• IE interfaces
• /
• v.25 no.1
• /
• pp.87-95
• /
• 2012

Very special and tentative considerations including emotional aspects are required to apply any new mechanism and methodologies for manufacturing fields due to several reasons. This study reviews the characteristics of manufacturing collaborations through specific cases applied digital engineering to enhance the collaboration performance in manufacturing domains. Two cases of collaboration related with automotive manufacturing process are analyzed to extract meaningful insights for better collaboration model suggestions. The first case deals the robot simulation to find out advance errors in jig and fixture design during the various welding process of body-in-whites. The effective communication protocol to share their idea and agreed schedules are essential for this collaboration. More severe requirement of collaboration between R&D and manufacturing departments are studied in the second case for e-coating process. The invisible barriers among different departments are lowered by the process application of Computer Aided Engineering which can make sure their own interesting effectively. Those technical and managerial suggestions can be used when the information system and standard process are sought to implement and update not only when innovation projects are executed.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.552-557
• /
• 2004

This paper presents a disturbance observer based on an $H_{\infty}$ controller synthesis for the trajectory control of a hydraulic excavator. Compared to conventional robot manipulators driven by electrical motors, the hydraulic excavator has more nonlinear and coupled dynamics. In particular, the interactions between an excavation tool and the materials being excavated are unstructured and complex. In addition, its operating modes depend on working conditions, which make it difficult to not only derive the exact mathematical model but also design a controller systematically. In this study, the approximated linear model obtained through off-line system identification is used as nominal plant model for a disturbance observer. A disturbance observer based tracking controller which considers the effect of disturbance and model uncertainty is synthesized in $H_{\infty}$ frameworks. Simulation results are used to demonstrate the applicability of the proposed control scheme.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.9 no.3
• /
• pp.253-259
• /
• 2004

This paper presents a speed controller method based on the disturbance torque observer for high-performance speed control of the brushless DC (RLDC) motor. In case of the speed control of robot arms and tracking applications with lower stiffness, we cannot design the speed controller gain to be very large from the viewpoint of the system stability Thus, the feedforward compensation method using disturbance torque observer was proposed. This method can improve the speed characteristic without increasing the speed controller gain. The speed characteristic against disturbance torque can be improved when the bandwidth of the speed controller cannot be made large enough. Consequently, the speed control of the BLDC motor for the high-performance application become achieved.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.1
• /
• pp.18-25
• /
• 2003

A haptic hand controller (HHC) operated by the user’s hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. In this paper, a 3-DOF hand controller is first presented, in which all the actuators are mounted on the fixed base by combining a 5-bar linkage and a gimbal mechanism. The 6-DOF HHC is then designed by connecting these two 3-DOF devices through a handle which consists of a screw and nut. Analysis using performance index is carried out to determine the dimensions of the device. The HHC control system consists of the high-level controller for kinematic and static analysis and the low-level controller for position sensing and motor control. The HHC used as a user interface to control the mobile robot in the virtual environment is given as a simple application.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.4
• /
• pp.435-440
• /
• 2012

Recently autonomous navigation systems are taken great attention in real industry. The ability to performing desired tasks in rough, changing, unstructured and uncertain environments without continuous human assistance is needed in autonomous navigation systems including autonomous robots. Industrial Mobile robot can be required wireless network communications for the purpose of navigation information sharing. According to these backgrounds, in this paper, we develop sensor network and wireless network-based autonomous navigation systems, and provide experimental results in order to show the validity of the developed systems.

• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.14 no.2
• /
• pp.135-140
• /
• 2014

In this paper, we describe the contents of noise characteristic enhancement using digital filtering to the motion vector in the pattern noise of optical mouse. The designed circuit is implemented to enhance the smoothing and trembling with filtering and averaging of x, y motion vector before PS2 or USB output. The function is verified by using FPGA and the performance is measured by the fabricated chip using $0.35{\mu}m$ standard CMOS process. The system clock is 6MHz and the motion vector has the range of +6 to -6 per 1/1700sec. It is tested using the Cartesian robot to measure the noise characteristic enhancement.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.675-681
• /
• 1989

As an adaptive control function generator, the CMAC (Cerebellar Model Arithmetic or Articulated Controller) based learning control has drawn a great attention to realize a rather robust real-time manipulator control under the various uncertainties. There remain, however, inherent problems to be solved in the CMAC application to robot motion control or perception of sensory information. To apply the CMAC to the various unmodeled or modeled systems more efficiently, It is necessary to analyze the effects of the CMAC control parameters an the trained net. Although the CMAC control parameters such as size of the quantizing block, learning gain, input offset, and ranges of input variables play a key role in the learning performance and system memory requirement, these have not been fully investigated yet. These parameters should be determined, of course, considering the shape of the desired function to be trained and learning algorithms applied. In this paper, the interrelation of these parameters with learning performance is investigated under the basic learning schemes presented by authors. Since an analytic approach only seems to be very difficult and even impossible for this purpose, various simulations have been performed with prespecified functions and their results were analyzed. A general step following design guide was set up according to the various simulation results.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.11 s.176
• /
• pp.82-90
• /
• 2005

Recently, the in-line vision inspection has become the subject of growing research area in the visual control systems and robotic intelligent fields that are required exact three-dimensional pose. The objective of this article is to study the pc based in line visual inspection with the hand-eye structure. This paper suggests three dimensional structured light measuring principle and design method of laser sensor header. The hand-eye laser sensor have been studied for a long time. However, it is very difficult to perform kinematical analysis between laser sensor and robot because the complicated mathematical process are needed for the real environments. In this problem, this paper will propose auto-calibration concept. The detail process of this methodology will be described. A new thinning algorithm and constrained hough transform method is also explained in this paper. Consequently, the developed in-line inspection module demonstrate the successful operation with hole, gap, width or V edge.

• Journal of Welding and Joining
• /
• v.29 no.1
• /
• pp.52-58
• /
• 2011

In this paper, the direct bonding process between FPCB and HPCB was studied. By using an ultrasonic horn which is mounted on the ultrasonic bonding machine, it is alternatively possible to bond the gold pads attached on the FPCB and HPCB at room temperature without an adhesive like ACA or NCA. The process condition for obtaining more bonding strength than 0.6 Kgf, which is commercially required, was carried out as 40 kHz of frequency, 0.6 MPa of bonding pressure and 2 second of bonding time. The peel off test was performed for evaluating bonding strength which results in more than 0.8 Kgf.

• Journal of Ocean Engineering and Technology
• /
• v.29 no.5
• /
• pp.386-391
• /
• 2015

The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle’s driving force. In this paper, the modeling of a working tool such as a trenching cutter and a tracked vehicle that is the lower frame of a track-based operating robot was performed. In addition, a numerical simulation was executed to verify the performance of the design objectives and the motion characteristics of the combined system.