• 전자공학회논문지S
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• 제34S권11호
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• pp.63-72
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• 1997

The design and implementation of a drive wheel position, orientation, and velocity feedback control algorithm for a differential-drive mobile robot is described here. A new concept, the most significant error, is introduced as the control design objective. Drive wheel position, orientation, and velocity feedback control directly minimize the most siginificant error by coordinating the motion of the two drive wheels. The drive wheel position, orientation, and velocity feedback control algorithm is analyzed and experiments are conducted to evaluate its performance. The experimental results are shown that drive wheel position, orientation and velocity feedback control algorithm yields substantially smaller position and orientation errors than those of conventional methods.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1316-1319
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• 1996

This paper proposes the algorithm for the correction of a position and orientation of small object such as chip in the precise construction process. In the past, it is general to correct position and orientation of object using human sight and simple vision sensors. But recently, researches using image processing devices have been studied to improve the corrective precision of a position and orientation of object. In this piper, maximum-axis moment and p-theta algorithm are used to correct the position and orientation. Algorithm of maximum-axis moment is widely applied to hetero-object except being applied to a perfect rectangle. This is reason that moments of the X and Y-axis are equal. Therefore, being the shape of a perfect rectangle, the object is applied to other algorithm. In the light of time problem, real-time control is as important as correction of object. To solve it, we use the DSP(Digital Signal Processing) which is far more fast than PC.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1042-1046
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• 1993

This paper describes a control scheme for a robot manipulator system which uses visual information to position and orientate the end-effector. In this scheme, the position and orientation of the target workpiece with respect to the base frame of the robot are assumed to be unknown, but the desired relative position and orientation of the end-effector to the target workpiece are given in advance. The control scheme directly integrates visual data into the servoing process without subdividing the process into determination of the position and orientation of the workpiece and inverse kinematics calculation. A neural network system is used for determining the change in joint angles required in order to achieve the desired position and orientation. The proposed system can be control the robot so that it approach the desired position and orientation from arbitrary initial ones. Simulation for the robot manipulator with six degrees of freedom will be done. The validity and the effectiveness of the proposed control scheme will be verified by computer simulations.

• 대한치과의사협회지
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• 제58권9호
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• pp.583-589
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• 2020

If the implant is planted in the wrong position or direction, it is disadvantageous for stress distribution, and it is easy to cause complications such as screw loosening, abutment fracture, and implant fracture. If the position or orientation of the implant is not good, efforts should be made to minimize the problem through proper implant prosthetic treatment. In this article, the prosthetic method for facilitating future maintenance in cases with poor implant placement or orientation will be presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.237-240
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• 2003

Gas turbines are extensively used in flight propulsion, electrical power generation, and other industrial applications. During its life span, a turbine blade is taken out periodically for repair and maintenance. This includes re-coating the blade surface and re-drilling the cooling holes/channels. A successful laser re-drilling requires the measurement of a hole within the accuracy of ${\pm}0.15mm$ in position and ${\pm}3^{\circ}$ in orientation. Detection of gas turbine blade/vane cooling hole position and orientation thus becomes a very important step for the vane/blade repair process. The industry is in urgent need of an automated system to fulfill the above task. This paper proposes approaches and algorithms to detect the cooling hole position and orientation by using a vision system mounted on a robot arm. The channel orientation is determined based on the alignment of the vision system with the channel axis. The opening position of the channel is the intersection between the channel axis and the surface around the channel opening. Experimental results have indicated that the concept of cooling hole identification is feasible. It has been shown that the reproducible detection of cooling channel position is with +/- 0.15mm accuracy and cooling channel orientation is with +/$-\;3^{\circ}$ with the current test conditions. Average processing time to search and identify channel position and orientation is less than 1 minute.

• 한국정밀공학회지
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• 제13권9호
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• pp.104-113
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• 1996

In robot system, the robot manipulation needs the information of task and objects to be handled in possessing a variaty of positions and orientations. In the current industrial robot system, determining position and orientation of objects under industrial environments is one of major problems. In order to pick up an object, the roblt needs the information about the position and orientation of object, and between objects and gripper. When sensing is accomplished by pinhole model camera, the mathematical relationship between object points and their images is expressed in terms of perspective, i.e., central projection. In this paper, a new approach to determine the information of the supporting points related to position and orientation of the object using the robot vision system is developed and testified in experimental setup. The result will be useful for the industrial, agricultural, and autonomous robot.

