• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1402-1407
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• 2004

Moving a fragile object from an initial point to a goal location in minimum time without damage is pursued in this paper. In order to achieve the goal, first of all, the range of maximum acceleration and velocity are specified, which the manipulator can generate dynamically on the path that is planned a priori considering the geometrical constraints. Later, considering the impulsive force constraint of the object, the range of maximum acceleration and velocity are going to be obtained to keep the object safe while the manipulator is carrying it along the curved path. Finally, a time-optimal trajectory is planned within the maximum allowable range of the acceleration and velocity. This time optimal trajectory planning can be applied for real applications and is suitable for not only a continuous path but also a discrete path.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1093-1097
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• 2004

We propose 'the haptic primitive' for haptic rendering without the need to solve complicated parametric equations. To develop 'the haptic primitive', we adopted "the God-Object Method" as a haptic rendering algorithm and applied 'Constructive Solid Geometry' to manage haptic objects. Besides being used in the 'ghost library' of $PHANToMTM^{TM}$ our method can be used as a basic component for developing tools and libraries that aim to simplify haptic modeling. It can also be applied to tactile display modules and temporal display modules. Ultimately it can be developed into a one-stop haptic modeling tool that enables the user to more conveniently create a tangible CAD systems or a tangible e-ommerce system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1994-1999
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• 2003

This paper discusses dynamic characteristics of motion of a pair of multi-degrees of freedom robot fingers executing grasp of a rigid object and controlling its orientation with the aid of rolling contacts. In particular, the discussions are focused on a problem of gain-tuning of sensory feedback signals proposed from the viewpoint of sensorymotor coordination, which consist of a feedforward term, a feedback term for controlling rotational moment of the object, and another term for controlling its rotational angle. It is found through computer simulations of the overall fingersobject dynamics subject to rolling contact constraints that some dynamic characteristics of torque-angular velocity relation may play an important role likely as reported by experimental results in muscle physiology and therefore selection of damping gains in angular velocity feedback depending on the guess of object mass is crucial. Finally, a guidance of gain-tuning in each feedback term is suggested and its validity is discussed by various computer simulations.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1994.04a
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• pp.25-32
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• 1994

The pre-processor for finite to element structural analysis considering the user-friendly device is developed by using GUI. This can be used on WINDOWS' environment which is realized the multi-tasking and the concurrency by object-oriented paradigm. Data input can be done easily through menu, dialog box, automatic stepwise input and concurrent representation with the structural geometry on multiple windows. It in designed to control integratedly the pre-processing, execution and the post-processing of the finite element structural analysis program on multiple windows, and input data can be seen with result outputs at the same time. In addition, the object-oriented programming environment makes convenient revision and addition of the program components for expanding the scope of analysis and making better user environment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.1241-1246
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• 2007

In recent years, the semiconductor industry and the optical industry are developed rapidly. The recent demands have expanded for optical components such as the optical lens, the optical semiconductor and the measuring instrument. Object transport systems are driven typically by the magnetic field and the conveyer belt. Recent industry requires more faster and efficient transport system. However, conventional transport systems are not adequate for transportation of optical elements and semiconductors. The conveyor belts can damage precision optical elements by the contact force and magnetic systems can destroy the inner structure of semiconductor by the magnetic field. In this paper, the levitation transport system using ultrasonic wave is developed for transporting precision elements without damages. The steady state flexural vibration of the beam is expressed using Euler-Bernoulli beam theory. The transport direction of an object is examined according to phase difference and frequency. The theoretical results are verified by experiments.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.113-117
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• 2005

This paper describes a visual control scheme, fuzzy logic system for visual servoing of an autonomous mobile robot. An existing communication autonomous mobile robot always needs to keep the object in image to detect the moving object. This is a problem in an autonomous mobile robot for spontaneous activity. To solve it, some features for an object are taken from an image and then use in the design of fuzzy logic system for decision of moving location and direction of visual servoing contrivance(apparatus). So continuous tracking is possible by moving the visual servoing contrivance. We present some simulation results and further studies in the Section of Simulation and Concluding Remarks.

