• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.2
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• pp.121-127
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• 2008

Micro end-milling has been becoming an important machining process to manufacture a number of small products such as micro-devices, bio-chips, micro-patterns and so on. Despite the importance of micro end-milling, many related researches have given grand efforts to micro end-milling phenomenon, for example, micro end-milling mechanism, cutting force modeling and machinability. This paper strongly concerned actual problem, micro tool deflection, which causes excessive machining errors on the workpiece. To solve this problem, machining error prediction method was proposed through a series of test micro cutting and analysis of their SEM images. An iterative algorithm was applied in order to obtain corrected tool path which allows reducing machining errors in spite of tool deflection. Experiments are carried out to validate the proposed approaches. In result, remarkable error reduction could be obtained.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.2
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• pp.225-231
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• 2012

In this paper, we propose a method for designing the path tracking controller using an approach angle concept for an underactuated autonomous underwater vehicle (AUV). The AUV is controlled by the surge speed and yaw rate: there is no side thruster. To solve this underactuated AUV problem in the path tracking, we introduce an approach angle concept which makes the AUV converge to the reference path. And we design the path tracking controller using the proposed approach angle. To design the path tracking controller, we obtain the new vehicle's error dynamics in the body-fixed frame, and then design the path tracking controller based on Lypunov direct method. Finally, some simulation results demonstrate the effectiveness of the proposed controller.

• Journal of information and communication convergence engineering
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• v.5 no.2
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• pp.83-87
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• 2007

This research studies real time interaction and dynamic data shared through 3D scenes in virtual network environments. In a distributed virtual environment of client-server structure, consistency is maintained by the static information exchange; as jerks occur by packet delay when updating messages of dynamic data exchanges are broadcasted disorderly, the network bottleneck is reduced by predicting the movement path by using the Dead-reckoning algorithm. In Dead-reckoning path prediction, the error between the estimated and the actual static values which is over the threshold based on the shared object location requires interpolation and multicasting of the previous location by the ESPDU of DIS. The shared dynamic data of the 3D virtual environment is implementation using the VRML.

• Journal of Ubiquitous Convergence Technology
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• v.2 no.2
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• pp.78-87
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• 2008

Received signal strength indicator (RSSI) is used as one of the ranging techniques to locate dynamic sensor nodes in wireless sensor network. Before it can be used for position estimation, RSSI values must be converted to distances using path loss model. These distances among sensor nodes are combined using trilateration method to find position. This paper presents an idea which attempts to integrate both path loss model and trilateration as one algorithm without going through RSSI-distance conversion. This means it is not simply formulas combination but a whole new model was developed. Several advantages were found after integration: it is able to reduce processing load, and ensure that all values do not exceed the maximum range of 16-bit signed or unsigned numbers due to antilog operation in path loss model. The results also show that this method is able to reduce estimation error while inaccurate environmental parameters are used for RSSI-distance conversion.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.4
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• pp.1-10
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• 1996

In this paper are presented kinematic and dynamic modeling and path-tracking of fourwhelled mobile robot with 2 d.o.f. having the limited drivetorques. Controllability of wheeled-mobile robot is revealed by using the kinematic model. Instantaneously coincident coordinate cystem, force/torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robot follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.1
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• pp.124-131
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• 2005

This paper suggests LOS(Line-Of-Sight) guidance system of a surface vessel in straight-line navigation under ocean currents An LOS vector from the vessel to a point on the path between two way-points is decided and a heading angle is calculated to converge to follow the desired path based on the LOS vector This guidance system is called LOS guidance system. The suggested LOS guidance law has parameters to be properly chosen according to navigational environment. Parameters of LOS guidance system are optimized to reduce propulsive energy and/or position error between desired Position and present position of a ship using genetic algorithm which is a strong optimization algorithm with adaptational random search The effectiveness of the suggested LOS guidance system is assured through computer simulations.

• Journal of Mechanical Science and Technology
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• v.17 no.11
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• pp.1682-1692
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• 2003

This paper proposes an adaptive controller for partially known system and applies to a two-wheeled Welding Mobile Robot (WMR) to track a reference welding path at a constant velocity of the welding point. To design the tracking controller, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as desired. Additionally, a scheme of error measurement is implemented on the WMR to meet the need of the controller. In this paper, the system moments of inertia are considered to be partially unknown parameters which are estimated using update laws in adaptive control scheme. The simulations and experiments on a welding mobile robot show the effectiveness of the proposed controller.

• Transactions of Materials Processing
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• v.6 no.5
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• pp.400-407
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• 1997

Geometric mapping technique has been used to find the shape of initial blank for sheet forming. The method was chosen because of its simplicity and numerical efficiency. Error in blank shape were measured along deformation path by FE analysis of forming. Blank shape was modified by volume additionaddition/Subtractiontraction method with taking with taking into account of deformation path. Modified blank shape shows an acceptable result, showing the current method can be an useful tool for predicting blank shape in the practical application. More test will be done to verify the validity of the method.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.2
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• pp.95-102
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• 2001

In general there are many degrees of freedom(DOFs) in industrial robots. So they have many poses of several special end-effectors positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applica-tions such as welding, spray painting, deburring, and so on. In this research, an off-line continuous path planning method based on linear interpolation with parabolic blend is developed. The method safely maintains the constant orientation for base frame and end-effectors path within allowable error and minimizes the number of segments in path. This algorithm may apply to welding and painting in which the orientation is particularly significant. The simulation study of cartesian curve is carried out to show the performance of this algorithm.

• Journal of the Korea Computer Industry Society
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• v.2 no.9
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• pp.1209-1218
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• 2001

In this dissertation, we propose a dynamic source routing protocol supporting asymmetric path for mobile ad hoc networks. At present, the existing dynamic source routing protocol supports only symmetric path for routing. However, in fact, there can exist unidirectional links due to asymmetric property of mobile termenals or current wireless environment. Thus, we implement a mobile ad hoc routing protocol supporting asymmetric routing path, which is fit for more general wireless environment. Especially, the proposed protocol uses an improved multipath maintenance method in order to perform rapid route reconfiguration when route error due to mobility is detected.