• Journal of Power System Engineering
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• v.6 no.1
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• pp.96-101
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• 2002

In this paper, we address the problem of controlling an end-effector to track and grab a moving target using the visual servoing technique. A visual servo mechanism based on the image-based servoing principle, is proposed by using visual feedback to control an end-effector without calibrated robot and camera models. Firstly, we consider the control problem as a nonlinear least squares optimization and update the joint angles through the Taylor Series Expansion. And to track a moving target in real time, the Jacobian estimation scheme(Dynamic Broyden's Method) is used to estimate the combined robot and image Jacobian. Using this algorithm, we can drive the objective function value to a neighborhood of zero. To show the effectiveness of the proposed algorithm, simulation results for a six degree of freedom robot are presented.

• Proceedings of the KWS Conference
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• 2001.10a
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• pp.121-124
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• 2001

The main characteristic of the Electron Beam Welding technique is its high energy density which produces thin and deep welds with very little distortion. High accelerated electrons, focused in a beam of 0.5 ∼ 2mm diameter, produce narrow welds with deep penetration. The result is a small HAZ as well as a low and uniform distortion which is predictible within very narrow limits. But the small diameter of the EB increases the requirements for the equipment control system for centering the beam on the welding joint in order to avoid any lack of fusion. Therefore, in this paper, we introduce the system developed at our company and the quality of welding zone, the detail function of system.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.1
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• pp.83-89
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• 2004

Flare nut is an important Part that used to joint a brake tube-end in automobiles. It was made of SWCH 10A by machining. But we studied to make it by metal forming. The main focus of this paper is to investigate an optimal forging processes for flare nut using the DEFORM$^{TM}$-3D. commercially available finite element code and tests. Actually an explicit finite element analysis of the flare nut forging processes has been carried out to predict an optimal shape of the flare nut and its results were reflected in the tests of the forging processes design for flare nut. The simulation results which had obtained from finite element analysis were contributed to the forging processes design for flare nut. An optimal shape of nave nut showed agreements with test results. Furthermore. this paper should contribute to a development of the forging process for a variety of parts.s.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.4
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• pp.21-25
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• 2005

In the dynamic analysis of a mechanism, if one or more of the components are flexible, then the simulation will not be accurate because of the violation of the rigid body assumption. Mode shapes are used to represent the dynamic behavior of an elastic structure. A modal synthesis method which uses a combination of normal modes, constraint modes, and attachment modes, was used to represent effectively the elastic deformation of a flexible multibody. Since the combination of these modes should be different for each type of connecting part, the modal synthesis method was studied for the various types of interconnecting joints. In addition, the analysis procedure for the flexible body was explained. A satellite system with flexible solar panels was chosen as an example to show the effectiveness of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.966-970
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• 2005

A Robot Performance Evaluation System(RPES) Program with auto extraction algorism was developed according to the ISO 9283 robot performance criteria. The developed program looks for order point automatically in data that get laser measurement Instrument and estimate performance of robot using this order point. In addition, this program estimates Each Joint Motion of robot. Robot Performance Evaluation System(RPES) Software was developed with Visual Basic satisfying the need of Hyundai Motor Company. The developed system was implemented on NACHI 8608 AM 11 robot. The resulted output shows the effectiveness of the developed system.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.5
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• pp.155-163
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• 2008

This study investigated biomechanical response through the 3-dimensional virtual skeletal model developed and validated. Ten male subjects in standing posture were exposed to whole body vibrations and measured acceleration on anatomical of interest (head, $7^{th}$ cervical, $10^{th}$ thoracic, $4^{th}$ lumbar, knee joint and bottom of the vibrator). Three dimensional virtual skeletal model and vibration machine were created by using BRG LifeMOD and MSC.ADAMS. The results of forward dynamic analysis were compared with results of experiment. The results showed that the accuracy of developed model was $73.2{\pm}19.2%$ for all conditions.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.10a
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• pp.203-209
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• 1996

The authors apply the transfer influence coefficient method to the 3-dimensional vibration analysis of beam with multi-joints and formulate a general algorithm to analysis the longitudinal, flexural and torsional coupled forced vibration. In this paper, a structure, which is mainly founded in the robot arms, cranes and so on, has some crooked parts, subsystems and joints but has no closed loop in this system. It is modeled as the beam of a distributed mass system with massless translational, rotational and torsional springs in each node, and joint elements of release or roll at which node the displacement vector is discontinuous. The superiority of the present method to the transfer matrix method in the computation accuracy was confirmed from the numerical computation results. Moreover, we confirmed that boundary and intermediate conditions could be controlled by varying the values of the spring constants.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.11a
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• pp.187-193
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• 2000

In order to reduce the booming noise caused by first bending mode of drive shaft, this paper proposes a simulation program for prediction of the bending mode frequency of any tubular shaft. This program consists of a pre-processor for modeling of geometrical shape of drive shaft and applying the boundary conditions of various joints, a processor for constructing of global finite element matrices using beam elements and an eigen-solver based on MATLAB program. Using this simulation program, the effective and accurate FE model for a shaft attached in vehicle can be obtained by aid of database for stiffness of each joint. Thus the resonance frequencies and mode shapes of a shaft can be calculated accurately. Because the effect of the resonance on interior noise can be verified, more improved shaft can be proposed at the early stage of design.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.1
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• pp.147-161
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• 2012

In recent years, machine-to-machine (M2M) communications are under rapid development to meet the fast-increasing requirements of multi-type wireless services and applications. In order to satisfy M2M communications requirements, heterogeneous networks convergence appears in many areas, i.e., mobile cellular networks (MCNs) and wireless sensor networks (WSNs) are evolving from heterogeneous to converged. In this paper, we introduce the system architecture and application requirement for converged MCN and WSN, where mobile terminals in MCN are acting as both sensor nodes and gateways for WSN. And then, we discuss the joint optimization of converged networks for M2M communications. Finally, we discuss the technical challenges in the converged process of MCN and WSN.