• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1866-1870
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• 2005

Typical small desktop robots have limied application due to their intrinsic feaures like friction, backlash, etc. However, a newly developed small gantry desktop robot needs smaller footprint and shows better performance in position accuracy, velocity, and acceleration. In order to achieve such results, synchronization control of two axes, position compensation methods in plane are suggested.

• 한국해양공학회지
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• 제26권6호
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• pp.59-65
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• 2012

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.

• 디자인융복합연구
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• 제16권6호
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• pp.153-167
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• 2017

오늘 날 많은 로봇들이 탁상용으로 개발되면서, 사용자들은 작업환경에서 로봇과 음성을 기반으로 상호작용을 한다. 그러나 현재 기술적 한계로 인하여, 대안이 필요한 실정이다. 이에 생체신호 중 무조건 반사를 활용하여 사용자와 상호작용을 하는 로봇을 디자인하고자 본 연구를 설계하였다. 본 연구에서는 생체신호를 로봇에 보다 효과적으로 적용하기 위하여, 로봇 외형의 구체화 정도와 로봇의 반응 속도에 따라 사용자가 느끼는 로봇에 대한 전체적 서비스평가와 인지된 로봇의 지능, 적합성, 신뢰성, 사회성을 평가하였다. 실험 결과 로봇의 외형이 구체화되지 않은 2D로봇보다 외형이 구체화된 3D 로봇이 인지된 지능과 적합성이 긍정적으로 평가되었고, 반응 속도가 느릴 때보다 반응 속도가 빠를 때 전체적 서비스평가와 인지된 로봇의 지능, 적합성, 신뢰성, 사회성에서 긍정적으로 평가되었다. 또한 서비스, 신뢰성, 사회성 평가에서 로봇 외형의 구체화 정도와 로봇 반응 속도에 따른 교호효과가 있었다.

• 대한기계학회논문집A
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• 제30권7호
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• pp.741-749
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• 2006

For last couple of decades, uses of TFI-LCDs have been expanded to many FPD(Flat Panel Display) applications including mobile displays, desktop monitors and TVs. Furthermore, there has been growing demand for increasingly larger LCD TVs. In order to meet this demand as well as to improve productivity, LCD manufactures have continued to install larger-generation display fabrication facilities which are capable of producing more panels and larger displays per mother glass(substrate). As the size of mother glass becomes larger, a robot required to handle the glass becomes bigger accordingly, and its end effectors(arms) are extended to match the glass size. With this configuration, a considerable static deflection occurs at the end of the robot arms. In order to stack maximum number of mother glasses on a given footprint, the static deflection should be compensated. This paper presents a novel static deflection compensation algorithm. This algorithm requires neither measurement instrument nor additional vertical axis on the robot. It is realized by robot controller software. The forward and inverse kinematics considering compensation always guarantees a unique solution, so the proposed algorithm can be applied to an arbitrary robot position. The algorithm reduced static deflection by 40% in stationary robot state experiment. It also improved vertical path accuracy up to 60% when the arm was running at its maximum speed. This algorithm has been commercialized and successfully applied to a seventh-generation LCD glass-handling robot.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.592-595
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• 2003

In this paper, we have designed a Home Networking System using an embedded linux board. The system based on the World-Wide-Web is composed of three parts - a Server, a Client and a Simulator. The Home Networking Server is built in an embedded board using an embedded linux kernel. A web-server and Home Networking Server Seryice Demon programming with a Jaya-Language is included in the board. Clients can connect to the server board using a web-browser in the desktop computer, PDA or any other machines which include a web-browser. For this purpose, we made the client program using a Java-Applet. So, the clients who connect to the server for the control of the applications, download the class-file and execute the client-program in the web-browser. So, the clients don't need any other programs to control the applications from a remote place. The size of server board is very small (86.3$\times$74mm), which makes it very useful not only for the Home-Networking-System but also in many other fields, e.g., embedded robot control system, etc. Using an embedded board instead of a desktop computer is good for a simple network environment and it occupies only a small space to make the system.

• 정보통신설비학회논문지
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• 제11권1호
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• pp.23-28
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• 2012

In this paper, we proposed and developed a fast and efficient real time face detection and recognition which can be run on embedded system instead of high performance desktop. In the face detection process, we detect a face by finding eye part which is one of the most salient facial features after applying various image processing methods, then in the face recognition, we finally recognize the face by comparing the current face with the prepared face database using a template matching algorithm. Also we optimized the algorithm in our system to be successfully used in the embedded system, and performed the face detection and recognition experiments on the embedded board to verify the performance. The developed method can be applied to automatic door, mobile computing environment and various robot.

• 한국가구학회지
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• 제26권4호
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• pp.383-391
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• 2015

In recent years the industry has utilized some of the 3D printers in the manufacturing process a trend which spread also a personal desktop 3D printer priced. The 3D printer can create the 3D object by using an ink or a laser instead of the powders, and various liquid plastic material. Properties of 3D printers are liquid, solid, powder and raw materials are also classified as varied. New ideas and processes in the form of designer furniture, becoming increasingly evolved through the development of materials and technologies. Science, art and technology combine to create a new aesthetic for the complex and free binding structure is a combination of design and materials are available in craft and the structure appears not showing. 3D scanning was not simply continue to develop as the production process by a variety of tools and content transformation. Create new mathematical tables and chairs designed by the theory fit the digital age shows a coupling structure with decoration into small pieces. It has created a new craft technique in the digital age.