• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.5
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• pp.661-666
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• 2002

We need the flexible method for communication network configuration and fault management business procedure. Therefore development of systematic integrating fault management system is essential to meet on these requests. We must design the integrating fault management system so that can run the repair processing for both data communication network management and new next generation data communication network of various type. In general it is effective that the system is consisted of decentralized module to be accessibele for business logic and datum to remote area. To Solve these problem, a method is to use object-oriented design technique. That is, it is to abstract reusability objects and make component module using the abstracted objects. In this paper, we propose a fault management system of communication network service using object-oriented design techniques which are UML(Unified Modeling Language) and EJB(Enterprise Java Bean).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.8C
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• pp.489-496
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• 2011

Energy efficiency in wireless sensor networks is a principal issue to prolong applications to track the movement of the large-scale phenomena. It is a selective wakeup approach that is an effective way to save energy in the networks. However, most previous studies with the selective wakeup scheme are concentrated on individual objects such as intruders and tanks, and thus cannot be applied for tracking continuous objects such as wild fire and poison gas. This is because the continuous object is pretty flexible and volatile due to its sensitiveness to surrounding circumferences so that movable area cannot be estimated by the just spatiotemporal mechanism. Therefore, we propose a cluster-based algorithm for applying the efficient and more accurate technique to the continuous object tracking in enough dense sensor networks. Proposed algorithm wakes up the sensors in unit cluster where target objects may be diffused or shrunken. Moreover, our scheme is asynchronous because it does not need to calculate the next area at the same time.

• The Journal of Korea Robotics Society
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• v.7 no.3
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• pp.182-193
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• 2012

This paper presents a new behavior planning scheme for autonomous robots, allowing them to handle various objects used in our daily lives. The key idea underlying the proposed scheme is to use affordance concepts that provide a robot with action possibilities triggered by a relation between the robot and objects around it. Specifically, the robot attempts to find the affordances and to determine the most adequate action among them. Through a series of the perception processes, robot motions can be planned and performed to complete assigned tasks. What is of particular importance from the practical point of view is a decision making capability to determine the best choice by comparing the human's body characteristics and behavioral patterns as criteria with action possibilities as alternatives. For this, the analytic hierarchy process (AHP) technique is employed to systematically evaluate the correlation between the criteria and the alternatives. Moreover, the alternatives arranged in order of priority through the decision making process enable the robot to have redundant solutions for the assigned task, resulting in flexible motion generation. The effectiveness and validity of the proposed scheme are verified by performing extensive simulations using objects of our daily use.

• Journal of Aerospace System Engineering
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• v.14 no.3
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• pp.10-16
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• 2020

We propose a capture mechanism based on the principles of fishing nets that can be mounted on the drone using cable. The gripper mechanism, mainly proposed for the drone is heavy, and is limited to catch standardized objects. In contrast, the proposed capture device in this paper is light, flexible, and can capture various types of objects from a long distance. The theoretical relationships between cables and mechanisms were analyzed. Finally, the capture device was designed and manufactured to be installed in the drone (DJI S900) to conduct capturing experiments for various objects and verify the validity.

• The KIPS Transactions:PartD
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• v.18D no.4
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• pp.225-236
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• 2011

Various applications of LBS (Location Based Services) are being developed to provide the customized service depending on user's location with progress of wireless communication technology and miniaturization of personalized device. To effectively process an amount of vehicles' location data, LBS requires the techniques such as vehicle observation, data communication, data insertion and search, and user query processing. In this paper, we propose the historical location index, GIP-FB (Group Insertion tree with Flexible Buffer Node) and the flexible buffer node technique to adjust the cost of data insertion and search. the designed GIP+ based index employs the buffer node and the projection storage to cut the cost of insertion and search. Besides, it adjusts the cost of insertion and search by changing the number of line segments of the buffer node with user defined time interval. In the experiment, the buffer node size influences the performance of GIP-FB by changing the number of non-leaf node of the index. the proposed flexible buffer node is used to adjust the performance of the historical location index depending on the applications of LBS.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.4-12
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• 1996

This keynote presentation covers the subject of intelligent systems development for monitoring and control in various NASA space applications. Similar intelligent systems technology also has applications in terrestrial commercial applications. Discussion will be given of the general approach of intelligent systems and description given of intelligent systems under prototype development for possible use in Space Shuttle Upgrade, in the Experimental Crew Return. Vehicle, and in free-flying space robotic cameras to provide autonomy to these spacecraft with flexible human intervention, if desired or needed. Development of intelligent system monitoring and control for regenerative life support subsystems such as NASA's human rated Bio-PLEX test facility is also described. A video showing two recent world's firsts in real-time vision-guided robotic arm and hand grasping of tumbling and translating complex shaped objects in micro-gravity will also be shown.

• Journal of the Korea Computer Graphics Society
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• v.2 no.1
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• pp.61-67
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• 1996

3D graphics applications require managing and displaying objects as well as handling events. These tasks are quite complex for applications to worry about and are common to many applications. Therefore, many attempts have been made to provide toolkits with these capabilities for those applications. This paper presents a toolkit that is easy to use and well suited for the modeling and rendering tasks. The object-oriented programming techniques used in designing the toolkit make it flexible and easily extensible.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2001.10a
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• pp.39-42
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• 2001

This paper addresses the development of VP curing equipment for the substitution of autoclave which has several limits in application. This equipment adopt vacuuming and pressurizing processes similarly to the autoclave, but has flexible pressurizing and movable system. The experiments were pursued to determine and to compare specific properties of the specimens produced by three kinds of processes; autoclave, hotpress, and VP. The results show that the VP curing equipment can produce the useful composite material with a little inferior quality to the autoclave, but better than the hotpress. Considering the movability of VP curing equipment, it can be expanded its application to the areas of composite patch-repaired structure in large objects.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.644-647
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• 2005

In this paper, computer simulations with the absolute nodal coordinate formulation for large deformation problems in flexible multibody dynamics are compared to the real experiments. A high speed camera was employed to capture the deformed shapes of a thin beam, a plate, a rotating chain, and a paper strip. The measured data was used to calculate precise values for stiffness and damping ratio of the objects. Also a rotating strip and a helicoseir problem were formulated for computer simulation, and the computational results are also compared to the experiments.