• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.173-179
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• 2002

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) fur robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable fur implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.3
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• pp.31-37
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• 2003

With the paradigm shifting from the principal of manufacturing efficiency to business globalism and rapid adaptation to its environments, more and more enterprises are being virtually organized as manufacturing network of different units in web. The formation of these enterprise called as Virtual Enterprise(VE) is becoming a growing trend as enterprises concentrating on core competence and economic benefit. 13us paper proposes multi-agent based task assignment system for VE, which attempts to address the selection of individually managed partners and the task assignment to them A case example is presented to illustrate how the proposed system can assign the task to partners.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.469-474
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• 2002

The Field Robot means the machinery applied for outdoor tasks in construction, agriculture and undersea etc. In this study, to field-robotize a hydraulic excavator that is mostly used in construction working, we have developed an automatic excavation system and adaptive control system. A model- reference adaptive controller has been designed on the model that is obtained through off-line System Identification. It is illustrated by computer simulations that the proposed control system gives good performances in the trajectory tracking control and adaptation to parameter variation.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.10a
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• pp.128-133
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• 2001

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) for robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.

• Proceedings of the Korea Contents Association Conference
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• 2004.11a
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• pp.17-20
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• 2004

무선 네트워크를 기반으로 하는 제3세대로 갈수록 디바이스들의 다양성과 성능이 높아지고 있고 이질적인 환경으로 변화하고 있다. 개방형 프로토콜과 마크업 언어의 발전으로 많은 무유선 디바이스들을 활용하여 인터넷으로 접근할 수 있게 되었고, PC 기반으로 작성된 웹 콘텐츠 및 서비스를 작은 디바이스들에게 적응화하는 것이 최근 핫이슈가 되고 있다. 따라서 본 논문에서는 이질적인 환경에서 콘텐츠 적응화를 위한 콘텐츠모델링 스키마를 설계하였고 콘텐츠모델링 정보를 쉽게 저작할 수 있는 저작도구를 개발하였다.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.151-155
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• 1996

To automate an excavator the control issues resulting from environmental uncertainties must be solved. In particular the interactions between the excavation tool and the excavation environment are dynamic, unstructured and complex. In addition, operating modes of an excavator depend on working conditions, which makes it difficult to derive the exact mathematical model of excavator. Even after the exact mathematical model is established, it is difficult to design of a controller because the system equations are highly nonlinear and the state variable are coupled. The objective of this study is to design a multi-layer neural network which controls the position of excavator's attachment. In this paper, a dynamic controller has been developed based on an error back-propagation(BP) neural network. Computer simulation results demonstrate such powerful characteristics of the proposed controller as adaptation to changing environment, robustness to disturbance and performance improvement with the on-line learning in the position control of excavator attachment.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.6
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• pp.56-63
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• 2004

The real-time NURBS interpolation method using 2-stage interpolation is studied. The 2-stage interpolation method that compensates for interpolation errors within machine BLU is proposed. The interpolation result was filtered by an Acceleration/Jerk limitation equation. Through this 2-stage interpolation, both the interpolation error condition and the motion kinematics could be satisfied. Using computer simulation in which interpolation results are evaluated by a numerical iteration method, it is shown that the 2-stage interpolation algerian could interpolate target curves precisely with geometric and dynamic contentment. The proposed algorithm was implemented in the CNC simulator system and an experimental un was conducted to identify the real-time adaptation.

• BMB Reports
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• v.53 no.7
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• pp.341-348
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• 2020

The targeted nuclease clustered, regularly interspaced short palindromic repeats/CRISPR-associated proteins (CRISPR/Cas) system has recently emerged as a prominent gene manipulation method. Because of its ease in programming targeted DNA/protein binding through RNA in a vast range of organisms, this prokaryotic defense system is a versatile tool with many applications in the research field as well as high potential in agricultural and clinical improvements. This review will present a brief history that led to its discovery and adaptation. We also present some of its restrictions, and modifications that have been performed to overcome such restrictions, focusing specifically on the most common CRISPR/Cas9 mediated non-homologous end joint repair.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.25-28
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• 2008

An aerodynamic calculation in hover of KUH main rotor blade is performed using a three-dimensional unstructured hybrid mesh viscous flow solver. The flow solver utilizes a vertex-centered finite-volume scheme that is based on the Roe's flux-difference splitting with an implicit Jacobi/Gauss-Seidel time integration. The eddy viscosity are estimated by the Spalart-Allmaras one-equation turbulence model. A solution-adaptive mesh refinement technique is used for efficient capturing of the tip vortex. Calculations are performed at several operating conditions with varying collective pitch setting for KUH main rotor blade in hover. Good agreements are obtained between the present and other results using HOST and CAMRAD II in overall rotor performance. It is demonstrated that the present vertex-centered flow solver is an efficient and accurate tool for the assessment of rotor performance in hover.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.154-161
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• 1999

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C30) for robotic manipulators to achieve trajectory tracking by the joint angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed control scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time-varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by simulation and experimental results for a SCARA robot.