• 한국HCI학회논문지
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• 제5권2호
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• pp.15-24
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• 2010

디지로그 북(Digilog book)은 기존 서적과 디지털 콘텐츠을 융합함으로써, 아날로그적 감성과 디지털 오감을 함께 제공하는 증강현실기반 차세대 출판물이다. 디지로그 북을 저작할 수 있는 저작 소프트웨어인 아틀렛(ARtalet)은 증강현실 환경에서 3 차원 사용자 인터페이스를 이용한 직관적인 In-Situ 저작 환경을 제공한다. 본 논문은 디지로그 북에 증강된 3D 객체에 이동 경로를 생성하고 조작 할 수 있는, 아틀렛 저작 환경 기반의 이동 궤적 편집 기법을 제안한다. 구체적으로 이동 궤적의 조정점(Control point)을 적절히 할당하기 위해서 3차원 조작도구의 이동 좌표에 대하여 조정점 할당 검사를 한다. 그리고 부드러운 곡선 형태로 이동 궤적을 복원하기 위해서 스플라인을 이용한 보간 과정을 수행한다. 또한 작고 밀집된 이동 궤적의 조정점을 효과적으로 선택하기 위해서 동적 스코어(Score)를 기반으로 한 조정점 선택 방법을 적용한다. 실험 결과 제안한 방법은 기존 방법에 비해 오차와 완료시간은 유의한 차이가 없었지만, 조정점의 수를 약 90% 이상 감소시킬 수 있었다. 이것은 매우 적은 수의 조정점만으로도 이동궤적을 복원할 수 있으며 추후 이동 궤적 조작에 필요한 조정점의 조작 횟수를 대폭 줄일 수 있다는 것을 의미한다. 또한 제안한 방법은 기존의 조정점 조작 방법에 비해 상대적으로 적은 손과 팔의 움직임만으로도 빠르게 이동 궤적의 형태를 변경 할 수 있었다. 본 논문에서 제안한 3D 객체의 이동 궤적 편집 방법은 몰입형 In-Situ 증강현실 환경의 교육, 게임, 디자인, 애니메이션, 시뮬레이션 등의 분야에서 드로잉 또는 곡선 편집 방법으로 응용될 수 있다.

• 대한기계학회논문집A
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• 제29권2호
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• 경영과학
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• 제11권2호
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• pp.43-63
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• 1994

A new model management framework is proposed to accommodate wide-spreading algebraic modeling languages (AMLs), and to facilitate a full range of model manipulation functions. To incorporate different modeling conventions of the leading AMLs (AMPL, GAMS, and SML) homogeneously, generic model concepts are introduced as a conceptual basis and are embodied by the structural and operational constructs of an Object-Oriented Database Management System(ODBMS), enabling the framework to consolidate components of DSSs(database, modelbase, and associated solvers) in a single formalism effectively. Empowered by a database query language, the new model management framework can provide uniform model management commands to models represented in different AMLs, and effectively facilitate integration of the DSS components. A prototype system of the framework has been developed on a commercial ODBMS, ObjectStore, and a C++ programming language.

• 대한기계학회논문집B
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• 제32권1호
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• pp.62-69
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• 2008

A post-processing program based on the OOP(Object-Oriented Programming) concept has been developed for flow visualization of the flow analysis code(PowerCFD) using unstructured cell-centered method. User-friendly GUI(GTaphic User Interface) has been built on the base of MFC(Microsoft Foundation Class). The program is organized as modules by classes including those based on VTK(Visualization ToolKit)-library, and these classes are made to function through inheritance and cooperation which is an important and valuable OOP concept. The major functions of this post-processor program are introduced and demonstrated, which include mesh plot, contour plot, vector plot, surface plots, cut plot, clip plot, xy-plot and streamline plot as well as view manipulation (translation, rotation, scaling etc).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1245-1248
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• 1996

This paper describes a cell programming environment that deals with problems associated with programming Flexible Manufacturing Cells(FMCs). The environment consists of the cell programming editor and the automatic generation module. In the cell programming editor, cell programmers can develop cell programs using task level description set which supports task-oriented specifications for manipulation cell activities. This approach to cell programming reduces the amount of details that cell programmers need to consider and allows them to concentrate on the most important aspects of the task at hand. The automatic generation module is used to transform task specifications into executable programs used by cell constituents. This module is based on efficient algorithm and expert systems which can be used for optimal path planning of robot operations and optimal machining parameters of machine tool operations. The development tool in designing the environment is an object-oriented approach which provides a simple to use and intuitive user interface, and allows for an easy development of object models associated with the environment.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2007년도 추계 학술대회논문집
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• pp.67-72
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• 2007

A post-processing program based on the OOP(Object-Oriented Programming) concept has been developed for visualization of MRI. User-friendly GUl(Graphic User Interface) has been built on the base of MFC(Microsoft Foundation Class). The program is organized as modules by classes based on VTK-library, and these classes are made to function through inheritance and cooperation which are an important and valuable concept of object-oriented programming. The major functions of this post-processor program are introduced and demonstrated, which include contour plot, surface plots, cut plot and clip plot as well as view manipulation (translation, rotation, scaling etc).

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 G
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• pp.3054-3056
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• 1999

There have been numerous risks for excavator operator in working space. To overcome these riske, many researchers have been studied automation of excavator system. In these studies, excavator system is introduced by many researchers based on master-slave force feedback system. In this paper, a remote manipulation excavator is introduced based on force feedback. The proposed remote manipulation excavator system can give a feeling that the operator maneuvers the object directly, resulting in improved reality and efficiency. To demonstrate its performance, experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1444-1447
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• 2004

The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which is the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash and has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. In this paper, a Home Mess-Cleanup Robot(HMR), which has a practical function of the automatic mess-cleanup, is developed. It need functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of the self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulation system, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It need to also has the entertainment functions for the good communication between the human and HMR. Therefore, the Home Mess-cleanup Robot with Entertainmental Human Interface is developed in this paper. Finally, the good performance of the designed machine, HMR'4, is confirmed through the results of the mess clean-up and arrangement.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1071-1076
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• 2003

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.

• 한국공작기계학회논문집
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• 제14권4호
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• pp.81-88
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• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.