• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.319-326
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The industrial robot with 4 and 6 axes modeled SM5 and AMI respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.188-193
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• 2000

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95' graphic user interface i\environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, y Silicon Graphics, Inc. were utilized for 3D graphics.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.3
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• pp.21-27
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• 2002

In this paper, we have developed a Widows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. The SCARA robot with four joints (FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Widows 98's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic 1ibraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.11 no.3
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• pp.21-27
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 ares SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.119-124
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• 2000

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.12
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• pp.80-88
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• 2003

We propose a new technique to design an unmaned integrating control system based-on Windows XP version off-Line Programming System which can simulate a dynamic model of robot manipulator in three dimensions graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off$.$line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for three dimensions graphics.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.1
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• pp.52-57
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• 2006

In this paper, we have proposed a new adaptive fuzzy control algorithm based on Takagi-Sugeno fuzzy model. The regulation problem for the uncertain SISO nonlinear system is solved by the proposed algorithm. Using the advanced stability theory, the stability of the state, the control gain and the parameter approximation error is proved. Unlike the existing feedback linearization based methods, the proposed algorithm can guarantee the global stability in the presence of the singularity in the inverse dynamics of the plant. The performance of the proposed algorithm is demonstrated through the problem of balancing and swing-up of an inverted pendulum on a cart.

• Smart Structures and Systems
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• v.13 no.5
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• pp.821-848
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• 2014

This paper presents a novel method to carry out monitoring of transport infrastructure such as pavements and bridges through the analysis of vehicle accelerations. An algorithm is developed for the identification of dynamic vehicle-bridge interaction forces using the vehicle response. Moving force identification theory is applied to a vehicle model in order to identify these dynamic forces between the vehicle and the road and/or bridge. A coupled half-car vehicle-bridge interaction model is used in theoretical simulations to test the effectiveness of the approach in identifying the forces. The potential of the method to identify the global bending stiffness of the bridge and to predict the pavement roughness is presented. The method is tested for a range of bridge spans using theoretical simulations and the influences of road roughness and signal noise on the accuracy of the results are investigated.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.250-255
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 98 version. 4 axes industrial robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 98's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.8
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• pp.482-491
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• 2003

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.