• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.621-624
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• 1997

This paper presents the design procedure for soccer-playing rovots based on the centralized approach. Using a fast vision system, we obtain the configuration of each robot and then the host computer computes the desired motion and commands each robot directly via RF communication. The robot soccer game has a lot of problems such as obstacle avoidance, coordination between robots, dribbling the ball, and so on. To implement such motions, we think that the centralized approach seems to be more powerful than the distributed approach. We describe the technical tips for developing the robots in detail here and explain our strategy for getting the scores.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.819-824
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• 1997

This paper presents a cell-based motion control strategy for soccer playing mobile robots. In the central robot motion planner, the planar ground is divided into rectangular cells with variable sizes and motion indices to which direction the mobile robot should move. At every time the multiple objects-the goal gate, ball, and robots-detected, integer values of motion indices are assigned to the cells occupied by mobile robots. Once the indices being calculated, the most desirable state-action pair is chosen from the state and action sets to achieve successful soccer game strategy. The proposed strategy is computationally simple enough to be used for fast robotic soccer system.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.317-322
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• 2004

This paper deals with a prediction method of tool life in view of the reliability assessment. In this study, the flank wear was studied among multi-factors deciding the tool wear state. Firstly, tool lift was predicted by correlation between flank wear and cutting time, based on the extended Taylor tool life equation of turning data, including parameters of cutting speed, feed rate, and cutting depth. Secondly, each of cutting conditions of endmilling was equivalently converted to apply ball endmill data to the extended Taylor equation. The web-based reliability prediction program for tool lift is being developed as one of reliability assessment programs to for the machine tools.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.2
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• pp.119-124
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• 2000

In this paper based on geometric optics and geometric modeling aspheric surface of the side mirror mold with dead angle reduced have been designed and machined in a CNC machining center, Surface roughness of the mold was evaluat-ed by usin the surface shaping system. Surface generating simulation of a ball endmill process is investigated. Through the simulation based on the surface-shaping system 3-D engineered surfaces and properties of engineered surfaces are obtained, Computer simulation provides the effective working conditions through the prediction of geometric properties of engineered surfaces. The rear view mirror and room mirror play important role on the safe driving condition as a observation of environment but the rear view mirror can not provide complete information of driving environments due to the existence of the dead angle. The analysis on the shape of formed mirror shows that the proposed me？ improves range of a driver's sight.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.3
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• pp.16-23
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• 2004

Thermally induced errors of machine tools have been recognized as one of the most important issues in precision machining. This is probably the most formidable obstacle to obtain high level of machining accuracy. To this regard, the experimental compensation methodologies such as software-based method or origin shift of machine tool axes have been suggested. In this research, to cope with thermal deformation, a model based correction was carried out with the function of an external machine coordinate shift. Models with multi-linear regression or neural network were investigated to selected a good one for thermal compensation. Consequently, multi-linear regression model combined with origin shift was verified good enough form the machining of dot matrices of plate with ball end milling.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.8
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• pp.50-56
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• 2004

The directional ability of an automobile has an influence on driver directly, and hence it must be given most priority. Alignment factors of automobile such as the camber, caster and toe directly affect the directional ability of a vehicle. The above mentioned factors are determined by the pose of interlinks in the assembly of an automobile front chassis module. Measuring the position of center point of ball joints in the front lower arm is very difficult. A method to determine this position is suggested in this paper. Pose estimation for front chassis module and dimensional evaluation to find the rotational characteristics of front lower arm were developed based on fundamental geometric techniques. To interpret the inspection data obtained for front chassis module, 3-D best fit method is needed. The best fit method determines the relationship between the nominal design coordinate system and the corresponding feature coordinate system. The least squares method based on singular value decomposition is used in this paper.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.678-681
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• 1991

In this paper, we propose a robust linear time-invariant feedback compensator design methodology for multivariable system which have both matched and mismatched uncertainties. In order to attack the problem of designing robust compensators guaranteeing uniform ultimate boundedness of every closed-loop system response within an arbitrarily small ball centered at the zero state based solely on the knowledge of the upper norm-bounds of uncertainties, we use an approach based upon the comparison theorem which is an effective approach in studying augmented feedback control systems with both mismatched and matched uncertainties. Through the approach, we draw some sufficient conditions for robust stability, and we give a simple example.

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1815-1821
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• 2015

Rapid increase in population growth has made the mankind to delve in appropriate identification of individuals through biometrics. Foot Print Recognition System is a new challenging area involved in the Personal recognition that is easy to capture and distinctive. Foot Print has its own dimensions, different in many ways and can be distinguished from one another. The main objective is to provide a novel efficient automated system Segmentation using Foot Print based on structural relations among the features in order to overcome the existing manual method. This system comprises of various statistical computations of various foot print parameters for identifying the factors like Instep-Foot Index, Ball-Foot Index, Heel- Index, Toe- Index etc. The input is naked footprint and the output result to an efficient segmentation system thereby leading to time complexity.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.3
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• pp.1-7
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• 2005

The prediction for tool life is one of the most important factors for increasing reliability, stability, and productivity of manufacturing system. This paper deals with a tool life prediction method in view of reliability assessment for cutting tools. In this study, flank wear was focused among multi-factors deciding the tool wear state. First, tool life was predicted by correlation between flank wear and cutting time, based on the extended Taylor tool life equation of turning, including parameters of cutting speed, feed rate, and cutting depth. Second, each of cutting conditions of end-milling was equivalently converted to apply ball end-mill data to the extended Taylor equation. The web-based prediction program for tool life was developed as one of reliability assessment programs for machine tools.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.264-271
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• 2014

In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots.