• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.11
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• pp.1759-1769
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• 1989

This paper presents the development of a simulator for an industrial robot. The simulator is characterized by a fully integrated dynamic model and a hardware oriented control scheme. The dynamic model includes the actuator dynamics as well as the manipulator dynamics to integrate the entire dynamics of the robot system. On the other hand, the control scheme is oriented as a hardware structure which is usually implemented in the industrial robot. That is to say, a conventional PI control law is used to regulate the position, the speed, and the current. A Pulse Wave Modulation (PWM)generator modulates the supplied voltage to the actuator. Since the simulator is consistent with the industrial robot system, it provides the essential design concepts for the development process of the robot. In practice, the simulator is applied to the SCARA robot which has been developed in GSIS. Here, it investigates the characteristics and performance of the robot with changing design parameters. Thus, the investigation furnishes criteria for the selection of acfuator, control gain, trajectory planning, etc.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.78-80
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• 2005

Haptic interface apparatus is the device which can offer users virtual reality not only by visualization of virtual space but also by force or tactile feedback. In this paper, we designed and fabricated a 2D haptic interface device that can be used for various purposes, and implemented a virtual air-hockey system that users can easily find in game rooms. By suitable modeling and haptic rendering, users can feel the impact and the reaction force with his/her hand holding the handle through 2D haptic interface device when he/she hit an air-hockey puck with the handle. Through the trial demonstration. we observed the reasonable effect of direction and speed of a ball like doing in reality.

• Architectural research
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• v.14 no.4
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• pp.153-161
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• 2012

This paper presents an integrated procedure to predict the temperature and moisture distributions in hardening concrete considering the effects of temperature and aging. The degree of hydration is employed as a fundamental parameter to evaluate hydro-thermal-mechanical properties of hardening concrete. The temperature history and temperature distribution in hardening concrete is evaluated by combining cement hydration model with three-dimensional finite element thermal analysis. On the other hand, the influences of both self-desiccation and moisture diffusion on variation of relative humidity are considered. The self-desiccation is evaluated by using a semi-empirical expression with desorption isotherm and degree of hydration. The moisture diffusivity is expressed as a function of degree of hydration and current relative humidity. The proposed procedure is verified with experimental results and can be used to evaluate the early-age crack of hardening concrete.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.58-65
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• 2000

This study is concerned about the verification and the implementation of a mechanical model for the force system in end milling. The model is based on the relationship between the cutting forces and the chip thickness. The components of the model are based on the average cutting forces which are experimentally obtained. And, both instantaneous and average force system characteristics are described as a function of cut geometry and a feed rate. This model employed two specific cutting forces, instantaneous and average specific cutting force, and the models which obtained using two cutting forces were compared and analyzed. In this study, cutter deflection with respect to the center of rotation is considered, which is a major part of the tool run-outs. The effect of run-out on the cutting forces is also discussed. The relationships among the run-out parameters, cutting parameters and the resulting force system characteristics are presented. In all cases, for the down milling with a right hand helix cutter is considered.

• Journal of the Korea Society for Simulation
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• v.8 no.1
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• pp.101-111
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• 1999

The Web-based simulation was introduced for conducting simulation experiments in the Internet and the Web. Due to the use of the Java language, the Web-based simulation can have such characteristics as reusability, portability, and the capability of execution on the Web. Most of existing Web-based simulation tools have focused mainly on the development of the runtime simulation libraries and mechanisms on the Web. Thus, the model development work in such Web-based simulation tools still requires hand-written coding of model developers. This paper presents a visual model development environment for the Web-based simulation. The proposed environment provides a framework for model development and animation. To show the effectiveness of the proposed environment, we perform simulation experiments for transaction routing algorithms in a distributed transaction processing system.

