• 한국정보과학회논문지:소프트웨어및응용
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• 제34권8호
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• pp.697-707
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• 2007

임베디드 소프트웨어는 탑재될 하드웨어 아키텍처에 매우 의존적이기 때문에 플랫폼 특성을 고려한 소프트웨어 설계가 이루어져야 한다. 본 연구에서는 MPSoC(Multi Processor System On Chip)용 플랫폼에 탑재될 임베디드 소프트웨어의 PIM(Platform Independent Model)을 PSM(Platform Specific Model)에 매핑하기 위한 기법을 제안하고, 매핑 결과에 대한 시뮬레이션을 통해 매핑 기법의 유효성을 검사하였다. 제안하는 방법은 UML(Unified Modeling Language) 기반의 객체지향 모델로부터 태스크를 도출하여 이 기종의 하드웨어 컴포넌트로 구성된 MPSoC 플랫폼에 할당하기 위한 것으로써, 할당의 정확성 및 신속성과 소프트웨어 병렬성을 극대화 할 수 있는 장점을 제공한다.

• 한국산업융합학회 논문집
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• 제25권4_1호
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• pp.513-519
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• 2022

In this paper, we describe performances of P-PD controllers in the quadrotor system with steady-state error compensation by adding a corrective term to the system input. A decentralized control system using P-PD controllers was successfully implemented on a quadrotor platform. We also presented the results of a mathematical modeling analysis for control the quadrotor and experimental results for each response performance according to the heading reference value in accordance with the mathematical modeling and P-PD controller design. A control experiment with the real system was implemented for the test platform, and the results were evaluated and compared.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2719-2724
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• 2003

In this paper, we deal with the kinematic and dynamic modeling of hybrid robotic systems that are constructed by combination of parallel and serial modules or series of parallel modules. Previously, open-tree structure has been employed for dynamic modeling of hybrid robotic systems. Though this method is generally used, however, it requires expensive computation as the size of the system increases. Therefore, we propose an efficient dynamic modeling methodology for hybrid robotic systems. Initially, the dynamic model for the proximal module is obtained with respect to the independent joint coordinates. Then, in order to represent the operational dynamics of the proximal module, we model virtual joints attached at the top platform of the proximal module. The dynamic motion of the next module exerts dynamic forces to the virtual joints, which in fact is equivalent to the reaction forces exerted on the platform of the lower module by the dynamics of the upper module. Then, the dynamic forces at the virtual joints are distributed to the independent joints of the proximal module. For multiple modules, this scheme can be constructed as a recursive dynamic formulation, which results in reduction of the complexness of the open-tree structure method for modeling of hybrid robotic systems. Simulation for inverse dynamics is performed to validate the proposed modeling algorithm.

• 한국CDE학회논문집
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• 제5권1호
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• pp.42-49
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• 2000

This paper presents a solid modeling system that enables real time co-operative modeling and discussion on m between geographically separated designers. The modeling system is implemented using CORBA architecture and integrated in WWW with Java technology. The server objects use a commercial solid modeling kernel to provide modeling features and access database including product model data. The client is implemented using Java2 platform so that enables end-users access the system with web-browsers.

• 경영과학
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• 제32권4호
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• pp.209-236
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• 2015

This study focuses on the network externality effect related to the platform supplementary services. This study designs the network externality of platform and suggests a supplementary service adoption model. Additionally, this study examines the moderating effect of demand forecasting for the platform. Using AMOS program, a structural equation modeling has been used to analyze the research model. The findings can be summarized as follows : First, we find out the structural relationship among the factors (usefulness, perceived value, purchase intention) affecting adoption of the supplementary services. Second, positive perception of platform flow can promote the platform interaction. Third, positive perception of present users based on platform can arouse friendly evaluation in the platform interaction. Fourth, loyalty to the platform brand can improve the perceived usefulness of supplementary services, but cannot lessen the resistance to supplementary service cost. In addition, the moderating effects of demand forecasting for the platform in the path leading from platform factors to supplementary service factors were identified. In conclusion, traditional brand strategy may be effective in platform marketing activities but the extent of performance in the strategy can appear to be quite different. Therefore, taking the relationship with network externality into consideration should be involved in the marketing strategy in platform.

• 드라이브 ㆍ 컨트롤
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• 제12권4호
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• pp.41-47
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• 2015

Hydraulic manipulators have been widely used in many different fields due to their high force/torque to inertia ratio. The increased speed of hydraulic manipulators requires solutions to problems ranging from mechanical design to the need to determine a robot model suitable for model-based control. As a solution, this paper presents the integration of SolidWorks with Simscape for designing and controlling hydraulic manipulators. The integration provides a platform for the rapid control prototyping of a hydraulic robot without the need to build actual prototypes. The mechanical drawings of a manipulator are first created using Solidworks and are then imported into Simscape, where the manipulator is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for a 3D manipulator made by KNR SYSTEM INC are verified to show the effectiveness of the presented platform.

• 제어로봇시스템학회논문지
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• 제7권12호
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• pp.993-1000
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• 2001

Configuration-dependent nonlinear coefficient matrices in the dynamic equation of robot manipulator impose computa- tional burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range. nonlinear coefficient matrices can be approxiamted to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the modeling errors disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full inverse dynamics is not easy to implement.

• 동력기계공학회지
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• 제18권4호
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• pp.91-96
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• 2014

The application of the recent model-based control schemes for robot manipulators require the solution of problems concerning various aspects, from the mechanical design to the necessity of determining a robot model suitable for control, and of experimentally testing the control performances. For one solution, integration of SolidWorks with Simscape for designing and controlling robot manipulators is presented in this paper. The integration provides a platform for rapid control prototyping of robot manipulators without the need for building real prototypes. Mechanical drawings of a robot are first created using Solidworks and imported into the Simscape, where a robot is represented by connected block diagrams based on the principle of physical modeling. Simulation examples for 7-DOF SAM ARM made by Berrett Technology Inc. are testified to show effectiveness of the presented platform.

• Bulletin of the Korean Chemical Society
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• 제32권4호
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• pp.1237-1240
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• 2011

In this study, we have developed a ligand-based in-silico prediction model to classify chemical structures into hERG blockers using Bayesian and random forest modeling methods. These models were built based on patch clamp experimental results. The findings presented in this work indicate that Laplacian-modified naive Bayesian classification with diverse selection is useful for predicting hERG inhibitors when a large data set is not obtained.

• 농촌계획
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• 제19권4호
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• pp.177-189
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• 2013

3D modeling and rendering technologies are getting more attention from landscape planners and architects because the virtual reality based on 3D graphic technology could give more realistic experience to landscape simulation users and boost promotional effects. The 3D landscape simulation, however, not only requires a lot of cost and time in production, but also demands efforts to distribute to consumers due to various computing environment of them. The purpose of this study is to suggest a process for developing an interactive 3D landscape simulator with low-cost, which can support multi-platform functionality in high quality through reviewing related current software and web services. We select GIMP for 2D image texturing, SketchUpfor 3D modeling, Unity for real-time rendering, and Google Earth for terrain modeling considering price and workability and apply the developed process for Windows, Web, and Android versions to test the applicability for Sangji-ri, Gosam-myeon, Gyeonggi-do, Korea.