• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1884-1887
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• 1997

The increasing concern over radiation exposure in the nuclear industry has fostered agrressive efforts to reduce the levels of radiation exposure. One area of the effot to reduce the radiation exposure is the development of a remote radiation monitoring system. Remote radiation monitoring can serve many benificaial functions reduce exposure to radiation by plant personnel, impruve the quality of the data that is collected and recognize the radiation environment easily. Radiation mapping system gives a good information that represents radiation level distribution. The system we have developed consists of a data acquistion parts, mobile robot and remote control parts. Data acquisition parts consist of radiation detection module and vision acquistion module which collect radiation data, visiion data and distance information. In remote control parts, the acquision data are processed and displayed. We have constructed radiation mapping image by overlaying the vision and radiation data. The radiation mapping techniques for displaying the results of the survey in an easily comprehendable form will facilitate a better understanding of the radiation environment in the facility. This system can reduce workers radiation exposure and aid to help work plan, so it has significant benifits in cost and safety.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.1
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• pp.62-68
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• 2000

Fixtures are used in almost all phases of machining and assembly to position and hold a part accurately. The class of fixture which consists of 3 locators and 1 clamp(3L/1C) is known as the minimal set that can provide form closure which is a kinematic constraint condition for preventing all planar motions. This type of fixtures has advantages in terms of the number of fixture elements required, the time for clamping, and so on. However it is not widely used in industry because reliable loading scheme has not been reported. In this paper, we propose a method to load the class of 3L/1C fixtures using compliant motions. The planner is developed for synthesizing compliant motions to achieve precise final fixture configuration in the presence of sensing and control uncertainties. A novel approach to eliminate uncertainty in part orientation by adding one extra fixture element called an aligning pin is proposed.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1430-1434
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• 2004

Recently, Virtual reality parts is applied in various fields of industry. In this paper we developed basic components for virtual robot control system interfaced with real environment. For this, a real robot with virtual interface module is developed and virtual robot of similar image with real robot is created by putting on 3D graphic texture to the real robot. To build an unknown environment to be linked with virtual environment, we proposed a hough transformation based algorithm. Our proposed algorithm consists of navigation module by using fuzzy engine and map building module. Experiments using a developed robot illustrate the method.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.350-353
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• 2004

The increasing use of Ethernet-TCP/IP network in industry has led to the growing interest in its reliability in real-time applications such as automated manufacturing systems and process control systems. However, stochastic behavior of its medium access scheme makes it inadequate for time-critical applications. In order to guarantee hard real-time communication service in Ethernet-TCP/IP network, we proposed an algorithm running over TCP/IP protocol stack without modification of protocols. In this paper, we consider communication services guaranteeing deadlines of periodic real-time messages over MAC protocols that have unbounded medium access time. We propose a centralized token scheduling scheme for multiple access networks. The token is used to allow a station to transmit its message during the time amount that is appended to the token. The real-time performance of the proposed algorithm has been described.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.726-729
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• 2004

This paper concerns on developing a multi-purpose test device for measuring mechanical properties of shoes. The device was modified from a commercial robot manipulator, with which impact, bending, and pronation tests were suggested to evaluate performances of shoes. From several experiments, the developed device could produce repetitive and consistent results corresponding to the different material of shoes. In the shoe industry, it is expected that the device could contribute to developing a better shoe for comfort of costumers.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.286-290
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• 2004

This paper deals with tipping over of hydraulic excavator's crane work. If the excavator lifts too heavy weight, the excavator will be tipped up. This is account for 38% of whole excavator accidents. In this paper, tipping-over load which is maximum load of excavator can lift with displacement of excavator links, real load and tipping-over rate are computed with Zero Moment Point theory. ZMP is verified with simulation and experiment.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.740-745
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• 2008

This paper presents a new non-contact 3D robotic inspection system to measure the precise positions of screw and punch holes on a car body frame. The newly developed sensor consists of a CCD camera, two laser line generators and LED light. This lightweight sensor can be mounted on an industrial robot hand. An inspection algorithm and system that work with this sensor is presented. In performance evaluation tests, the measurement accuracy of this inspection system was about 200 ${\mu}m$, which is a sufficient accuracy in the automotive industry.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.627-638
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• 2008

With the shift of the electric power industry from a regulated monopoly structure to a competitive market environment, the focus of the transmission expansion planning has been moving from reliability-driven transmission expansion to market-based transmission expansion. In market-based transmission expansion, however, a growing demand for electricity, an increasing number of transmission bottlenecks, and the falling levels of transmission investment have created the need for an incentive to motivate investors. The expectation of profit serves as a motivational factor for market participants to invest in transmission expansion in a competitive market. To promote investment in transmission expansion, there is an increasing need for a systematic method to examine transmission expansion for investment incentives from multiple perspectives. In this paper, the transmission expansion problem in a competitive market environment is formulated from ISO and investors' perspectives. The proposed method uses parametric analysis to analyze benefits for investors to identify the most profitable location and amount for transmission addition. Numerical results are presented to demonstrate the effectiveness of the proposed method.

• 한국정보교육학회:학술대회논문집
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• 2010.01a
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• pp.259-262
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• 2010

지식경제부에서는 학교교육의 다양성 확대를 지원하고 체계적인 로봇교육 방안을 마련하고자, 초등학교 68개교를 대상으로 교구로봇과 교사 연수 등 교사의 로봇활용 지원체제를 구축한 후 교구로봇 시범교육사업을 실시하였다. 따라서 본 논문에서는 초등 방과후학교의 교구로봇 시범교육사업에 대한 현황을 분석하여, 향후 교구로봇 확대사업에 대한 기초 자료 분석결과를 제공하고자 한다. 이를 위하여 시범교육사업 대상학교의 교육 개설 현황, 교구 및 교재 이용, 교 강사 현황과 학생만족도 등을 조사하였다. 그 결과 대부분의 초등학교에서 학생들의 창의력 향상, 로봇에 대한 관심 증대 등의 효과가 있는 것으로 나타났으며, 적극적으로 수업에 참여하고 높은 집중 정도를 나타내는 것으로 분석되었다. 하지만 교재, 교구에 대한 개선 요구사항이 많은 것으로 나타나 학생들의 수준에 맞는 적절한 교재와 학생들의 다양한 활동을 이끌어 낼 수 있는 교구의 구성이 뒷받침 되어야 할 것으로 보인다.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1944-1949
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• 1991

In coming years fuzzy control techniques will be increasingly applied to plants in such fields as industry and public works. For this reason, it is extremely important that a high-quality support tool for systems configuration be developed. In this paper we will describe a comprehensive, user-friendly design tool for configuration of fuzzy control systems, called FZtool, that runs on a compact and cost-effective laptop computer.