• 벤처창업연구
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• 제14권2호
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• pp.83-93
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• 2019

본 연구에서는 기업가지향성이 조직의 기업가적 성과에 어떠한 영향을 미치는지를 조직의 기업가정신 지식역량의 매개효과를 통해 분석하였다. 국내 3,324개의 중소기업을 대상으로 한 2017년 기업가정신실태조사 기업편의 설문조사 응답 자료를 토대로 분석한 결과, 기업의 혁신성은 기업가적 성과에 직접적인 정(+)의 영향을 미침과 동시에 기업가정신 지식역량에도 긍정적인 영향을 미친다. 위험감수는 지식역량에만 긍정적인 영향을 미치고, 진취성은 기업가적 성과에는 직접적인 정(+)의 영향을 미치는데 반해 기업가정신 지식역량에는 부정적인 영향을 미치는 것으로 분석되었다. 자주성과 경쟁성은 기업가정신 지식역량과 조직의 기업가적 성과에 모두 통계적으로 유의미한 영향을 미치지 않는 것으로 분석되었다. 기업가정신 지식역량은 조직의 기업가적 성과에 강한 긍정적인 영향을 미치는 것으로 나타났다. 이러한 분석 결과는 기업가지향성과 조직 성과의 상관관계 모형을 보다 구체화할 필요가 있다는 선행연구의 제언에 응답한 것으로, 기업가지향성은 조직의 지식역량, 즉, 기업가정신을 추구하기 위한 관련 전문 지식을 보유한 인력 및 지원 프로그램과 이러한 지식자원을 종합하고 재조합하여 활용하는 역량의 선행요인으로, 기업의 혁신성, 위험감수, 그리고 진취성을 통해 조직의 지식역량이 향상되어 결과적으로 기업이 보다 우월한 기업가적 성과를 도출하는 데 이바지하는 것으로 이해할 수 있다.

• 산업경영시스템학회지
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• 제22권50호
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• pp.11-21
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• 1999

In this paper, an algorithm to generate the mounting position and orientation of SMD is proposed. For the proposed algorithm, we used the image captured from PCB and utilized image processing technique. Pre-processing technique, threshold level determination method, divided recognition of the SMD pattern on a PCB, calculating mounting position and orientation are related topics of this research. All of the related topics were reviewed and the results of this research were obtained from applying the algorithm to the real Surface Mounting Machine(model:MCUl/CPM) made by Samsung Electronics Co.

• 전기학회논문지
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• 제60권10호
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• pp.1915-1923
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• 2011

For automated guidance control of a magnetically guided-all wheel steered vehicle, it is necessary to have information about position and orientation of the vehicle, and deviations from the reference path in real time. The magnet reference system considered here consists of three magnetic sensors mounted on the vehicle and magnetic markers, which are non-equidistantly buried in the road. This paper presents an observer to estimate such position and orientation at the center of gravity of the vehicle. This algorithm is based on the simple kinematic model of vehicle and uses the data of wheel velocity, steering angle, and the discrete measurements of marker positions. Since this algorithm requires the exact values of initial states, we have also proposed an algorithm of determining the initial position and orientation from the 16 successive magnet pole data, which are given by the magnetic measurement system(MMS). The proposed algorithm is capable of continuing to estimate for the case that the magnetic sensor fail to measure up to three successive magnets. It is shown through experimental data that the proposed algorithm works well within permissible error range.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.371-376
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• 1995

Computer vision is applicated to measure the position and orientation of the SMD on 8mm Camcoder PCB and advanced image processing algorithms for high accuracy and real time processing are proposed. Illumination conditions are optimized for the best image formation and a set of LEDs is used as economic illuminator, which is regarded as a summation of many point sources. Conctete optical system is constructed and the performance of the proposed algorithm is verified by several experiments.