• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.187-192
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• 2001

In this paper, a practical method to generate task strategies applicable to charmfulness and high-precision assembly, is proposed. The difficulties in devising reliable assembly strategies result form various forms of uncertainty such as imperfect knowledge on the parts being assembled and functional limitations of the assembly devices. In approach to cope with these problems, the robot is provided with the capability of learning the corrective motion in response to the force signal through iterative task execution. The strategy is realized by adopting a learning algorithm and represented in a binary tree type database. To verify the effectiveness of the proposed algorithm, a series of simulations and experiments are carried out under assimilated real production environments. The results show that the sensory signal-to-robot action mapping can be acquired effectively and, consequently, the assembly task can be performed successfully.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.241-245
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• 2004

This paper shows the development of remote control system for manipulators which consists of PHANToM Device as a master, Samsung FARA robot as a slave and TCP/IP based LAN for their Communication. This work includes the motion mapping between the master and the slave, Generation of virtual viscosity force preventing operator s unwilled action and 3D remote control simulators for the stable operation of the remote control system, etc. The remote control implementation has been performed and the results shows that the developed system can allow the operator to effectively control the manipulator.

• Proceedings of the KIPE Conference
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• 2014.11a
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• pp.179-180
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• 2014

본 연구에서는 회로 시뮬레이션을 통하여 얻은 ITER 전원 장치의 단락 전자기력의 방향과 크기 성분을 유한요소모델에 맵핑(mapping)한 뒤, 구조해석을 수행함으로써, 단락 시의 전자기력이 직접적으로 구조에 미치는 영향을 고찰하였다. 연구결과는 향후 전기적 구조물에 가해지는 다양한 악조건의 복합적 작용 시에 대한 고려에 있어 기초적인 데이터로 이용할 수 있으리라 사료된다.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.2
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• pp.264-271
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• 2017

Link-K message is the Tactical Data Link message standard developed by the Agency for Defense Development which is optimized for the Joint Operation of ROK Armed Force. KMTF message is the standard message format of Battle Management Information System. Interconversion and propagation between these messages are definitely needed to have efficient warfare such as situation data propagation using network, the convergence of collected situation data, common situational awareness, cooperative engagement. Therefore, this study suggests a way of rule and process for format conversion between Link-K and KMTF messages.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.3
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• pp.713-723
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• 1995

In intelligent machine tools, a computer based control system, which can adapt the machining parameters in an optimal fashion based on sensor measurements of the machining process, should be incorporated. In this paper, the technology for adaptively optimizing the cutting conditions to maximize the material removal rate in face milling operations is proposed using the exterior penalty function method combined with multilayered neural networks. Two neural networks are introduced ; one for estimating tool were length, the other for mapping input and output relations from experimental data. Then, the optimization of cutting conditions is adaptively implemented using tool were information and predicted process output. The results are demonstrated with respect to each level of machining such as rough, fine and finish cutting.

• Structural Engineering and Mechanics
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• v.44 no.3
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• pp.325-337
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• 2012

In this article, the multi-objective optimization of cylindrical aluminum tubes under axial impact load is presented. The specific absorbed energy and the maximum crushing force are considered as objective functions. The geometric dimensions of tubes including diameter, length and thickness are chosen as design variables. D/t and L/D ratios are constricted in the range of which collapsing of tubes occurs in concertina or diamond mode. The Non-dominated Sorting Genetic Algorithm-II is applied to obtain the Pareto optimal solutions. A back-propagation neural network is constructed as the surrogate model to formulate the mapping between the design variables and the objective functions. The finite element software ABAQUS/Explicit is used to generate the training and test sets for the artificial neural networks. To validate the results of finite element model, several impact tests are carried out using drop hammer testing machine.

• Electronics and Telecommunications Trends
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• v.28 no.3
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• pp.95-105
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• 2013

현재의 인터넷은 라우팅과 어드레싱에 대한 심각한 확장성 문제를 가지고 있다. 이러한 확장성의 가장 큰 원인은 멀티호밍, 트래픽 엔지니어링, 집적되지 못하는 주소 할당 등이며, 이로 인하여 백본 지역의 라우팅 테이블 크기가 기하급수적으로 증가하는 현상을 보이고 있다. 또한 현재의 IP 주소는 호스트의 식별자와 위치자의 의미를 함께 사용하기 때문에 호스트의 이동성 및 멀티호밍을 지원하는 데 한계점이 있다. 이러한 현재 인터넷의 문제점 해결 방안으로 식별자와 위치자 분리 구조가 연구되고 있다. 본고에서는 식별자와 위치자 분리 구조에서 필수적으로 요구되는 식별자와 위치자 간의 매핑 시스템에 관한 연구들을 소개하고 각각의 장단점을 분석한다. 본고에서는 현재 인터넷 기반의 대표적 식별자와 위치자 분리 구조 중 IETF(Internet Engineering Task Force)에서 잘 알려진 LISP(Locator Identifier Separation Protocol), HIP(Host Identity Protocol), ILNP(Identifier Locator Network Protocol)에서 제안하는 매핑 시스템들과 미래인터넷 기반의 대표적 식별자와 위치자 분리 구조 중 미국의 MobilityFirst와 한국의 MOFI(Mobile-Oriented Future Internet)에서 제안하는 매핑 시스템들을 중점적으로 소개한다.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.595-597
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• 2005

This paper shows the development of remote control system for manipulators which consists of PHANToM Device as a master, Samsung FARA robot as a slave and TCP/IP based LAN fortheir Communication. This work includes the motion mapping between the master and the slave, Generation of virtual viscosity force preventing operator's unwilled action and 3D remote control simulators for the stable operation of the remote control system, etc. The remote control implementation has been performed and the results shows that the developed system can allow the operator to effectively control the manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.46.6-46
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• 2001

A servo gun welding system having a AC servo motor and a PC control system is presented for the improvement of quality control in the spot welding. The spot welding process is composed of the press stage, the weld stage, and the hold stage. The changes of gun press forces according to three stages in the spot welding process are controlled and measured through the load cell in order to know the influence on the welding quality. The relation between the measured force changes according to three stages and welding qualities is also implemented on the multilayer perceptrons, one of supervised learning method of neural network, which are powerful for realization of complex mapping characteristics. The estimated results and ...