• 한국정밀공학회지
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• 제20권12호
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• pp.80-88
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• 2003

We propose a new technique to design an unmaned integrating control system based-on Windows XP version off-Line Programming System which can simulate a dynamic model of robot manipulator in three dimensions graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off$.$line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for three dimensions graphics.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.123-123
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• 2000

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed in this research. The polishing system with five degrees of freedom is able to keep the polishing tool normal to the die surface. The polishing system is controlled by a PC-NC controller. And, to easily onerate the developed polishing system, this stud)r developed a integrated program in the Windows environment. This program consists of 4 modules: polishing module, a graphic simulator, a polishing data generation module, and a teaching. Also, the automatic teaching system was developed to easily obtain a teaching data. The developed teaching system consists of a three dimensional joystick and a proximity sensor. In order to evaluate stability of the driving program and the leaching system, polishing experiments of the die of saddle shape were carried out.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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• pp.276-280
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• 2001

In the development of Chip Mounter(C/M), much interests have risen regarding how to decrease the operation time of mounting the different chips on the printed circuit board(PCB). The existing method to determine the time sequence of teaching C/M was to follow the procedure which was made by the operater. IN this study, a new but effective algorithm has been developed and employed in SCM-130 Chip Mounter and its online programming had reduced the mounting time significantly and provided the basis for the future online CAD/CAM system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.173-174
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• 2010

• 로봇학회논문지
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• 제15권4호
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• 대한수학교육학회지:학교수학
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• 제7권4호
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• pp.375-389
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• 2005

Whitehead는 그의 형이상학적 철학과 교육철학을 바탕으로 리듬을 살리는 교육을 제안하고 있다. 그에 의하면 '교육의 리듬'이란 자유와 규율이 조화를 이루는 가운데 학생의 지적 수준이 상승하게 된다는 것을 의미하며, 이는 로맨스의 단계와 정밀화의 단계, 일반화의 단계를 거치면서 거듭된다. 또한 이런 주기들이 반복되면서 더 나은 수준으로 발전하게 되어 학생은 지적인 자유를 누릴 수 있다. 본 논문은 이러한 Whitehead의 생각을 수학교육에서 살리는 방안을 모색해 본 것이다. 먼저 3단계를 의미있게 거쳐가게 하는 교육과정의 구성 방안을 생각해 보고, 자유와 규율이 교대로 일어나는 교수방법을 구안해 본다. 그리고 실제 수업에서 이들을 적용하는 방안을 구상해 본다.

• Journal of Information Processing Systems
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• 제16권3호
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• pp.530-540
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• 2020

In order to solve the problem of low tracking accuracy caused by complex noise in the fault diagnosis of complex nonlinear system, a fault diagnosis method of high precision cost reference particle filter (CRPF) is proposed. By optimizing the low confidence particles to replace the resampling process, this paper improved the problem of sample impoverishment caused by the sample updating based on risk and cost of CRPF algorithm. This paper attempts to improve the accuracy of state estimation from the essential level of obtaining samples. Then, we study the correlation between the current observation value and the prior state. By adjusting the density variance of state transitions adaptively, the adaptive ability of the algorithm to the complex noises can be enhanced, which is expected to improve the accuracy of fault state tracking. Through the simulation analysis of a fuel unit fault diagnosis, the results show that the accuracy of the algorithm has been improved obviously under the background of complex noise.

• 한국과학교육학회지
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• 제1권1호
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• pp.73-88
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• 1978

The survey is intended to improve science education by the analysis of problems produced in the following nine aspects (objectives, contents, materials, inquring methods, teaching methods, teachers, children, evalutions, admininative supports) during the past five years often the revision of new science curriculum. 1. View for science education. 1) The teacher's and children's view for science education can be seen renewed, being different from the old one. 2) Inquring method in learning and teaching began to take firm root and children came to know that it is the only way to study science. 3) Writers think that the new science education has stepped into the stage of being fixed to a considerable degree. 2. The aspect of administrative policy. 1) The amount of materials in possession is small and the present materials are lacking in solidity and precision. 2) Class room teacher's over load with miscellaneous things is a difficult problem to solve. 3) The shortage of the printed materials and books for children and teachers has an influence on the development of inquring method. 4) It causes cramming to examine all children at the same time by paper test. 5) It is more desirable to appoint qualified teacher only for science teaching. 3. Contents of science curriculum. 1) In current science textbooks. There can be found some contents which are difficult for teachers to understand and not in accordance with the reality of Korea. Therefore, it is imperative that contents of science textbooks should be reexamined. 2) As it is hard to teach concepts of reciprocal action and to prepare materials with teaching of the system of biological concepts, the teaching of contents is likely to be a cramming. 4. The aspect of in-service education. 1) It is obsolutely predominant reation that in-service education is making a great contribution to class room teaching. 2) As adiministrators' policy for science education has a great effect, in-service education for their enlightenment is needed.

• 제어로봇시스템학회논문지
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• 제7권4호
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• pp.334-343
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• 2001

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. Some workers tend to gradually avoid the polishing work because of the poor environment caused by dust and noise. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed in this research. The polishing system with five degrees of freedom is able to keep the polishing tool normal to the die surface. The polishing system is controlled by a PC-NC controller. To easily operate the developed polishing robot system, this study developed an integrated program in the Windows environment. This program consists of four modules: the polishing module, the graphic simulator, the polishing data generation module, and the teaching module. Also, the automatic teaching system was developed to easily obtain teaching data and it consists of a three dimensional joystick and a proximity sensor. The joystick is used to simultaneously drive the polishing system to an arbitrary orientation and the proximity sensor is used to obtain teaching points precisely. Also, to evaluate the stability of the driving program and the teaching system, polishing experiments of a die of saddle shape were carried out.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.692-697
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• 1997

This paper presents a method of grinding and polishing automation of precision die after CNC machining. The method employs a robot system equipped with a pneumatic spindle and a special abrasive film pad. The robote program is automatically generated off-line from a PC and downloaded to robot controller. Position and orientation data for the program is supplied from cutter contact (CC) data of NC machining process. This eliminates separate robot teaching process. This paper aims at practical automation of die finishing process which is very time consuming and suffering from shortage of workpeople. Time loss for changeover from one product to next is eliminated by off-line programming exploiting appropriate NC machining data. Dextrous 6-axis robot with rigid wrist and simple tooling enables the process applicable to larger, rather complex 3 dimensional free surfaces