• Proceedings of the Korean Information Science Society Conference
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• 2003.10c
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• pp.310-312
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• 2003

망 운용에 있어서 망 관리 시스템은 다양한 네트워크 장비의 증가로 인하여 점점 더 중요한 위치를 차지하고 있다. 과거 망을 구성하는 요소는 네트워크 장비로 국한되었지만 현재는 서비스를 지원하는 데몬(Daemon) 등 장비 외적인 요소까지 속하게 되어 더욱 복잡해 지고 있다. 기존의 망 관리 시스템은 SNMP(Simple Network Management Protocol)나ICMP(Internet Control Message Protocol) 프로토콜을 사용하였으나 이 기술만으로는 데몬과 같은 장비 외적인 요소들까지 제어, 관리하지 못했다. 반면. TELNET등과 같은 기능을 추가적으로 이용할 수 있다면. 보다 쉽게 망 정보를 얻을 수 있는 장점이 있어 기존의 망 관리 시스템에서 지원하지 못했던 기능의 한계점을 극복할 수 있다. 이에 본 논문은 객체지향기술(OOT : Object­Oriented Technology)을 도입하였다. 클래스(Class)는 고유한 특성을 가지는 관리 대상 종류를 선언한 것이고. 관리 대상은 네트워크 장비 뿐만 아니라 데몬이나 지역, 부서등과 같은 추상적인 대상이 포함되며 이는 객체(Object)를 의미한다. 또한. 상속(Inheritance) 개념을 도입하여 중복요소를 없앴으며, 클래스의 메소드(Method)에 관리 대상을 처리할 수 있는 기능을 정의하였다. 기능 정의에는 SNMP와 TELNET. ICMP등을 내부적으로 이용하여 구현된 스크립트(Script)를 이용하였다.

• Proceedings of the KIEE Conference
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• 1987.07b
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• pp.1090-1093
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• 1987

In this paper, we describe the principle, the procedure and calculation of the measurement. Finally the experimental results are shown and discussions are given. Interpreting of a skewed symmetry in the image as a real symmetry in the 3-D space provides strong constraints on 3-D sharp analysis. In order to apply the idea to the real scene, a method is presented which can find the skewed symmetry in the image of the skewed symmetrical object, even if it is occluded partly. there parameters of the skewed symmetry are estimated by examining peaks in two 2-D hough spaces, onto which the parameters of all candidates of boundary line segments for skewed symmetries are voted. The method is characterized with a small amount of computation, finding of multiple symmetry axes and inference of the occluded parts of the symmetrical object.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.106-112
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• 1993

A new model for the construction of a sonar map in a specular environment has been developed ad implemented. In a real world where most of the object surfaces are specular ones, a sonar sensor suffers from a multipath effect which results in a wrong interpretation of an objects's location. To reduce this effect and hence to construct a reliable map of a robot's surroundings, a probabilistic approach based on Bayesian reasoning is adopted to both evaluation of object orientations and estimation of an occupancy probability of a cell by an object. The usefulness of this approach is illustrated with the results produced by our mobile robot equipped with ultrasonic sensors.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.543-546
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• 1996

We propose a new visual tracking system for grasping which can find grasping points of an unknown polygonal object. We construct the system with the image prediction technique and Extended Kalman Filter algorithm. The Extended Kalman Filter(EKF) based on the SVD can improve the accuracy and processing time for the estimation of the nonlinear state variables. By using it, we can solve the numerical unstability problem that can occur in the visual tracking system based on Kalman filter. The image prediction algorithm can reduce the effect of noise and the image processing time. In the processing of a visual tracking, we can construct the parameterized family and can found the grasping points of unknown object through the geometric properties of the parameterized family.