• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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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 Institute of Intelligent Systems
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• v.22 no.6
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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 Society of Industry Convergence
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• v.17 no.2
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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.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.4
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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 for Precision Engineering
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• v.22 no.5 s.170
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• pp.113-120
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• 2005

Because of the turbulent markets and the increasing demand on product quality, the application of new technology to practice is increasingly important. In case of automotive industries, they take interest in laser welding to solve these problems because laser welding has many advantages such as good accessibility, welding quality, fast welding speed and so on. To apply this technology to welding of car body, the data of laser welding are collected through lots of the experiment according to the material, geometry and layer number of welding points. Based on the experiment results and the information of product, i.e. the car side panel, the clustering of stitches for laser welding was carried out and the optimal equipments are selected through the comparison between the requirements of welding and the potential of equipments. Using these results, laser welding cell for the car side panel are configured with the concept of the digital manufacturing, which ensures maximum planning security with visualization and simulation. Finally, the optimal laser welding cell is chosen by the evaluation of alternative cells with assessment criteria.

• Proceedings of the Korean Information Science Society Conference
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• 2006.10a
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• pp.218-222
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• 2006

최근 산업현장에서는 작업의 빈번한 변화에 따른 로봇의 재배치, 테스트로 인해 많은 비용이 소모되고 있다. 이러한 문제점의 해결방안으로 OLP(Off-line Programming) 시뮬레이션 시스템이 주목받고 있다. 현재 대부분의 OLP 시뮬레이션 시스템은 하나의 컴퓨터에서 실행되는 하나의 응용프로그램으로 되어있다. 따라서 로봇을 제어하는 시뮬레이션 프로그램이 복잡해지고 시뮬레이션 대상이 되는 작업장의 규모가 커지게 되면 이와 비례하여 시뮬레이션에 소모되는 시간이 늘어나게 되고 이로 인하여 시뮬레이션 진행상황을 실시간에 맞추어 출력하지 못하게 되는 경우가 발생하게 된다. 또한 하나 컴퓨터에서 실행되는 응용 프로그램의 한계로 인해 시뮬레이션 상황을 출력하는 화면크기는 제한될 수밖에 없어지고 여러 작업장의 시뮬레이션 진행상황을 동시에 확인하기가 힘들어 진다. 본 논문에서는 이러한 문제점을 해결하기 위하여 하나의 PC에서 실행되는 OLP 시뮬레이션 시스템을 사용자가 지정하는 로봇의 집합 단위로 네트워크로 연결된 여러 개의 PC에서 실행할 수 있도록 하여 다수의 로봇 제어 프로그램을 실행하는데 걸리는 부하와 시뮬레이션 진행 상황을 출력하는 CAD시스템에 걸리는 부하를 분산 시키고 연결된 여러 PC를 통해 시뮬레이션 진행상황을 자유롭게 확인할 수 있는 구조를 제안하였다. 그리고 시뮬레이션 시스템의 분산화로 인해 발생하는 동기화 문제에 대한 해결 방안으로 기존 시스템에 사용되는 이벤트/사이클 혼합 방식의 로봇 시뮬레이션 시스템의 알고리즘을 분산시킨 방안을 제시하였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.121-128
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• 2016

A furan mold design and machining system for marine propeller casting was developed. In general, a large marine propeller is produced by casting in a foundry, where the upper and lower molds are constructed of cement or other materials like furan. Then, the cast workpiece is machined and manually ground. Currently, furan mold construction requires a series of manual tasks. This introduces a fairly large amount of stock allowances, which require a considerable number of man-hours for later machining and grinding, and also increase the work processes. A mold design and off-line robot programming software tool with a six-axis robot hardware system was developed to enhance the shape accuracy and productivity. This system will be applied in a Korean ship building company.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.24-33
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• 1990

Since a number of welding points are distributed in an automobile part, the number of welding points alloted to each robot are large. So, there is an increasing need of an optimal sequence planning to minimize the total welding time. In this paper, an off-line programming scheme for effective teaching of a spot welding robot is presented. A collision free, optimal welding sequence planning is done through applying the modified Traveling Salesman Problem algorithm. Also, a data extraction method from an existing general CAD system is presented for reuse of the existing exact model data produced by a model designer and easy constructing the world model data base. The result show that the proposed system could enhance the efficiency of spot welding robot in automobile industry.

• The Journal of Korean Institute for Practical Engineering Education
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• v.2 no.2
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• pp.10-15
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• 2010

The subject of basic fluid power practice which is used in various industries requiring factory automation aims at understanding of the composition and operating principles of pneumatic components and programming of electric sequential circuits, building the design ability of pneumatic system. This subject goes by 3 hour classes with theory and practice side by side. So it is not enough time to instruct students various contents related in this subject. In this research a supplementary learing using E-learning is proposed as a solution for this problem. The off-line classes of this subject went with E-learning side by side and analyzed the effects of E-learning as a supplementary learning through the students survey who attended the class. And further needed research is presented.