• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.47-51
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• 1990

In the system of contemporary factory, the frequent generation of robot program reduces the efficiency of robot working. In this study, the SIOPS (Soldering and Insertion Offline Programming System) that automatically generates the robot program is presented. The system can change the parameter about soldering and insertion interactively and generate the robot tool path.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.5
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• pp.42-52
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• 1997

Computer aided process planning and Offline programming are decisive factors in successful implementation of automated robotic production. However, conventional offline programming procedure has proven ineffective due to time-consuming teaching process for robot programming and due to inefficient system modeling. The paper presents an efficient procedure to semi-automatically generate robot job programs for ship block welding applications. In the research, the teaching positions are automatically determined by predefined rules which are functions of the type and the dimensions of the given welding section of ship block. And a sequence of robot movements and welding conditions such as welding type, welding current, welding speed, and welding torch orientation, are determined by use of Standard Program which is experimentally proved to work well for the welding wection group. Finally, a robot program for the welding section is generated automatically. Based on the algorithm, a offline automatic teaching software is developed. The paper presents also the algorithm and structure of the software.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.1
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• pp.131-142
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• 1996

Most industrial robots cannot be off-line programmed to carry out a task accurately, unless their kinematic model is suitably corrected through a calibration procedure. However, normal calibration is an expensive and time-consumming precedure due to the highly accurate measurement equipment required and due to the significant amount of data that must be collected. This paper presents a simple and economic procedure to improve the efficiency of robot calibration especially for arc welding application. To simplify the measurement process, an automotic data measurement algorithm as well as a simple measurement device are developed. Also, a calibration algorithm which can automatically identify the independent model parameters to be estimated is presented. To demonstrated the simplicity and the effectiveness of the procedure, experimental studies and computer simulations are performed and their results are discussed.

• Journal of Electrical Engineering and Technology
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• v.13 no.5
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• pp.2074-2079
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• 2018

Global state space's optimal policy is used for offline controller in the form of table by using Dynamic Programming. If an optimal policy table has a large amount of control data, it is difficult to use the system in a low capacity system. To resolve these problem, controller using the compressed optimal policy table is proposed in this paper. A DCT is used for compression method and the cosine function is used as a basis. The size of cosine function decreased as the frequency increased. In other words, an essential information which is used for restoration is concentrated in the low frequency band and a value of small size that belong to a high frequency band could be discarded by quantization because high frequency's information doesn't have a big effect on restoration. Therefore, memory could be largely reduced by removing the information. The compressed output is stored in memory of embedded system in offline and optimal control input which correspond to state of plant is computed by interpolation with Inverse DCT in online. To verify the performance of the proposed controller, computer simulation was accomplished with a one link inverted pendulum.

• The Journal of the Convergence on Culture Technology
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• v.7 no.3
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• pp.247-253
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• 2021

There are various programming errors that occur in the course of programming practice for beginners in computer programming. At this time, since it is difficult for learners to recognize errors by themselves, they correct program errors through the instructor's feedback. However, as students learn programming techniques in an online learning environment due to the COVID-19 pandemic, there is a limit to interaction between the students and the instructor in comparison with offline classes, so it is necessary for learners to develop their own ability to solve programming errors by themselves. Therefore, in this study, error cases in online programming classes using the Python language are analyzed and an online programming education method that can improve learners' ability to correct programming errors is proposed based on the analysis results.

• Journal of Industrial Convergence
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• v.20 no.7
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• pp.37-50
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• 2022

This study intends to analyze the learning effect of asynchronous online classes used in education fields around the world after the COVID-19 pandemic. To this end, we compared and analyzed the lecture evaluation and final exam questions of the HTML5 web programming course, which was conducted offline in 2019 and asynchronously online in 2020 due to COVID-19. As a result of the analysis, no significant difference was drawn between the two teaching methods in the lecture evaluation score and final exam score. However, contrary to concerns about the application of online classes to the entire curriculum, the lecture evaluation and final exam scores of the video-based online classes were high, suggesting the possibility that online classes could be more effective than offline classes if well organized and managed in the future.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.908-913
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• 2014

In this paper, we propose a method by which QP (Quadratic Programming) problems can be solved in realtime so that we can implement the predictive control algorithm on a microcontroller system. Firstly, we derive a solution to QP problems by converting the original QP problems to its equivalent least squares with inequalities. Secondly, we propose a predictive control algorithm that can give good realtime computation performance by utilizing the fact that some parameters needed for solving QP problems can be computed offline. Finally, we illustrate that the proposed method can give good realtime features by running the C-code application constructed using the proposed method on a microncontroller system.

• Journal of Software Assessment and Valuation
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• v.17 no.1
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• pp.67-73
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• 2021

In this paper, a system configuration method that can practice Linux-based programming language online is presented. The proposed system utilizes the web-server function, which is the biggest feature of the Linux operating system, and simulates the telnet and FTP functions without firewalls or other security restrictions, so that it is possible to practice similar to the actual Linux console. To do this, we analyzed the functional elements that a programming tool should have on the web and established an algorithm to implement it. In particular, a method was implemented in which an error message caused by a user's mistake can appear in the same form as the actual telnet screen. As a result of using the implemented learning system in the class for students, it is possible to practice the Linux programming language online, as well as the instructor can directly check and guide all the learners, so the learner's satisfaction is similar to that of the offline class was confirmed.

• Journal of Convergence for Information Technology
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• v.9 no.12
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• pp.124-132
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• 2019

Scheduling problems can be classified into offline and online ones. This paper considers an online scheduling problem to minimize makespan on the identical parallel machines. For dynamically arrived jobs with their ready times, we show that the sequencing order according to the ERD (Earliest Ready Date) rule is optimal to minimize makespan. This paper suggests an algorithm by using the MIP(Mixed Integer Programming) formulation periodically to find a good periodic schedule and evaluates the required computational time and resulted makespan of the algorithm. The comparition with an offline scheduling shows our algorithm makes the schedule very fast and the makespan can be reduced as the period time reduction, so we can conclude that our algorithm is useful for scheduling the jobs under online environment even though the number of jobs and machines is large. We expect that the algorithm is invaluable one to find good schedules for the smart factory and online scheduler using the blockchain mechanism.

• Journal of Electrical Engineering and Technology
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• v.12 no.2
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• pp.890-903
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• 2017

The problem of determining a smooth and collision-free path with maximum possible speed for a Mobile Robot (MR) which is chasing a moving target in a dynamic environment is addressed in this paper. Genetic Network Programming with Reinforcement Learning (GNP-RL) has several important features over other evolutionary algorithms such as it combines offline and online learning on the one hand, and it combines diversified and intensified search on the other hand, but it was used in solving the problem of MR navigation in static environment only. This paper presents GNP-RL based on predicting collision positions as a first attempt to apply it for MR navigation in dynamic environment. The combination between features of the proposed collision prediction and that of GNP-RL provides safe navigation (effective obstacle avoidance) in dynamic environment, smooth movement, and reducing the obstacle avoidance latency time. Simulation in dynamic environment is used to evaluate the performance of collision prediction based GNP-RL compared with that of two state-of-the art navigation approaches, namely, Q-Learning (QL) and Artificial Potential Field (APF). The simulation results show that the proposed GNP-RL outperforms both QL and APF in terms of smooth movement and safer navigation. In addition, it outperforms APF in terms of preserving maximum possible speed during obstacle avoidance.