• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.392-395
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• 1995

This paper presents a time efficient method for determining a sequence of locations of a mobile manipulator that facilitates tracking of continuous path in cluttered environment. Given the task trajectory in the form of octree data structure, the algorithm performs characterization of task space and subsequent multistage optimization process to determine task feasible locations of the robot. Firstly, the collision free portion of the trajectory is determined and classified according to uniqueness domains of the inverse kinematics solutions. Then by implementing the extent of task feasible subspace into an optimization criteria, a multistage optimization problem is formulated to determines the task feasible locations of the mobile manipulator. The effectiveness of the proposed method is shown through a simulation study performed for a 3-d.o.f. manipulator with generic kinematic structure.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.624-630
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• 2007

The dynamic window approach(DWA) is a well known technique for reactive collision avoidance. It shows safe and efficient performance in real-world experiments. However, a robot can get stuck in local minima because no information about the connectivity of the free space is used to determine the motion. The global DWA can solve this problem of local minima by adding a navigation function. Even with the global DWA, it is still difficult for a robot to execute an abrupt change in its direction, for example, entering from the corridor to a doorway. This paper proposes a modified global DWA using the included angles of waypoints extracted from an optimal path. This scheme enables the robot to decelerate in advance before turning into the doorway. Therefore the robot can reach the goal position more safely and efficiently at high speeds.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.83-90
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• 2006

A robot manipulator is usually operated in two modes: free and constrained motion modes, depending on whether the robot is in contact with an environment or not. At the moment of contact, an impact occurs and can exert harmful effects to the robot or the object. In case of teleoperation, since a user may give an inadequately excessive velocity command to the slave due to insufficient visual information, the robot nay collide the object with an excessive speed and it possibly deteriorates the robot's performance causing vibrations and at worst, shortens its lifetime by its fracture. In this article, a new algorithm is proposed by introducing a command signal modification method on the basis of impedance control and validity of the proposed algorithm is demonstrated by performing simulations and experiments.

• Journal of Welding and Joining
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• v.20 no.4
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• pp.484-490
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• 2002

The formation and stability of stationary laser weld keyholes were investigated using a numerical simulation. The effect of multiple reflections in the keyhole was estimated using the ray tracing method, and the free surface profile, flow velocity and temperature distribution were calculated numerically. In the simulation, the keyhole was formed by the displacement of the melt induced by evaporation recoil pressure, while surface tension and hydrostatic pressure opposed cavity formation. A transition mode having the geometry of the conduction mode with keyhole formation occurred between the conduction and keyhole modes. At laser powers of 500W and greater, the protrusion occurred on the keyhole wall, which resulted in keyhole collapse and void formation at the bottom. Initiation of the protrusion was caused mainly by collision of upward and downward flows due to the pressure components, and Marangoni flow had minor effects on the flow patterns and keyhole stability.bility.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.105-110
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• 1999

This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.570-575
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• 2000

This paper presents a delayed time path planning method of the Autonomous Mobile Robot using fuzzy logic controller for avoidance of obstacles in unknown environment. It is the objective of this paper to develop fuzzy control algorithms using delayed time techniques to deal with moving obstacles randomly. This control method gives the benefit of the collision free movement in real time and optimal path to the pre-settled goal. The computer simulations are demonstrated the effective of the suggested control method in obstacle avoidance.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.235.2-235.2
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• 2014

Plasma hardly grows in low pressure because of lack of collision. Especially, in extremely low pressure like 1 mTorr, the experiment scale is far larger than mean free path therefore plasma is hardly generated in such low pressure. But low pressure plasma has useful properties like low damage or fine sputtering process because it has typically low electron density. In here, thermal electron is used to make breakdown in low pressure easily and cylindrical geometry is used to help discharge easily. And we changed magnetic field strength to control electron density or temperature. In low pressure, density and temperature behavior is very interesting so its characteristics are examined here.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.55 no.4
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• pp.204-208
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• 2006

In this study, we investigated the ion energy distributions in a chlorine based inductively coupled plasma by quadrupole mass spectrometer with an electrostatic ion energy analyzer. Ion energy distributions are presented for various plasma parameters such as $BCl_3/Ar$ gas mixing ratio, RF power, and process pressure. As the $BCl_3/Ar$ gas mixing ratio and process pressure decreases, and RF power increases, the saddle-shaped structures is enhanced. The reason is that there are ionized energy difference between $BCl_3$ and Ar, change of plasma potential, alteration of mean free path. and variety of ion collision in the sheath.

• The Journal of Korea Robotics Society
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• v.3 no.1
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• pp.1-8
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• 2008

Automatic parking assist system is one of the key technologies of the future automobiles. Control problem of a car-like vehicle is not easy due to the nonholonomic constraints. In this paper, a practical solution for planning a car-parking path is proposed according to the proposed motion space (M-space) approach. The M-space is the extension of the conventional configuration space (C-space). A collision-free, nonholonomic feasible path can be directly computed by the M-space conversion and a back-propagation of reachable regions from the goal. The proposed planning scheme provide not a single solution, but also a candidate solution set, therefore, optimization of the parking path can be easily carried out with respect to performance criteria such as safety, maneuvering, and so on. Presented simulation results clearly show that the proposed scheme provides various practical solutions.

• Proceedings of the Membrane Society of Korea Conference
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• 1995.10a
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• pp.43-44
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• 1995

The diffusion behavior of liquid into polymer has been described by Fick's law, but the departure from Fickian diffusion is frequently found. In this study, 'noble' expressions for the rates of relaxation and sorption are introduced to eliminate these limitations. The ralaxation-sorption coupled mechanism model are based on the possibility of contacting liquid molecule and the active site which has the numerical concept of free volume. The concept has an analogy of reaction rate expressed by the possibility of collision with molecules and used in adsorption and reactive extraction etc. The new model simulated by Rungc-Kutta method for initial-value problem and Fickian diffusion is caompared with experimental data. The results show that the ralaxation-sorption coupled mechanism is able to account well for Fickian and non-Fickian sorption behavior including sigmoid and two-stage. In addition, this model has a chance of expansion to multi-component sorption with ease.