로 근사화하고, 데이터의 지연을 성능 척도로 하여 이를 줄이는 세가지 채널 할당 방식을 제시하였다. 그리고 이들에 대한 모의실험을 통해 그 동작 특성을 규명하고 성능을 평가하였다. 그 결과 이들의 성능은 트래픽의 특성, 특히 데이터 길이의 분산에 크게 의존하며, 일반적으로는 데이터에 우선권을 주는 방식이 우수하나, 데이터 길이의 분산이 큰 경우에는 비례배분 할당 방식이 우수한 것으로 평가되었다.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.567-572
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• 1988

As an efficient way of modeling bodies of complicated shapes, the sweeping and skinning operations have been implemented. These two operations are very powerful modeling method when the body is defined by the cross sections at various locations. For the implementation, the data structure for storing the cross sections and the resulting three dimensional body has been constructed. The resulting object is defined by the boundary representation based on the non-uniform nonperiodic B-spline surface.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.715-719
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• 1991

In manufacturing process, usually 2-dimensional part drawing is used as a basic data. If a designer wants to recognize 2-dimensional drawing and formulate 3-dimensional shape, a proper feature recognition rule is required as a prerequisite step. These rules are converted Into knowledge base, should be ed separately in the recognition program and can be referenced In similar way of database application. In this paper, basic feature recognition rules are addressed in structure type knowledge base, and the application system is formulated which can be operated separately with existing data driven program.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1175-1180
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• 1991

The purpose of this paper is to improve the matching accuracy in identifying corresponding points in the area-based matching for the processing of stereo vision. For the selection of window size, a new method is proposed based on frequency domain analysis. The effectiveness of the proposed method is confirmed through a series of experiments. To overcome disproportionate distortion in stereo image pair, a new matching method using the warped window is also proposed. In the algorithm, the window is warped according to imaging geometry. Experiments on a synthetic image show that the matching accuracy is improved by 14.1% and 4.2% over the rectangular window method and image warping method each.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.562-566
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• 1988

The purpose of this study is to develop a personal computer aided 3-D geometric modeller. To perform this study, we set up a cube, a cylinder, and a prism as a primitive in the first segment of this study. By modelling the 3-D object through their transformation, addition, and subtraction, we proved the validity of the developed algorithm and its computer program. Some examples show the results of applying the program to modelling a few simple shape of the machine parts. These results met the first aim of this study.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.704-706
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• 1991

In CAD/CAM system, many efforts are made to automate the converting process from drawling information to manufacturing Information. The most difficult step In this procedure is utilizing 2 dimensional drawing information In order to formulate 3 dimensional w&ling information. This paper emphasizes to mWe automatically series of convertirg steps which provide 3 dimensional wire frame, surface and solid modeling using feature recognition rules. With the standardization of design process and the recognition rule as preceding steps, it shows a good application tool to interface the design and manufacturing procedures in PC-Level CAD/CAM system.