• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.351-353
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• 1992

Recently, robot plays an important role in factory automation and its use is rapidly increasing. In paticular, modern industry tends to need the robot to adjust itself swiftly to new workcell. But, robot is to be taught of operator through teaching box in order that it can carry out new tasks. In the process, interruption of the production line is frequent and so much time and expense are required. Computer Graphic Simulator(CGS) provides a useful tool to overcome such a problem. In this paper, CGS consists of teaching mode and execution mode. The 5-axis Rhino robot is modelled in IBM-PC/386 compatible 32-bit personal computer with 80387 co-processor and the simulator performs defined operations on the computer screen.

• 대한전자공학회논문지
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• 제25권1호
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• pp.8-17
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• 1988

This paper describes a robot simulator which enables a user to model a robot geometrically, and to evaluate performances of various robot control algorithms as well as to obtain physical understanding of robot and acruator dynamics. To achieve these goals, the kinematics and dynamics of a robot and interactive 3-D computer graphics which visulaize the motion of the robot were studied. The developed robot simulator consists of two parts:a dynamic simulator and a graphic simulator. To evaluate the robot simulator PUMA-560, Stanford arm, and RHINO robot were considered and a DG MV/10000 super mini-computer and an IBM-PC/XT personal computer were used.

• 한국정밀공학회지
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• 제3권1호
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• pp.50-59
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• 1986

Adaptive Model Following Control (AMFC) technique is applied to develop a robot manipulator control system, which can deal successfully with the complex dvnamics of the manipulator. Main concerns of this study are put on the problem reducing the chatter amplitude of control signal yielded by the unit vector control law that was proposed [10] previously for AMFC of the manipulatro, and the effect- iveness of the algorithm when implemented practically. To see the effectiveness of modified method, computer simulations using new and old control law are carried out and compared, and the modified one id implemented in RHINO XR-II robot system recon- structed partially to enable torque control.

• 대한전자공학회논문지
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• 제25권6호
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• pp.598-605
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• 1988

A kinematic control method for the redundant robot manipulator is proposed, where redundancy is utilized to avoid the limit of joint positions and velocities. For the given tadk, the joint positions are obtained in such a way that each joint is placed as close to its center point as possible by considering the velocity limit. The robot is, therefore, controlled so that the joints move with the acceptable velocities and lie within the reachable ranges. To show the validities of the proposed method, two examples are illustrated by computer simulations for the RHINO-XR robot with sliding base.

• 한국정밀공학회지
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• 제17권7호
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• pp.80-89
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• 2000

Driving simulators provide engineers with a power tool in the development and modification stages of vehicle models. One of the most important factors to realistic simulations is the fidelity obtained by a motion bed and a real-time visual image generation algorithm. Virtual reality technology has been widely used to enhance the fidelity of vehicle simulators. This paper develops the virtual environment for such visual system as head-mounted display for a vehicle driving simulator. Virtual vehicle and environment models are constructed using the object-oriented analysis and design approach. Based on the object model, a three-dimensional graphic model is completed with CAD tools such as Rhino and Pro/ENGINEER. For real-time image generation, the optimized IRIS Performer 3D graphics library is embedded with the multi-thread methodology. The developed software for a virtual driving simulator offers an effective interface to virtual reality devices.

• 한국정밀공학회지
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• 제6권1호
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• pp.52-74
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• 1989

In general, the state of system can be effected by external noise and observed only through a noisy channel. Therefore we use the estimation technigue for the information of state of the system effected by noise. There are many filters such as kalman-Buchy filter, kalman filter, Extended Kalman filter algorithm, cononlinear, extended Kalman filter algorithm to the estimation of parameters is very useful and has a long history. Also a considerable number of applications of this method has been reported. In this paper, the robot control system is treated in stochastic optimal control because of the robots doing a complicated and accurate task in inapproate environment. We have conclusion that error covariance is converged and the stability of filtering is obtained.

• Journal of Advanced Marine Engineering and Technology
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• 제31권5호
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• pp.606-613
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• 2007

The 6m class high speed boat is developed with a durable hull and inflatable tube, which is called RIB(Rigid Inflatable Boat), for the purpose of marine leisure. In the stage of the conceptual design, its requirements to be optimized are determined based on the presented information of similar marine leisure RIBs. The 3-D graphical technique using Marine Rhino is utilized to optimize the compartment layout of RIB. The stability analysis is performed for the light and full load conditions with and without the inflatable tube. In addition, the sea keeping and hydrodynamic performance was tested using the proto-type ship in the sea condition. From the results of the computation and the sea trial test, it shows that the performance of the marine leisure RIB satisfies the speed, the convenience, and the stability requirements. This study provides the typical information of the design factors and the procedure to manufacture the marine leisure RIB.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.1410-1413
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• 1993

This paper presents the application of fuzzy control to three links of a Rhino robot and compares its performance to traditional PD control. The dynamics of motion of robot links are governed by nonlinear differential equations. The fuzzy controller, being an adaptive technique, gives better performance than the traditional linear PD controller over a typical operational range. The fuzzy controller reaches the desired position with no overshoot, which is unlikely with the PD controller.

• Journal of Genetic Medicine
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• 제15권2호
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• pp.97-101
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• 2018

Tricho-rhino-phalangeal syndrome (TRPS) is a hereditary disorder characterized by craniofacial and skeletal abnormalities. A mutation of the TRPS1 gene leads to TRPS type I or type III. A 20-year-old male patient visited our neurologic department with chronic fatigue. He presented with short stature, sparse hair, pear-shaped nose, and brachydactyly. Radiologic study showed short metacarpals, metatarsals with cone-shaped epiphyses, hypoplastic femur and hip joint. Panel sequencing for OMIM (Online Mendelian Inheritance in Man) listed genes revealed a de novo heterozygous frameshift mutation of c.1801_1802delGA (p.Arg601Lysfs*3) of exon 4 of the TRPS1 gene. The diagnosis of TRPS can be challenging due to the rarity and variable phenotype of the disease, clinicians should be aware of its characteristic clinical features that will lead a higher rate of diagnosis.

• 국제초고층학회논문집
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• 제12권2호
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• pp.153-162
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• 2023

Achieving sustainable spaces is one of the emerging trends of tall buildings regarding their significant impacts on the cities. Reducing energy consumption and material using is investigated as a widely used approach to achieve more efficient tall buildings. Defining more efficient geometries and form modifications have been adopted for this goal. In this paper the effect of plan shape and diagrid angle on structural efficiency of diagrid tall buildings have been studied. A parametric workbench is applied to generate and analyze models. The goal is to find effective form parameters resulting in more efficient forms. Respectively, all models were generated in Rhino/grasshopper architecturally and analyzed by a finite element plug-in structurally. Based on the results, steeper angles almost cause more displacements and needs to be more stiffened. it can be seen almost more sided models need less weight for the structures and it could lead to more efficient forms.