• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.443-454
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• 2016

This study focus to make 8 legs robot based on Jansen's mechanism. In the process of making, we found GL(Ground length),GAC(Ground Angle Coefficient) and the height difference of tract and compare Several models with M.Sketch to find link's Length ratio Optimised simple walking and crossing of obstacles. In the process, our team Analyzed the difference ideal tract (Jansen holy number model's track) contrived by Jansen and our final model tract. As a result, we found optimal link's length ratio to over the obstacles and some features that our model differ from Jansen holy number model. It means that optimal link's length ratio depends on certain circumstances, perfect length ratio is nonexistent.

• Journal of Korea Society of Industrial Information Systems
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• v.9 no.4
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• pp.26-31
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• 2004

Due to the recent explosive progress of Web, We can easily access a large number of images from m. In this paper, we describe our approach of developing a general purpose content based image retrieval system over the H using a Web agent. The Web agent extracts text information of images from the links and file contents in HTML. The proposed system retrieves the images from database using the query by sketch and the query by example on Web browser. Experimental results demonstrate the effectiveness of the new approach.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.434-442
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• 2016

Jansen mechanism is composed of mechanical walking linkages that are designed and optimized by Theo Jansen in 1990. Although he has made optimum values for linkage dimensions for Jansen Mechanism, there are still various applications for this mechanism and also various optimum values for each application. In this paper, Jansen Mechanism optimization has been processed for the Science Box. The Science Box has its own linkage dimensions and related components and makes space for optimization process. For the optimization 3 to 4 linkage were selected which had no similar ratios of linkages between other applied Jansen mechanisms and to reduce experiment numbers. Response Surface Method was used with Minitab 17 for optimization and m.sketch was used for experimentation. Intuitive method had to be used to find optimum values as with RSM optimum value could not be found. EDISON Designer was used to make final CAD model with optimum values and laser cutter was used to get appropriate acryl panels for legs.

• Journal of the Korean Institute of Landscape Architecture
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• v.35 no.2 s.121
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• pp.55-63
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• 2007

The purpose of this study is to create a planting design for progressive realization. For this, visual preferences as measured via questionnaire were evaluated by the Scenic Beauty Estimation(SBE) and paired comparison methods. The results can be summarized as follows. Through photo observation, the average visual blockage ratio was 38% and the range of degree of the visual blockage ratio was $30{\sim}50%$. The sketch simulation and filtered pattern received the highest preference score and fumed out to be the most practical pattern out of all the patterns evaluated. Also, in the sketch simulation, the high preference values were observed for a distance of 9 to 12m from the view point to the blockage tree with a D/H ratio of 2. The preference score significantly decreased with the increase of the visual blockage ratio having a turning point at $30{\sim}35%$ of the visual blockage ratio, even though the distance parameters were more important than the visual blockage ratio in the scores. An outstanding view must be handled properly to be preserved or accentuated. Framed, open, enclosed, screened or filtered pattern views should be completely revealed only from their best vantage point, not given away at first glimpse. It this sense, parallax spatial beauty with trees could be improved through the visual aspects of plan arrangements and seems to be an effective design technique for landscape planning and planting design.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.548-552
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• 2017

본 논문에서는 얀센 메커니즘을 활용한 보행 로봇의 궤적을 최적화 하기 위한 알고리즘을 연구하였다. 궤적의 최적화 목표는 지면에 닿는 시간이 길고 지면에 평행하며 빠른 이동을 위해 넓은 보폭을 생성 하는 것으로 두었다. 초기 값은 Edison design의 m.sketch를 사용하여 결정하였고 최적화 과정에서는 MATLAB을 사용하였으며 가능한 빠른 계산이 가능한 것에 초점을 두고 알고리즘을 작성하였다. 최적화된 결과 값에서는 지면에 닿는 궤적의 범위와 보폭의 크기, 궤적의 높이가 가장 큰 값을 결정하였다.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.560-565
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• 2017

