• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.896-902
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• 2004

The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. The purpose of the study of multi-robot system is to realize multi-robot system easy for the control of robot system in case robot is adapted in the complicated environment of task structure. To make real time control possible by making effective use of recognized information in this dynamic environment, suitable distribution of tasks should be made in consideration of function and role of each performing robots. In this paper, IHMA (Intelligent Hybrid Modular Architecture) of Intelligent combined control architecture which utilizes the merits of deliberative and reactive controllers will be suggested and its efficiency will be evaluated through the adaptation of control architecture to representative multi-robot system.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2003.10b
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• pp.198-201
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• 2003

The multi-action forging process is one of developing directions of forging technologies. In this study, the multi-action die is designed and developed by the screws mechanism and the forging simulation is conducted by using plasticine to investigate the optimum conditions for the design of the screws. The results show the design variables are optimum when the diameter is 30 mm and the screw angle is $60^{\circ}$ for the upper screw rod and the outer diameter is 60 mm and the screw angle is $23.4^{\circ}$ for the lower screw tube. It makes the relative velocity between the upper punch and the die to be two to one, which is the expected condition. The material flow of the plasticine forgings is uniform. Therefore, it is feasible to use the screw set as the multi-action mechanism for controlling the movement of the multi-action forging die set.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.3
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• pp.5-11
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• 2002

This paper describes the methods for calibration and evaluation of the relative expanded uncertainty of a multi-axis force/moment sensor. In order to use the sensor in the industry, it should be calibrated and its relative expanded uncertainty should be also evaluated. At present, the confidence of the sensor is shown with only interference error. However, it is not accurate, because the calibrated multi-axis force/moment sensor has an interference error as well as a reproducibility error of the sensor, etc. In this paper, the methods fur calibration and for evaluation of the relative expanded uncertainty of a multi-axis force/moment sensor are newly proposed. Also, a six-axis force/moment sensor is calibrated with the proposed calibration method and the relative expanded uncertainty is evaluated using the proposed uncertainty evaluation method and the calibration results. It is thought that the methods fur calibration and evaluation of the uncertainty can be usually used for calibration and evaluation of the uncertainty of the multi-axis force/moment sensor.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.32A no.9
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• pp.1167-1176
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• 1995

This paper suggests a method for optimal power assignment of the satellite transponder input carriers in the Multi-level & Multi-bandwidth system. The interference and the noise effects analyzed for the optimal power assignment are intermodulation product caused by the nonlinear transponder characteristics, adjacent channel interference, co-channel interference, and thermal noise in the satellite link. The Fletcher- Powell algorithm is used to determine the optimal input carrier power. The performance criteria for optimal power assignment is classified into 4 categories according to the CNR of destination receiver earth station to meet the requirement for various satellite link environment. We have performed mathematical analysis of objective functions and their derivatives for use in the Fletcher-Powell algorithm, and presented various simulation results based on mathematical analysis. Since the satellite link, it is meaningful to model and analyze these effects in a unified manner and present the method for optimal power assignment of transponder input carriers.

• Korea-Australia Rheology Journal
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• v.18 no.4
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• pp.217-224
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• 2006

Rapid flow advancement without void formation is essential in the liquid composite molding (LCM) such as resin transfer molding (RTM) and vacuum assisted resin transfer molding (VARTM). A highly permeable layer in multi-layered preform has an important role in improvement of the flow advancement. In this study, a multi-layered preform which consists of three layers is employed. Radial flow experiment is carried out for the multi-layered preform. A new analytic model for advancement of flow front is proposed and effective permeability is defined. The effective permeability for the multi-layered preform is obtained analytically and compared with experimental results. Compaction test is performed to determine the exact fiber volume traction of each layer in the multi-layered preform. Transverse permeability employed in modeling is measured experimentally unlike the previous studies. Accurate prediction of flow advancement is of great use for saving the processing time and enhancing product properties of the final part.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.117-122
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• 2008

This paper presents a multi-robot localization based on multidimensional scaling (MDS) in spite of the existence of incomplete and noisy data. While the traditional algorithms for MDS work on the full-rank distance matrix, there might be many missing data in the real world due to occlusions. Moreover, it has no considerations to dealing with the uncertainty due to noisy observations. We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr$\ddot{o}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

• Proceedings of the Korean Information Science Society Conference
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• 2007.10c
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• pp.433-438
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• 2007

This paper presents a distance mapping-based localization method with incomplete data which means partially observed data. We make three contributions. First, we propose the use of Multi Dimensional Scaling (MDS) for multi-robot localization. Second, we formulate the problem to accomodate partial observations common in multi-robot settings. We solve the resulting optimization problem using #Scaling by Majorizing a Complicated function (SMACOF)#, a popular algorithm fur iterative MDS. Third, we not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).

• Proceedings of the Korean Vacuum Society Conference
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• 2013.02a
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• pp.490-490
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• 2013

In semiconductor industry, it is expected that plasma process which use 450 mm source will be used at next generation. However, main obstacle of the large area plasma source is plasma uniformity from it. When electrode is enlarged, field difference between center area and side area reduces the plasma uniformity [1-3]. Therefore we investigate multi-electrode which diminish this field difference.We designed two multi-electrode models. One has two segments and the other has five segments. Each multi-electrode model is connected with two power generator and two matchers. One generator and one matcher is connected with center electrode part. The other one generator and the other one matcher is connected with side electrode part. The ion density is measured at 29 points by using floating harmonic method [4-6]. After measuring the data of each multi-electrode model, we discuss the difference of profile between two models' data.

• Journal of Information Processing Systems
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• v.16 no.4
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• pp.991-1000
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• 2020

We propose a content-based image retrieval system that uses a combination of completed local binary pattern (CLBP) and color autocorrelogram. CLBP features are extracted on a multi-resolution multi-direction filtered domain of value component. Color autocorrelogram features are extracted in two dimensions of hue and saturation components. Experiment results revealed that the proposed method yields a lot of improvement when compared with the methods that use partial features employed in the proposed method. It is also superior to the conventional CLBP, the color autocorrelogram using R, G, and B components, and the multichannel decoded local binary pattern which is one of the latest methods.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2007.11a
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• pp.357-361
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• 2007

This paper presents a multi-robot localization based on Bayesian Multidimensional Scaling (BMDS). We propose a robust MDS to handle both the incomplete and noisy data, which is applied to solve the multi-robot localization problem. To deal with the incomplete data, we use the Nystr${\ddot{o}}$m approximation which approximates the full distance matrix. To deal with the uncertainty, we formulate a Bayesian framework for MDS which finds the posterior of coordinates of objects by means of statistical inference. We not only verify the performance of MDS-based multi-robot localization by computer simulations, but also implement a real world localization of multi-robot team. Using extensive empirical results, we show that the accuracy of the proposed method is almost similar to that of Monte Carlo Localization(MCL).