• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.111-116
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• 1998

In this study, we try to coincide virtual robot system in an OLP(off-line programming) with actual robot system even though kinematic differences between them are made. The virtual robot in the OLP may be modeled according to kinematics of the actual robot system. However, it is a complicated problem to find exactly all kinematic parameters of actual robot and environment. In this paper, an automated calibration method is proposed In order to find some kinematical parameters which are necessary for the modeling of a robot and environment in the OLP. It is applicable to SCARA robot for assembly task. In this method, a well-marked worktable of environment Is regarded as reference coordinate frame. The robot detects some marks on the worktable through sensors attached to the end-effector. The necessary parameters are calculated from the data of the robot joint variables when the robot detects the mark. The model in the OLP is modified by the parameters.

• 전기의세계
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• 제39권6호
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• pp.14-19
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• 1990

1. CAD system과 PROPS를 접속하여 CADsystem에서 Design된 surface를 사용할 수 있으며 Robot Kinematics를 graphic library화하여 surface배치 수상 및 path generation 및 animation을 통하여 가공작업을 위한 로보트 운동을 simulation할 수 있게 되었다. 2. Denavit-hartenberg transformation form에 의해 여러 Robot Kinematic을 일반적인 형식으로 library화 하였다. 3. 금형 가공의 공정들을 Menu로 만들어서 Expert system을 도입, 손쉽게 Interactive한 작업을 할 수 있게 하였다. 4. 차후의 연구 목표는 로보트 Calibration S/W의 개발 및 실현 그리고 Expert System을 이용한 Robot Program Generator의 완성을 통한 전체 Off-line programming System을 정립하는데 있다. 이를 위해서 더 실제적인 Tool Path Generation과 Expert System을 이용한 가공 조건의 결정 및 User Interface를 위한 Window가 개발되어야 한다. 5. 1차년도에 개발된 Robotonomic Tool System의 유연성을 확장시킨다. 실험결과를 바탕으로 공정 자동화 시스템을 확장시킨다. 6. 연마공정자동화에 필수적인 공구 및 공구 Tip의 표준화 및 자동교환장치를 개발한다. 7. 금형연마 Cell의 구성요소들간의 Interface 및 System Controller에서의 집적화를 시킨다.

• Journal of the Korean Society for Precision Engineering
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• 제10권2호
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• Journal of the Korean Institute of Telematics and Electronics C
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• 제35C권6호
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• pp.56-66
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• 1998

This paper investigates a neuro-controller combined in parallel with a conventional linear controller of PID type in order to control nonminimum phase systems more efficiently. The objective is to minimize overall position errors as well as to maintain small undershooting. A costfunction is proposed with two conflict objectives. The neuro-controller is trained off-line with evolutionary programming(EP) in such a way that it becomes optimal by minimizing the given cost function through global evaluation based on desired control performance during the whole training time interval. However, it is not easy to find an optimal solution which satisfies individual objective simultaneously. With the concept of Pareto optimality and EP, we train the proposed controller more effectively and obtain a valuable set of optimal solutions. Simulation results show the efficacy of the proposed controller in a viewpoint of improvement of performance of a step response like fast settling time and small undershoot or overshoot compared with that of a conventional linear controller.

• Journal of the Korean Institute of Intelligent Systems
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• 제22권6호
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• pp.754-760
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• 2012

This paper describes peak shaving algorithms as long-term cycle scheduling in the power management system (PMS) for MW-scale battery energy storage systems (BESS). The purpose of PMS is basically to manage the input and output power from battery modules placed in the systems. Assuming that an one-day ahead load curve is provided, off-line peak shaving algorithms can be employed, but applying the results of the off-line algorithm may result in the difference in the real-time performance because there is uncertainty in the provided load curve. This paper adopts fuzzy based LP (linear programming) algorithms for describing the peak shaving algorithm in PMS and discusses a solution technique and real-time operation strategies using the solution.

• Journal of the Korean Institute of Telematics and Electronics
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• 제26권1호
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• pp.29-37
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• 1989

This paper presents an application of the extended DP matching method to the on-line recognition of cursive Hangeul (Korean characters). We decrease the number of matching's objects by performing rough classification matching which makes the best use of features in the first and the last segment of Hangeul. By adding the extraction function of the basic character patterns to DP matching method, we try to calculate precisely the difference among Hangeul. The extraction of the basic character patterns is done by examining the features of segments in character. Applying the extended DP matching method to the on-line recognition of cursive Hangeul, absorption of writing motion and stable separation of strokes can be performed with flexibility.

