• Journal of Korea Society of Industrial Information Systems
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• v.17 no.4
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• pp.9-15
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• 2012

This paper presents application of a new tactile slippage sensation algorithm in robot hand control system. The optical three-axis tactile sensor is a type of tactile sensor capable of defining normal and shear forces simultaneously. The tactile sensor is mounted on fingertip of robotic hand. Shear force distribution is used to define slippage sensation in the robot hand system. Based on tactile slippage analysis, a new control algorithm was proposed. To improve performance during object handling motions, analysis of slippage direction is conducted. The control algorithm is classified into two phases: grasp-move-release and grasp-twist motions. Detailed explanations of the control algorithm based on the existing robot arm control system are presented. The experiment is conducted using a bottle cap, and the results reveal good performance of the proposed control algorithm to accomplish the proposed object handling motions.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.7
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• pp.105-113
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for stably grasping an unknown object. In order to safely grasp an unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor may be used for robot's gripper.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.42 no.2
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• pp.111-118
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• 2006

It is indispensable to grasp the turning ability of a ship to operate her effectively. For this purpose, the author measured the turning ability of training ship, A-RA by use of bow thruster and stem rudder. The turning ability of this ship, in case of using both of stem rudder and bow thruster at the same time, caused by increase of steering angle provides more influence to the size of tactical diameter than it caused by the power of bow thruster. But the influence of bow thruster on the turning ability is available only within rudder angle $5^{\circ}\;-\;10^{\circ}$, so it is possible to grasp that the effect of bow truster is reduced as rudder angle become bigger. In case of the influence of bow thruster by her speed, the ability of bow thruster is very effective at low speed, but it is almost not available in normal turning speed. Therefore, the using both of stem rudder and bow thruster can be useful in case of low speed proceeding at entrance or departure of the narrow waterway or inside port which sea traffic is congest for collision avoidance.

• Journal of the Korean Society of Costume
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• v.36
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• pp.139-148
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• 1998

In order to know what sorts of features of neck form may be required to make plans for tight collars, the neck form of young japanese women were measured three demension-ally using GRASP(Grating Projection System for Profiling) and plaster torso. By the BASIC language in NEC computer and EXCEL program in MACINTOSHI computer, it became possible to draft a number of neck surface auomatically, therefore, we got analysis of a mass of subjects. Thed following results were obtained: 1. There was a large individual difference in the shape of neck, in particular, on the front and side curves of the neck base line, where the undulation of clavicular part of neck and inclination of shoulder are refracted. 2. When designing a stand collar, from the viewpoint of clothing strcture, it is important to grasp exactly the shapes of the neck, such as the line of the neck base, the neck gradient, back neck length, back neck width & girth. 3. According to the somatotypes(turing-over, standard, bending type), there were different the method of the basic collar pattern making.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.1
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• pp.89-96
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• 2009

This paper describes the intelligent robot's hand with three finger sensors for a humanoid robot. In order to grasp an unknown object safely, the intelligent robot's hand should measure the mass of the object, and determine the grasping force using the mass, finally control the grasping force using the finger sensors and the controller. In this paper, the intelligent robot's hand for a humanoid robot was developed. First, the six-axis force/moment sensor was manufactured. second, three finger force sensors were designed and fabricated, third, the high-speed controller was manufactured using DSP(digital signal processor), finally, the characteristic test for determining a grasping force and for grasping an unknown object safely It is confirmed that the hand could grasp an unknown object safely.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.6
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• pp.71-76
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• 2008

The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.2
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• pp.157-164
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• 2014

In this paper, we design a gripping force control system using tactile sensor to prevent slip when gripper tries to grasp and lift an object. We use a flexible tactile sensor for measuring uniplanar pressure on gripper's finger and develop an algorithm to detect the onset of slip using the sensor output. We also use a flexible pressure sensor to measure the normal force. In addition, various signal processing techniques are used to reduce noise included in the sensor output. A 3-finger gripper is used to grasp and lift up a cylindrical object. The tactile sensor is attached on one of fingers, and sends output signals to detect slip. Whenever the sensor signal is similar to the slip pattern, gripper force is increased. In conclusion, this research shows that slip can be detected using the tactile sensor and we can control gripping force to eliminate slip between gripper and object.

• Journal of Ocean Engineering and Technology
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• v.31 no.1
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• pp.60-68
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• 2017

In this study, we analyzed the real time video image obtained from the video monitoring system to grasp the shoreline, beach width, and area change of Haeundae beach. The video monitoring techniques enabled continuous monitoring for a long period at a much lower cost than general survey methods. It was possible to grasp quantitative beach variation characteristics of Haeundae beach through image acquisition, rectification, and image processing of video images. According to the monitoring results, the erosion rate of Haeundae beach in spring and summer was -19.8% in 2014 and -6.7% in 2015. The erosion rate in 2016 was -6.4%, which showed that the erosion rate in spring and summer continued to decrease. In particular, the influence of the erosion at the time of typhoon CHABA was revealed to be smaller than in the past. It can be concluded that these variations were due to beach width expansion by beach nourishment and the installation of submerged breakwaters.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.19 no.3
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• pp.127-133
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• 2005

Programmable Logic Controller(PLC) is the most widely utilized and plays an important role in industrial control system. The study about a PLC language is performed actively. Ladder Diagram(ID) is the most widely used in PLC. In is not suitable for describing a complex sequential logic and is very difficult to grasp the sequential flow of control logic and has the disadvantage for a maintenance. On the other hand, Sequential Function Chart(SFC) is very easy to grasp the sequential flow of control logic and has the compatability for a maintenance but has the disadvantage for describing a condition and a interlock logic. In this paper, we propose the method that describe the interlock logic using management step, and confirm his feasibility through a actual examples.

• Journal of the Korean Society of Costume
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• v.22
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• pp.61-70
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• 1994

the purpose of study is to grasp the actual state of the textiles of Kojosun, Booyeo and Kogooryeo, by examining and studying about the excavated article of the textile of the Booyeo Age which was being gamered in the Research Institute of Study of antiquities of Civilization of gilimsung without being analyzed and examined after being excavated at September in 1990 and 1993, the textile of Kojosun Age wich was excavated and examined at East and North Gilimsung in China and the textile excavated and examined at the Kogooryeo grave at jiban China. 1. The kinds of textiles of Booye Age are warp kum plin weave silk plain weave bang gong Sa, and drawn and dyed textile, It is deemed that the real state of keum, Jeung and Hwi in the old literature of Sam guk Ji was grasped. 2. It emerges that more detailed wool than the wool fabric of China area of the same age was manufactured as the textile of Kojosun Age. hemp cloth corresponds to 12 Seung, in converting into fabric width of 50cm. 3. Keum was examined and reported as the textile of Kogooryeo Age and the real state of Woonkeum of Kogooryeo Age was grasped through "Wang ja moon keum" of Keumjang of mural of South and North I room of the grave that the same keum was excavated. The real state of dyed textile of hemp was grasped as the red hemp cloth was examined. Moreover the real state of development of advanced technique to weave with machine appeared by the grasp of inclination of loom with reed of Kogooryeo.Kogooryeo.