• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.301-303
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• 2018

This paper describes a robot control system and control method of a human arm type redundant manipulator. The control of a redundant manipulator suffer from computational complexity and singularity problem because of numerical inverse kinematics. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of inverse kinematics. In this research, we propose a numerical control method and weighted pseudo inverse kinematics algorithm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regard to the end-effector pose. Performance of the proposed algorithm was verified by various simulations. It is shown that the trajectory planning and using this algorithm provides correct results near the singular points and can utilize redundancy intuitively. We proved this system's validity through field test.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.891-897
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• 2010

This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.629-634
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• 1995

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is formed by a set of robot joint angles derived fromm robot inverse kinematics. The joint space that is made of the joint angle set, forms a Configuration space (Cspace). Obstacles in the robot workcell are also transformed and mapped into the Cspace, which makes Cobstacles in the Cspace. (The Cobstacles represented in the Cspace is actually the configurations of the robot causing collision.) Secondly, a connected graph, a kind of roadmap, is constructed from the free configurations in the 3 dimensional Cspace, where the configurations are randomly sampled form the free Cspace. Thirdly, robot paths are optimally in order to minimize of the sum of joint angle movements. A path searching algorithm based on A is employed in determining the paths. Finally, the whole procedures for the CFPP method are illustrated with a 3 axis articulated robot. The main characteristics of the method are; 1) it deals with CFPP for an articulated robot in a 3-dimensional workcell, 2) it guarantees finding a collision free path, if such a path exists, 3) it provides distance optimization in terms of joint angle movements. The whole procedures are implemented by C on an IBM compatible 486 PC. GL (Graphic Library) on an IRIS CAD workstation is utilized to produce fine graphic outputs.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.263-273
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• 2011

This paper analyzes the motion of a horseback riding robot which has two actuators and three joints. It is impossible to control the saddle to get to any position and orientation using the two motors because the robot has less degrees of freedom than the number of joints. Therefore it is required to know the possible location and orientation along with the velocity characteristics of each pose prior to motion planning. For this purpose, this paper analyzes the characteristics of the robot motion. The authors derive the forward and inverse kinematics of the robot motion and developed the trajectory editor for motion planning. Also, Jacobian of the robot is analyzed. It reveals that one of the actuator has little influence to the speed of the saddle motion while the other affects the speed of the saddle motion dominantly. The approach of the paper can be applied for the analysis of characteristics of a robot which has less number of actuators than that of joints.

• Korea journal of population studies
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• v.9 no.2
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• pp.42-52
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• 1986

An attempt had been made to obtain current information on induced abortion among currently married women aged 15 to 44. The source of data was 1985 National Fertility and Family Planning Survey conducted by Korea Institute for Population and Health in may 1985. 1. At the time of the survey, 53 percent of currently married women aged 15 to 44 had experienced induced abortion: 25.5 percent of the respondents who had experienced induced abortion only one time and another 27.6 percent more than two times. 2. The proportion of women who had experienced induced abortion seemed to increase according to the advance in age. It seemed that there was no significant difference in the experience rate of induced abortion by academic career, and there was inverse relationship between the experience rate of induced abortion and the age at first marriage. The experience rate if induced abortion by the number of living children was highest among those who had three children as 65.6 percent. 3. To analyze the effect of induced abortion on fertility, this study employed multiple regression analysis as a statistical technique. Instead of index representing fertility level the number of living children served as dependent variable. Independent variables used in analysis included age, age at first marriage, education level, ideal number of children, religion, frequency of induced abortion, total number of pregnancies and participation in labor force. Standardized partial regression coefficient of induced abortion was no less than -0.61. So, it can be concluded that induced abortion offered the great contribution on the birth control. A consistant health education and efficient management of family planning program would be essential for effectiveness of contraceptive practice.

• Journal of Multimedia Information System
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• v.8 no.2
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• pp.121-130
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• 2021

Foot bionic robot could be supported and towed through a series of discrete footholds and be adapted to rugged terrain through attitude adjustment. The vibration isolation of the robot could decouple the fuselage from foot-end trajectories, thus, the robot walked smoothly even if in a significant terrain. The gait programming and foot end trajectory algorithm were simulated. The quadruped robot of parallel five linkages with eight degrees of freedom were tested. The kinematics model of the robot was established by setting the corresponding coordinate system. The forward and inverse kinematics of both supporting and swinging legs were analyzed, and the angle function of single leg driving joint was obtained. The trajectory planning of both supporting and swinging phases was carried out, based on the control strategy of compound cycloid foot-end trajectory planning algorithm with zero impact. The single leg was simulated in Matlab with the established kinematic model. Finally, the walking mode of the robot was studied according to bionics principles. The diagonal gait was simulated and verified through the foot-end trajectory and the kinematics.

• Journal of Korean Society of Rural Planning
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• v.28 no.2
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• pp.11-20
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• 2022

As a portal to rural town, Myeon near large cities is expected to represent image of the rural area. But, the landscape are changing rapidly due to development pressure and to the expansion of the transportation network. For visitors and transit traffic, Recognizing that the characteristics of the streetscape is an important task for the vitalization of the rural district. In particular, it was found that the visual quantity of the central street in the location of the town was closely related to the preference of the streetscape, and the visual quantity of trees and the visual quantity of the building showed an inverse relationship of + and - respectively. Since this is not a simple ratio of the sky to the building, but a relative factor, the possibility of landscape improvement can be improved through management of public facilities or green spaces and maintenance of open spaces or gaps between buildings. It seems that it is necessary to secure separate means for the management of the architectural landscape, such as the establishment of a special landscape plan or establishment of ordinances.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.515-522
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• 1991

Determining the motion using optimal technique about traveling time and trajectory planning has been studied often in recent years, but the study of determining the optimal robot dimensions is rare, the authors attempt to find out the least driving torques and energy as the optimization of link length ratio referred to 2R SCARA and 3R robot manipulators. For the given linear path with triangular velocity profile, the inverse kinematic and dynamic problems are examined in order to lead into solution of problem, which is suggested for optimal design of link lengths. Accordingly, optimal link length ratio is obtained with respect to each case.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.183-185
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• 2002

Heavy ion and proton therapy necessitate range weeks, which are time consuming. Three types of variable compensator, membrane type liquid variable compensator, are proposed by some of the authors to overcome the difficulties, by those arbitrarily thickness distribution of compensator obtained from treatment planning is created at the site of treatment. None of the ideas, however, is yet realized. In this research, we are trying to construct prototype membrane-type liquid variable compensator. This variable compensator partitions air and liquid with elasticity membrane and changes the surface of the elasticity membrane with the thread. The air and oil move through holes to and from the out of beam side of two boxes in which they are contained. The boxes are made of Plexiglas(PMMA), the thread which is made of nylon, the elasticity film which is made from latex for the moment.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.2
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• pp.95-102
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• 2001

In general there are many degrees of freedom(DOFs) in industrial robots. So they have many poses of several special end-effectors positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applica-tions such as welding, spray painting, deburring, and so on. In this research, an off-line continuous path planning method based on linear interpolation with parabolic blend is developed. The method safely maintains the constant orientation for base frame and end-effectors path within allowable error and minimizes the number of segments in path. This algorithm may apply to welding and painting in which the orientation is particularly significant. The simulation study of cartesian curve is carried out to show the performance of this algorithm.