• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.5
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• pp.549-556
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• 2009

One of the basic technology for implementing the autonomy of UGV(Unmanned Ground Vehicle) is a path planning algorithm using obstacle and raw terrain information which are gathered from perception sensors such as stereo camera and laser scanner. In this paper, we propose a generation method of DVGM(Directional Velocity Grid Map) which have traverse speed of UGV for the five heading directions except the rear one. The fuzzy system is designed to generate a resonable traveling speed for DVGM from current patch to the next one by using terrain slope, roughness and obstacle information extracted from raw world model data. A simulation is conducted with world model data sampled from real terrain so as to verify the performance of proposed fuzzy inference system.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.590-595
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• 2000

On the contrary to the increasing needs of shape qualities, most of quality inspections are carried out by manual or operator's insight. To find the causes of shape inferiority, it is required to gather and analyze the shape measurement data. As a result the winding profile measurement system ($TELE-SCANNER^{(R)}$) is developed to analyze the coiling process and automate the manual measuring process for winding profile of hot-rolled coils. The winding profile measurement system measures and analyzes winding profile shapes of hot-rolled coils, and classifies them into several dominant patterns that are related to normal or abnormal mechanical conditions of down-coiler. The system also contains analysis software to quantify the winding profile shapes and patterns, and to produce statistics to help search the causes of profile shape inferiority.

• Agricultural and Biosystems Engineering
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• v.6 no.2
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• pp.54-58
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• 2005

In this study, tele-robotics was researched to actualize robots in agriculture. The robot system consisted of a data collecting robot, several robots that performed their own agricultural operations, a server, client computers and networks between robots and computers. In this paper, as a first step, harvesting experiments were carried out. From the results, it was observed that the tele-robotics had feasibility to propel the robotization in agriculture. The tele-robotics has advantages not only that human workers are released from the severe working environment but also that the greenhouse can be monitored and controlled anytime and anywhere.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.2
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• pp.12-18
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• 2005

A geometric compensation of thin-walled molded parts in reverse engineering is presented. Researches in reverse engineering have focused on the fitting of points to curves and surfaces. However, the reconstructed model is not the geometric model because the molded parts have some dimensional errors in measurements and deformation during molding. Geometric information can give an improved accuracy in reverse engineering. Thus, measurement data must be compensated with geometric information to reconstruct the mathematical model. The functional and geometric concepts of the part can be derived from geometric information. LSM (Least square method) is adopted to determine the geometric information. Also, an example of geometric compensation is given to improve the accuracy of geometric model and to inspect the reconstructed model.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.7
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• pp.181-188
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• 2000

The objective of this research is to develop an efficient reverse engineering method of 3-dimensional compound surfaces for raped prototyping process. As a first step, several image processing techniques were applied to the measured data obtained using laser scanner. And the boundary information of the compound surface were extracted to divide the surface into several separate regions. As a next step, the Delaunay triangulation method were applied to reconstruct the surface based on the measured data and the boundary information. Finally, the STL file were created for the rapid prototyping process. Required simulations and experiments were performed and the results were analyzed to show the effectiveness of the proposed methods.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.841-845
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• 1996

Reverse engineering enables a fast creation of CAD model from an existing part without any technical drawing or digital data. This method of data acquisition is necessary in several industrial applications when the modification of an existing product design has to be performed and verified afterwards. In this paper, the surface of an existing ship propeller was measured by a tactile measuring system and the acquired point data of the surface were used for modeling of a solid model in CAD system. By using LOM and casting processes, an aluminum propeller for functional test was manufactured and then its accuracy was measured by a laser scanner and compared with the origin릴 CAD data. As the results show, the use of LOM as a rapid prototyping process and casting as a secondary process delivers a functional prototype propeller which can be used for test purposes.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.1
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• pp.49-55
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• 2020

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.99-106
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• 1998

Recently, scientists introduced a new type of microscope capable of investigating nonconducting surfaces in an atomic scale, which is called AFM (Atomic Force Microscope). It was an innovative attempt to overcome the limitation of STM (Scanning Tunnelling Microscope) which has been able to obtain the image of conducting surfaces. Surfaces of samples are imaged with atomic resolution. The AFM is an imaging tool or a profiler with unprecedented 3-D resolution for various surface types. The AFM technology, however, leaves a lot of room for improvement due to its delicate and fragile probing mechanism. One of the room for improvements is gap control between probe tip and sample surface. Distance between probe tip and sample surface must be kept in below one Angtrom in order to measure the sample surface in Angstrom resolution. In this paper, AFM system modeling, experimental system identification and control scheme based on system identification are performed and finally sample surface is measured by home-built AFM with such a control scheme.

• Proceedings of the Korea Contents Association Conference
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• 2016.05a
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• pp.275-276
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• 2016

토공 작업현장의 정확한 계측을 위해 3차원 스캐너(Terrestrial Laser Scanner, TLS)의 이용이 점차 확대되고 있으며, 스캐너를 통해 취득한 원지형 디지털 정보를 건설기계 장비 자동화를 위한 기초자료로 활용하는 연구가 이루어지고 있다. 3차원 지형정보를 취득하기 위해서는 현장측정 및 후처리작업이 필요하며, 현장측정과 후처리를 위한 방법 선택에 따라, 측정 정밀도 및 소요시간이 달라진다. 본 연구에서는 최적 스캐닝 플랫폼 구축을 위해 현장측정 및 후처리 방법에 따라 변화하는 정밀도 및 생산성을 계측 분석하는 방법을 제안하였다.

• ETRI Journal
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• v.41 no.6
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• pp.782-796
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• 2019

This paper presents a hierarchical framework for managing the sampling distribution of a particle filter (PF) that estimates the global positions of mobile robots in a large-scale area. The key concept is to gradually improve the accuracy of the global localization by fusing sensor information with different characteristics. The sensor observations are the received signal strength indications (RSSIs) of Wi-Fi devices as network facilities and the range of a laser scanner. First, the RSSI data used for determining certain global areas within which the robot is located are represented as RSSI bins. In addition, the results of the RSSI bins contain the uncertainty of localization, which is utilized for calculating the optimal sampling size of the PF to cover the regions of the RSSI bins. The range data are then used to estimate the precise position of the robot in the regions of the RSSI bins using the core process of the PF. The experimental results demonstrate superior performance compared with other approaches in terms of the success rate of the global localization and the amount of computation for managing the optimal sampling size.