• Journal of the Korean Data and Information Science Society
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• v.27 no.5
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• pp.1225-1239
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• 2016

We investigate pediatric tumor incidence data collected by the Florida Association for Pediatric Tumor program using various models commonly used in disease mapping analysis. Particularly, we consider Poisson normal models with various conditional autoregressive structure for spatial dependence, a zero-in ated component to capture excess zero counts and a spatio-temporal model to capture spatial and temporal dependence, together. We found that intrinsic conditional autoregressive model provides the smallest Deviance Information Criterion (DIC) among the models when only spatial dependence is considered. On the other hand, adding an autoregressive structure over time decreases DIC over the model without time dependence component. We adopt weighted ranks squared error loss to identify high risk regions which provides similar results with other researchers who have worked on the same data set (e.g. Zhang et al., 2014; Wang and Rodriguez, 2014). Our results, thus, provide additional statistical support on those identied high risk regions discovered by the other researchers.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.5
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• pp.1915-1933
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• 2013

In this study, the virtual fixed point analysis and 3D fully modeling analysis for bent pile structures are conducted by considering various influencing factors and the applicability of the virtual fixed point theory is discussed. Also, the optimized column-pile length ratio is analyzed for supplementing virtual fixed point design and examining a more exact behavior of bent pile structures by taking into account the major influencing parameters such as pile length, column and pile diameter, reinforcement ratio and soil conditions. To obtain the detailed information, the settlement and lateral deflection of the virtual fixed point theory are smaller than those of 3D fully modeling analysis. On the other hand, the virtual fixed point analysis overestimates the axial force and bending moment compared with 3D fully modeling analysis. It is shown that the virtual fixed point analysis cannot adequately predict the real behavior of bent pile structures. Therefore, it is necessary that 3D fully modeling analysis is considered for the exact design of bent pile structures. In this study, the emphasis is on quantifying an improved design method (optimized column-pile length ratio) of bent pile structures developed by considering the relation between the column-pile length ratio and allowable lateral deflection criteria. It can be effectively used to perform a more economical and improved design of bent pile structures.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.590-593
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• 2001

In this paper we describe the 6-axes robot's position determination using a stereo vision and an image based control method. When use a stereo vision, it need a additional time to compare with mono vision system. So to reduce the time required, we use the stereo vision not image Jacobian matrix estimation but depth estimation. Image based control is not needed the high-precision of camera calibration by using a image Jacobian. The experiment is executed as devide by two part. The first is depth estimation by stereo vision and the second is robot manipulator's positioning.

• Proceedings of the Membrane Society of Korea Conference
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• 2004.05a
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• pp.33-38
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• 2004

Molecular modeling of gas permeation through zeolite membranes with/without intercrystalline region was carried out. Molecular dynamics (MD) and Monte Carlo (MC) simulations were performed to estimate the diffusion coefficient and adsorption parameters respectively, and our proposed combined method of molecular simulation techniques with a permeation theory (CMP) was used to estimate gas permeability. The calculated permeability of gases (Ar, He, Ne, $N_2$, $0_2$, $CH_4$) at 301 K for the single crystal membrane model was about one order of magnitude larger than the experiential values, although the dependence on the molecular weight of the permeating species agreed with experiments. On the other hand, the estimated permeability using the diffusivity and adsorption parameters of the intercrystalline region model was in good agreement with the experiments. The consistency between experiments and the estimated values means the importance of considering the intercrystalline region and the validity of CMP method to predict the performance of zeolite membranes.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.216-220
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• 2007

Camera calibration in machine vision is the process of determining the intrinsic camera parameters and the three-dimensional (3D) position and orientation of the camera frame relative to a certain world coordinate system. On the other hand, Takagi-Sugeno-Kang (TSK) fuzzy system is a very popular fuzzy system and approximates any nonlinear function to arbitrary accuracy with only a small number of fuzzy rules. It demonstrates not only nonlinear behavior but also transparent structure. In this paper, we present a novel and simple technique for camera calibration for machine vision using TSK fuzzy model. The proposed method divides the world into some regions according to camera view and uses the clustered 3D geometric knowledge. TSK fuzzy system is employed to estimate the camera parameters by combining partial information into complete 3D information. The experiments are performed to verify the proposed camera calibration.