• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1258-1261
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• 1993

This paper presents a methodology of path planning and navigation for an autonomous mobile robot. A fast algorithm using decomposition technique, which computes the optimal paths between all pairs of nodes, is proposed for real-time calculation. The robot is controlled by fuzzy approximation reasoning. Our new methodology has been implemented on a mobile robot. The results show that the robot successfully navigates to its destination following the optimal path.

• Journal of Digital Convergence
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• v.17 no.9
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• pp.199-212
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• 2019

Digitalization is creating a variety of changes and innovations in our business environment. In manufacturing, robots have long been used for automation to innovate processing speed and quality. The RPA brings these innovations in manufacturing sites to the office space. The purpose of this study is to improve productivity for simple, repetitive tasks in these office space. For identify the potential of automation related to productivity improvement, I looked at the concept of business automation, and then simulated the five areas of business documentation works with agile methodology. In conclusion, I confirmed that productivity improvement of 97.3% in quality inspection and 31.7% in editorial design is possible, and examined the direction to apply to actual work. Based on these results, future study will explore the application of Intelligent Process Automation (IPA).

• International Journal of Control, Automation, and Systems
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• v.1 no.2
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• pp.257-261
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• 2003

In this study, we investigated the modeling and design of an Intelligent Agent System (IAS). To achieve this goal, we introduced several kinds of agents that exhibit intelligent features. These are the main agent, management agent, watcher agent, report agent and application agent. We applied the intelligent agent concept to two different application fields, i.e. the intelligent agent system for pattern classification and the intelligent agent system for bank asset management modeling.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.41-48
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• 2002

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.626-630
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• 2005

This paper presents a novel Intelligent-Welding-Carriage (IWC) for automation of curved block in shipbuilding. The curved block is usually used in both front and back side of the ship. In curved block root gap is big, $1{\sim}7$ [mm] and inclination, $0{\sim}30$ [deg]. Since available conventional carriage type is limited to use below root gap of 3 [mm], only manual welding is employed in curved block. To adopt an IWC in curved block, it requires control of the welding conditions, i.e., voltage, current and travel speed, with respect to root gap and inclination to achieve good welding quality. In this paper, an IWC is developed for automization of welding operation to accommodate gap and inclination. Kinematics model and dynamics using Lagrangian formulation of the manipulator is introduced. IWC utilizes a database to perform accurate welding. The database is programmed based on numerous experimental test results with respect to gap, inclination, material, travel speed, weaving condition, voltage, and current. Finally, experimental result using PID control is addressed for verify the trajectory tracking accuracy of end-effector.

• Special Issue of the Society of Naval Architects of Korea
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• 2005.06a
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• pp.171-176
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• 2005

This paper presents a novel Intelligent-Welding-Carriage (IWC) for automation of curved block in shipbuilding. The curved block is usually used in both front and back side of the ship. In curved block root gap is big, 1-7 (mm) and inclination, 0-30 (deg). Since available conventional carriage type is limited to use below root gap of 3 (mm), only manual welding is employed in curved block. To adopt an IWC in curved block, it requires control of the welding conditions, i.e., voltage. current, weaving speed, dwell time and travel speed, with respect to root gap and inclination to achieve good welding qualify. In this paper, an IWC is developed for automization of welding operation to accommodate gap and inclination. Kinematics model and dynamics using Lagrangian formulation of the manipulator is introduced. IWC utilizes a database to perform accurate welding. The database is programmed based on numerous experimental test results with respect to gap, inclination, material, travel speed, weaving condition, voltage, and current. Finally, experimental result using PID control is addressed for verifying the trajectory tracking accuracy of end-effector.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.17 no.4
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• pp.64-73
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• 2003

There are many economic and operational reasons to integrate fire alarm signaling system with other building automation system Integration of this requires open network with the standard communication protocol and careful design practices. The important point for this is also the development of intelligent control modules for replacing the conventional zone adapter in fire system. Therefore, this paper proposes an new conceptual design of the open distributed fire alarm signaling system for the integration of BAS and a new intelligent control modules with LonTalk protocol. Newly proposed additions to LonWorks network make it very well suited for integrating fire systems with other building automation systems. Additionally, it is very important that best design practices, test procedures and building codes need to be modernized to accommodate integrated building systems.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.189-193
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• 1998

A PID type fuzzy Controller is proposed based on a crisp type model in which the consequent parts of the fuzzy control rules are functional representation or real numbers. Using the conventional PID control theory, a new PID type fuzzy controller is developed, which retains the characteristics of the conventional PID controller. An advantage of this approach, is that it simplifies the complicated defuzzification algorithm which could be time consuming. Computer simulation results have shown that the proposed PID fuzzy controller has satisfactory tracking performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.3-8
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• 2002

An intelligent polishing robot automation system is developed. Automatic Tool Change System(A.T.C.), Tool Posture Angle Control, and Robot Program for Polishing Application are developed and integrated into a robotic system that consists of a robot, pneumatic finding tool, and finding abrasives (papers and special films). A.T.C. is specifically designed to exchange whole grinding tool set for complete unmanned operation. Tool Posture Angle Control is developed to give a certain skew angle rather than right angle to tools on the surface for best finishing results. A.T.C. and Tool Posture Angle Control is controlled by a PC and the robot controller. Also, there have been some considerations on enhancing the performance of the system. Some elastic material is inserted between the grinding pad and the holder for better grinding contact. The robot path data is generated automatically from the NC data of previous machining process.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.716-717
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• 2011

This paper presents the overview of development of substation automation system. The prototypes of SA system are developed in first phase, and being enhanced the performance in second phase. In this research, the project was classified into three projects which are the development of intelligent electronic devices, the development of operation system and communication network in substation, and the development of technology to verify the compatibility of IEC 61850. As a result of this research, the domestic-made SA system are operated and tested for the performance in 154kV substation and/or test-bed in KEPCO PT Center.