• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.732-737
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• 2005

Distal 3D Real Object Duplication System(RODS) consists of 3D Scanner and Solid Freeform Fabrication System(SFFS). It is a device to make three-dimensional objects directly from the drawing or the scanning data. In this research, we developed an office type SFFS based on Three Dimensional Printing Process and a industrial SFFS using Dual Laser. An office type SFFS applied sliding mode control with sliding perturbation observer(SMCSPO) algorithm for control of this system. And we measured process variables about droplet diameter measurement and powder bed formation etc. through experiments. Also, in order to develop more elaborate and speedy system for large objects than existing SLS process, this study applies a new Selective Multi-Laser Sintering(SMLS) process and 3-axis dynamic Focusing Scanner for scanning large area instead of the existing $f\theta$ lens. In this process, the temperature has a great influence on sintering of the polymer. Also the laser parameters are considered like that laser beam power, scan speed, scan spacing. Now, this study is in progress to eveluate the effect of experimental parameters on the sintering process.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.11
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• pp.1028-1036
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.183-190
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• 2006

Digital 3D Real Object Duplication System (RODS) consists of 3D Scanner and Solid Freeform Fabrication System (SFFS). It is a device to make three-dimensional objects directly from the drawing or the scanning data. In this research, we developed an office type SFFS based on Three Dimensional Printing Process and an industrial SFFS using Dual Laser. An office type SFFS applied sliding mode control with sliding perturbation observer (SMCSPO) algorithm for control of this system. And we measured process variables about droplet diameter measurement and powder bed formation etc. through experiments. In case of industrial type SFFS, in order to develop more elaborate and speedy system for large objects than existing SLS process, this study applies a new Selective Dual-Laser Sintering (SDLS) process and 3-axis Dynamic Focusing Scanner for scanning large area instead of the existing f lens. In this process, the temperature has a great influence on sintering of the polymer. Also the laser parameters are considered like that laser beam power, scan speed, and scan spacing. Now, this study is in progress to evaluate the effect of experimental parameters on the sintering process.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.811-816
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• 2016

In light of recently developed 3D printers for rapid prototyping, there is increasing attention on the 3D scanner as a 3D data acquisition system for an existing object. This paper presents a prototypical 3D scanner based on a striped laser light image. In order to solve the problem of shadowy areas, the proposed 3D scanner has two cameras with one laser light source. By using a horizontal rotation table and a rotational arm rotating about the latitudinal axis, the scanner is able to scan in all directions. To remove an additional optical filter for laser light pixel extraction of an image, we have adopted a differential image method with laser light modulation. Experimental results show that the scanner's 3D data acquisition performance exhibited less than 0.2 mm of measurement error. Therefore, this scanner has proven that it is possible to reconstruct an object's 3D surface from point cloud data using a 3D scanner, enabling reproduction of the object using a commercially available 3D printer.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.4
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• pp.627-637
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• 1994

In this study, a predictive fuzzy control algorithm to supervise the elevator system with plural cars is developed and its performance is evaluated. The proposed algorithm is based on fuzzy in-ference system to cope with multiple control objects and uncertainty of system state. The control objects are represented as linguistic predictive fuzzy rules and simplified reasoning method is utilized as a fuzzy inference method. Real-time simulation is performed with respect o all possible modes of control, and the resultant controls ard predicted. The predicted rusults are then utilized as the control in-puts of the fuzzy rules. The feasibility of the proposed control algorithm is evaluated by graphic simulator on computer. Finallu, the results of graphic simulation is compared with those of a conventional group control algorighm.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.180-185
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• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• Journal of Internet of Things and Convergence
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• v.1 no.1
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• pp.1-4
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• 2015

This paper aims to present the mathematical model to find the mean web object transfer latency in the slow-start phase of TCP congestion control mechanism, which is one of the main control techniques of Internet. Mean latency is an important service quality measure of end-user in the network. The application area of the proposed latency model is the narrowband environment including multi-hop wireless network and Internet of Things(IoT), where packet loss occurs in the slow-start phase only due to small window. The model finds the latency considering initial window size and the packet loss rate. Our model shows that for a given packet loss rate, round trip time and initial window size mainly affect the mean web object transfer latency. The proposed model can be applied to estimate the mean response time that end user requires in the IoT service applications.

• Journal of Ocean Engineering and Technology
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• v.23 no.3
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• pp.1-5
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• 2009

It is necessary to develop an efficient optimization technique to optimize engineering structures that have given design spaces, discrete design values, and several design goals. In this study, an optimum algorithm based on the genetic algorithm was applied to the multi-object problem to obtain an optimum solution that simultaneously minimizes the structural weight and construction cost of panel blocks in ship structures. The cost model was used in this study, which includes the cost of adjusting the weld-induced deformation and applying the deformation control methods, in addition to the cost of the material and the welding cost usually included in the normal cost model. By using the proposed cost model, more realistic optimum design results can be expected.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.4
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• pp.333-338
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• 2009

This paper presents a task-based analysis on the number of independent robotic fingers required for compliant manipulations. Based on the stiffness relation between operational space and fingertip space of a multi-fingered object manipulating system, we describe a technique for modulation of the fingertip stiffness without inter-finger coupling so as to achieve the desired stiffness specified in the operational space. Thus, we provides a guide line how many fingers are basically required for successful multi-fingered compliant tasks. Consequently, this paper enables us to assign effectively the number of fingers for various compliant manipulations by robot hands.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.504-509
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• 1990

This paper presents a decentralized adaptive control scheme for multi-Joint robot manipulators based on the independent joint control scheme. The control object is to achieve accurate tracking of desired Joint trajectories. The proposed control scheme does not use the complex manipulator dynamic model, and each joint is controlled simple by a feedback controller which ensure stable and also a position-velocity-acceleration feedforward controller and also auxiliary signal, with adjustable gains. Simulation results are given for a two-link manipulator under independent control, proposed decentralized adaptive control of manipulator is feasible. In spite of a pay load variation and strong static and dynamic couplings that exist between the joints.