• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.2
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• pp.19-25
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• 2003

For a class of multi-input multi-output nonlinear systems which perform a given task repetitively, an extended type of a direct leaning control (DLC) is proposed using the information on the (vector) relative degree of a multi-input multi-output system. Existing DLC methods are observed to be applied to a limited class of systems with the relative degree one and a new DLC law is suggested which can be applied to systems having higher relative degree. Using the proposed control law, the control input corresponding to the new desired output trajectory is synthesized directly based on the control inputs obtained from the learning process for other output trajectories. To show the validity and the performance of the proposed DLC, simulations are performed for trajectory tracking control of a two-axis SCARA robot.

• Journal of Practical Engineering Education
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• v.15 no.1
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• pp.119-126
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• 2023

Today, in order to improve fuel efficiency and dynamic behavior of automobiles, an era of light weight and simplification of automobile parts is being formed. In order to simplify and design and manufacture the shape of the product, various components are integrated. For example, in order to commercialize three products into one product, product processing is occurring to a very narrow area. In the case of existing parts, precision die casting or casting production is used for processing convenience, and the multi-piece method requires a lot of processes and reduces the precision and strength of the parts. It is very advantageous to manufacture integrally to simplify the processing air and secure the strength of the parts, but if a deep and narrow pocket part needs to be processed, it cannot be processed with the equipment's own spindle. To solve a problem, research on cutting processing is being actively conducted, and multi-axis composite processing technology not only solves this problem. It has many advantages, such as being able to cut into composite shapes that have been difficult to flexibly cut through various processes with one machine tool so far. However, the reality is that expensive equipment increases manufacturing costs and lacks engineers who can operate the machine. In the five-axis cutting processing machine, when producing products with deep and narrow sections, the cycle time increases in product production due to the indirectness of tools, and many problems occur in processing. Therefore, dedicated machine tools and multi-axis composite machines should be used. Alternatively, an angle spindle may be used as a special tool capable of multi-axis composite machining of five or more axes in a three-axis machining center. Various and continuous studies are needed in areas such as processing vibration absorption, low heat generation and operational stability, excellent dimensional stability, and strength securing by using the angle spindle.

• Journal of the Korean Geographical Society
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• v.40 no.5 s.110
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• pp.491-513
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• 2005

The Republic of Korea is planning to build the now Multi-functional Administrative city (NMAC). The purpose of this paper is to suggest the conceptual framework for this new city that relies on the Korean geomancy, oriental viewpoint on man and nature relationship, particularly in Korea. According to the Geomancy which could conceptualize the human-environment relationship in the site, the overall landscape image of the city could be symbolized by two flying crane with three Taegueks. In transforming the overall landscape image to urban form, two diamonds which means eternity and strength arises from the western spatial viewpoint, as means to protect and harmonize the human, land and mountain relationship in this site and the symbolic meaning of this site as generative and sacred place in Korean people's mind. On the one hand, through juxtaposing of the two diamonds a geometric structure shows up, on the other hand the main axis of the city could be established from two crane and three Taegueks. On the North-South axis from the core of the symbolic green axis, symbolic things will be located, and the administrative offices will be Placed on the East-West axis. Peripherals of the central axis also play a role in developing overall land use from image. The buildings and residents could be arranged and located according to undulations and this is based on the oriental theory of geomancy. We can build cultural amenities on the head part of the crane and on the core area.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.360-365
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• 2003

In this paper, we have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers on a single chip are implemented as a system-on-chip for multi-axis motion control. We also develop a PC GUI for an efficient interface control. Comparing with the commercial motion controller LM 629 it has multi-independent PID controllers so that it has several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, robot finger is controlled. The robot finger has three fingers with 2 joints each. Finger movements show that position tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.753-757
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• 2004

This paper describes a PC-based distributed multi-rate realtime control system using USB protocol, which is developed as a general motion controller. The control system consists of two control programs: one running at 1 kHz sampling rate on a PC with Linux and another running at 10 kHz sampling rate on a remotely located motion control card called RASID (remote axis serial interface device). Two programs communicates through USB at every 1 msec. A USB communication driver is developed to ensured the 1 msec desired communication time. The main program running on the PC generates reference trajectory at 1 kHz and send it to the RASID through USB and RASIDs located near the motors gather the sensor information and execute the low-level control at 10 kHz. The USB-based connectivity reduces the wiring harness and eventually the manufacturing cost of the machine. The multi-rate nature of the developed system improves the control capability. The effect of sampling rate is analyzed and simulated.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1590-1594
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• 2007

This paper describes a case study on dynamic characteristics analysis of a 5-axis multi-tasking machine tool of ram-head typed. Natural frequency and corresponding vibration modes of the machine tool structure were obtained by using both FEM modal analysis and an experimental modal test(impulse hammer test). Both the theoretical and experiment analysis results showed good agreement with each other. Finally, some discussion and review, from the view point of resonance vibration and/or mode coupled chatter, were made based on the analysis results.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.6
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• pp.97-103
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• 2008

In this paper, the Post Process for the manifold complex processing using CAD/CAM Software of two and a half Dimensions(2.5D) has been developed to maximize the application of the manifold manufacturing machine. Many companies are currently making use of high price systems to improve manufacturing process using the multi-axial complex manufacturing machine. In accordance with the requirements, the utilization of CAD/CAM Software for the manifold complex manufacturing machine is earnestly demanded. However, the experts who have experience in manifold manufacturing machine are insufficient. Consequently the outcomes of the Post Process for 2.5D CAD/CAM Systems have been dealt in order to be smoothly operated by those who have basic skills and be understood in process drawings. CNC program functions can be specially used as they are, when drawn up. The Post Process for the original point designation and transformation of coordinates has been developed and applied. The results gave proof of practical manufacturing outcomes.

• International Journal of CAD/CAM
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• v.6 no.1
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• pp.81-87
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• 2006

This paper describes a method for extracting surfaces from multi-material CT (Computed Tomography) data. Most contouring methods such as Marching Cubes algorithm assume that CT data are composed of only two materials. Some extended methods such as [3, 6] can extract surfaces from the multi-material (non-manifold) implicit representation. However, these methods are not directly applicable to CT data that are composed of three or more materials. There are two major problems that arise from fundamentals of CT. The first problem is that we have to use n(n-1)/2 threshold values for CT data contains n materials and select appropriately one threshold value for each boundary area. The second is that we cannot reconstruct only from CT data in which area three or more materials are adjacent each other. In this paper, we propose a method to solve the problems by using image analysis and demonstrate the effectiveness of the method with application examples construct polygon models from CT data of machine parts.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.73-80
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• 2004

We have developed a general purpose motion controller using an FPGA(Field Programmable Gate Array). The multi-PID controllers and GUI are implemented as a system-on-chip for multi-axis motion control. Comparing with the commercial motion controller LM 629, since it has multi-independent PID controllers, we have several advantages such as space effectiveness, low cost and lower power consumption. In order to test the performance of the proposed controller, motion of the robot hand is controlled. The robot hand has three fingers with 2 joints each. Finger movements show that tracking was very effective. Another experiment of balancing an inverted pendulum on a cart has been conducted to show the generality of the proposed FPGA PID controller. The controller has well maintained the balance of the pendulum.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.16-22
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• 2009