• Journal of Mechanical Science and Technology
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• v.17 no.11
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• pp.1682-1692
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• 2003

This paper proposes an adaptive controller for partially known system and applies to a two-wheeled Welding Mobile Robot (WMR) to track a reference welding path at a constant velocity of the welding point. To design the tracking controller, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as desired. Additionally, a scheme of error measurement is implemented on the WMR to meet the need of the controller. In this paper, the system moments of inertia are considered to be partially unknown parameters which are estimated using update laws in adaptive control scheme. The simulations and experiments on a welding mobile robot show the effectiveness of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.191-196
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• 2003

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1999.03b
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• pp.39-44
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• 1999

Hydroforming is a forming process enabling circular metal tubes to be produced in complex cross sections along curved axial paths With the availability of advanced machine design and control They offer advantages over stamped sheet metal in lower tooling cost and structural mass The technology is relatively new so that there is no large knowledge base to assist the fundamentals of tube hydroforming technology. The purpose of this paper is found that adaptive bending condition and contact condition for bended part has uniform thickness distribution.

• Journal of Korean Association for Spatial Structures
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• v.16 no.1
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• pp.53-64
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• 2016

Solar power is being spotlighted recently as a new energy source due to environmental problems and applications of solar power to curved structures are increasing. Solar panels installed on curved surfaces have different efficiencies depending on its position and the efficient positioning of solar panels plays a critical role in the design of solar power generation systems. In this study, the changing characteristics of solar irradiance were analyzed for hemispherical dome with a large curvature and the positioning of solar panels that can efficiently utilize solar energy was investigated. With an icosahedron-based hemispherical dome consisting of triangular elements as target model, a program for calculating solar irradiance using a normal vector of the solar module on each face was developed. Furthermore, the change of solar irradiance according to the sun's path was analyzed by time and season, and its effects on shades were also examined. From the analysis results, the effective positioning could be determined on the basis of the efficiency of the solar panels installed on the dome surfaces on solar irradiance.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.6
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• pp.74-80
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• 2009

Path tracking of unmanned vehicle is a basis of autonomous driving and navigation. For the path tracking, it is very important to find the exact position of a vehicle. GPS is used to get the position of vehicle and a direction sensor and a velocity sensor is used to compensate the position error of GPS. To detect path lines in a road image, the bird's eye view transform is employed, which makes it easy to design a lateral control algorithm simply than from the perspective view of image. Because the driving speed of vehicle should be decreased at a curved lane and crossroads, so we suggest the speed control algorithm used GPS and image data. The control algorithm is simulated and experimented from the basis of expert driver's knowledge data. In the experiments, the results show that bird's eye view transform are good for the steering control and a speed control algorithm also shows a stability in real driving.

• Journal of Computational Design and Engineering
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• v.3 no.2
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• pp.151-160
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• 2016

Cutter-workpiece engagement (CWE) is the instantaneous contact geometry between the cutter and the in-process workpiece during machining. It plays an important role in machining process simulation and directly affects the calculation of the predicted cutting forces and torques. The difficulty and challenge of CWE determination come from the complexity due to the changing geometry of in-process workpiece and the curved tool path of cutter movement, especially for multi-axis milling. This paper presents a new method to determine the CWE for general milling processes. To fulfill the requirement of generality, which means for any cutter type, any in-process workpiece shape, and any tool path even with self-intersections, all the associated geometries are to be modeled as triangle meshes. The involved triangle-to-triangle intersection calculations are carried out by an effective method in order to realize the multiple subtraction Boolean operations between the tool and the workpiece mesh models and to determine the CWE. The presented method has been validated by a series of case studies of increasing machining complexity to demonstrate its applicability to general milling processes.

• Journal of Korea Multimedia Society
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• v.8 no.5
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• pp.651-659
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• 2005

For segmentation of constrained and handwritten Hangul, a new method, which has been not introduced, was proposed and implemented to use virtual network search system in the space between characters. The proposed system was designed to be used in all cases in unconstrained handwritten Hangul by various writers and to make a number of curved segmentation path using a virtual network to the space between characters. The proposed system prevented Process from generating a path in a wrong position by changing search window upon target block within a search process. From the experimental results, the proposed virtual network search system showed segmentation accuracy of $91.4\%$ from 800 word set including touched and overlapped characters collected from various writers.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.11 no.4
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• pp.315-321
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• 2017

This paper is a study on the design and realization of Pedestrian navigation service system for the visually impaired. As it is an user interface considering visually impaired, voice recognition functioned smartphone was used as the input tool and the Osteoacusis headset, which can vocally guide directions while recognizing the surrounding environment sound, was used as the output tool. Unlike the pre-existing pedestrian navigation smartphone apps, the developed system guides walking direction by the scale of the left and right stereo sound of the headset wearing, and the voice guidance about the forked or curved path is given several meters before according to the speed of the user, and the user is immediately warned of walking opposite direction or proceeding off the path. The system can acquire stable and reliable directional information using the motion tracker with the dynamic heading accuracy of 1.5 degrees. In order to overcome GPS position error, we proposed a robust trajectory planning algorithm for position error. Experimental results for the developed system show that the average directional angle error is 6.82 degrees (standard deviation: 5.98) in the experimental path, which can be stated that it stably navigated the user relatively.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.3
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• pp.466-472
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• 1988

An algorithm and its computer program were developed for the computer aided automatic conversion from 2-D design drawing, which includes arbitrary curves, to a 3-D object, and the 3-D object obtained from the developed program was used to generate the tool path of NC milling machine. The algorithm and its computer program developed were applied to several real objects for their feasibility check and showed satisfactory results. Therefore, it was proved that the algorithm and its program developed can be applied to the CAM for the mechanical parts having arbitraily curved shapes by automatically generating its 3-D object. As a result of this study a basic theory for the integration of CAD/CAM was established which will prompt the improved quality and productivity.

• Korean Institute of Interior Design Journal
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• v.20 no.5
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• pp.13-22
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• 2011

The purpose of this study is to analyze Alva Aalto's libraries for understanding his efficient induction of natural light. To fulfill this purpose, Alvar Aalto's thought about library and natural light are examined through his working years and building types. The comparison of his libraries on usage of natural light shows different ways of natural light induction based on different locations and programs of libraries. Similarities and differences of Alvar Aalto's library architecture have strong relationship to the usage of natural light in libraries because Alvar Aalto himself regard reading as the core function of library and the efficient use of natural light is the main key of reading. In his natural light planning, regional characteristics including environmental factors and programmatic differences act as a basic standard for natural light plan. Especially, altitude of sun and its path, seasonal features affect the induction way of natural light. While conical skylights used at Viipuri library shows the characteristics of universality in Modernism architecture, later libraries presents not only various kinds of pan-shape plan but different ways of inducing natural light in according to appropriate function. From conical skylight to monitor with curved reflection wall make it possible shed diffused light to reading space and this affects to form Alvar Aalto's organic architecture. As a result, using natural light in Alvar Aalto's library architecture act as the core of forming library concepts and their development.