• Journal of KIISE:Software and Applications
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• 제26권12호
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• pp.1531-1541
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• 1999

프로그래밍 언어의 의미를 정형적으로 표기하는 기법인 액션의미론을 기반으로 한 컴파일러 생성기는 프로그래밍언어의 액션의미구조가 주어지면 그 언어의 컴파일러를 자동으로 생성한다. 생성된 컴파일러는 먼저 원시 프로그램을 그에 상응하는 액션 프로그램으로 확장한 후, 목적 프로그램으로 컴파일 한다. 여기서 액션 프로그램은 일종의 중간코드로 쓰이므로, 효율적인 목적코드를 생성하기 위해서 중간코드의 성능향상이 필요하다. 본 논문에서는 액션 프로그램을 부분계산을 통해 효율적인 코드로 자동 변환해 주는 온라인 액션 부분계산기를 설계하고 구현한다. 선행 연구된 오프라인 방식에서 전역분석을 하지 않고는 불가능했던 요약캡슐의 몸통, 펼치기의 몸통에 대한 부분계산이 온라인 방법을 사용하면 가능함을 보이고, 명령형 액션의 부분계산도 추가적으로 수행할 수 있도록 확장한다. Abstract Action Semantics is a framework for formally defining the semantics of programming languages. Action semantics-directed compiler generators take an action semantics definition of a programming language and automatically generate a compiler of the language. The generated compiler first expands a source program into an action denotation of the program, and then compiles it to a target code. In these compiler-generation systems, it is important to statically process the expanded action denotation - used as an intermediate code - as much as possible so that the generated compiler can produce better target code. In this paper, we develop an automatic action-transformation method based on online partial evaluation. The previous off-line method was rather weak because it could not partially evaluate actions inside the body of abstraction and unfolding-action without performing separate global analysis. The proposed online method remedies the problem, thus naturally improves the quality of residual actions. Moreover, we also extend the method to partially evaluate imperative actions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.616-621
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• 2003

Until now, many networked robots have been connected to the Internet for the various applications. With these networked robots, very long distance teleoperation can be possible through the Internet. However, the promising area of the Internet-based teleoperation may be distance learning, because of several reasons such as the unpredictable characteristics of the Internet. In robotics class, students learn many theories about robots, but it is hard to perform the actual experiments for all students due to the rack of the real robots and safety problems. Some classes may introduce the virtual robot simulator for students to program the virtual robot and upload their program to operate the real robot through the off-line programming method. However, the students may also visit the laboratory when they want to use the real robot for testing their program. In this paper, we developed an Internet-based robot education system. The developed system was composed of two parts, the robotics class materials and the web-based Java3d robot simulator. That is, this system can provide two services for distance learning to the students through the Internet. The robotics class materials can be provided to the student as the multimedia contents on the web page. As well, the web-based robot simulator as the real experiment tool can help the students get good understanding about certain subject. So, the students can learn the required robotics theories and perform the real experiments from their web browser when they want to study themselves at any time.

• Journal of the Korean Society for Precision Engineering
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• 제21권4호
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• pp.95-102
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• 2004

It is necessary to improve the exactness and adaptation of the working environment in the intelligent robot system. The vision sensor have been studied for this reason fur a long time. However, it is very difficult to perform the camera and robot calibrations because the three dimensional reconstruction and many processes are required for the real usages. This paper suggests the image based visual servoing to solve the problem of old calibration technique and supports OLP(Off-Line-Programming) path compensation. Virtual camera can be modeled from the real factors and virtual images obtained from virtual camera gives more easy perception process. Also, Initial path generated from OLP could be compensated by the pixel level acquired from the real and virtual, respectively. Consequently, the proposed visually assisted OLP teaching remove the calibration and reconstruction process in real working space. With a virtual simulation, the better performance is observed and the robot path error is calibrated by the image differences.

• Journal of the Korean Society of Industry Convergence
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• 제17권2호
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• pp.54-60
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• 2014

The equipment of SCARA robot in processing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test, and construction of simple silhouette figures. Then, camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection, which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not requirethe precise calculation of tree-dimensional object data and image Jacobian.