본 논문에서는 jansen's linkage와 기구설계를 기반으로 Theo Jansen의 strandbeast을 DC모터를 통해 구동하는 8족 보행로봇으로 설계 및 제작하고, 그에 대한 해석을 제시한다. 제작된 로봇은 크게 구동부, 제어부, 센서부로 나눌 수 있으며, 구동부는 모터와 다리로, 제어부는 Arduino 보드로 그리고 센서부는 광센서로 구성되어 있다. 구동부의 다리부분은 에디슨의 M-sketch를 통해 설계하였고, 제어부는 센서의 신호를 트랙에 맞추어 적합하게 받아드릴 수 있도록 코딩을 작성하였다. 제작된 로봇은 일반적인 로봇이 아니라 트랙에 맞추어 특화된 로봇으로 그 목적이 제한되어 있음을 밝히는 바이다.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.455-462
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• 2016

Recently, followed by rapid growth of robotics field, multi-linkage mechanism which can even pass by rough road is getting lots of attention. In this paper, I focused on Jansen mechanism. It's a kinematics object which is named after Dutch artist Theo jansen. Jansen mechanism embraces structure and mechanism which creates locomotion with the combination of the power and simple structure. Theo jansen suggests a 'Holy number'. It's an ideal ratio of leg components length. However, if there's desired gait locomotion, you have to adjust the ratio and the length. But even slight change of the length could cause a big change at the end-point. To solve this problem, I suggest a reverse engineering method to get a ratio of each links by nonlinear optimization with pre-set desired trajectory. First, we converted a movement of the joint of Jansen mechanism to vectors by kinematics analysis of multi-linkage structure. And we showed the trajectory at the end-point. After that, we set desired trajectory which we found most ideal. Then we got the length of the leg components which draws a trajectory as same as trajectory we set, using Multi-objective genetic algorithm toolbox in MATLAB. Result is verified by Edison designer and mSketch. And we analyzed if it could pass through the obstruction which is set dynamically.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.540-546
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• 2017

Bipedal robots tend to have greater mobility than conventional treaded or wheeled robots yet they are commonly complicated by instabilities in balance. This paper presents a bipedal robot based upon Jansen's locomotive mechanism which addresses these challenges in stability and efficiency. In order to achieve a functioning robot, we considered a multitude of variables in its motion including, the Ground Score, Drag Score, step size, foot lift, stride, and instantaneous speed of the Jansen mechanism. Matlab and Jansen Opt solver were used to optimize the legs of the robot. A trial and error experimental method was used to determine the best combination of link lengths, and m.Sketch was used to model our results. Finally, we drew the entirety of the robot's figure by using the Edison design.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.580-584
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• 2017

본 논문에서는 얀센 메커니즘을 이용한 4족 보행 로봇의 설계와 라인 추적을 통해 목표지점까지 도달할 수 있도록 하는 센싱에 대해 보인다. 가장 핵심이라고 판단되는 구동부의 최적 설계를 위해 m.Sketch를 이용하여 GAC와 GL를 설정하였고, 최적 설계 후 다리 경량화를 통한 로봇 속도 개선 등의 문제는 차후에 다루기로 한다. 본 논문에서 언급되는 모든 구동부는 이론적 계산을 기초로 하여 CATIA 프로그램을 사용하여 제작되었으며, 과학상자를 이용한 여러 번의 구조변경 실험을 통해 최적의 설계를 찾는 것을 목표로 한다.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.506-510
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• 2017

Based on the Jansen mechanism theory, a walking robot is developed, which is able to trace a line. In order to find the optimized legs, GL(Ground Length), GAC(Ground Angle Coefficient) and Grashof criteria are utilized in m.sketch program as well as EdisonDesign program. Many types of design are applied to sensors and controls, and the functionality is checked. Finally, a prototype line tracer robot is manufactured using aduino parts and smart boards. The prototype robot is test run to check the validity of the design, and modifications are applied to improve the performance according to each test result until the best design is achieved.