• 한국전자통신학회논문지
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• 제15권2호
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• pp.273-284
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• 2020

본 논문은 현재 자동화 공정에서 널리 쓰이는 델타 로봇을 저가형 DC 모터로 제작 및 제어하는 방법을 제안한다. 델타 로봇의 기구학 및 동역학을 해석하여 시뮬레이션을 한 후, 이를 기반으로 저가형 DC 모터를 선정하였다. 실험을 통하여 모터의 특성 값들을 획득하고 제어 이론을 적용하여 전류-위치 Cascade 제어 시스템을 설계하였다. 설계한 시스템의 성능을 검증하기 위해서 델타 로봇의 말단효과장치의 목표 경로를 설정하여 실험을 진행하였다. 실험을 통하여 저가형 모터를 사용함으로서 발생하는 문제점들을 보상 알고리즘을 설계하여 극복하고 End-effector의 위치 제어 성능을 입증하였다.

• Journal of Communications and Networks
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• 제9권3호
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• pp.296-311
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• 2007

Mobile multi-robot teams are useful in many critical applications such as search and rescue. Explicit communication among robots in such mobile multi-robot teams is useful for the coordination of such teams as well as exchanging data. Since many applications for mobile robots involve scenarios in which communication infrastructure may be damaged or unavailable, mobile robot teams frequently need to communicate with each other via ad hoc networking. In such scenarios, low-overhead and energy-efficient routing protocols for delivering messages among robots are a key requirement. Two important primitives for communication are essential for enabling a wide variety of mobile robot applications. First, unicast communication (between two robots) needs to be provided to enable coordination and data exchange. Second, in many applications, group communication is required for flexible control, organization, and management of the mobile robots. Multicast provides a bandwidth-efficient communication method between a source and a group of robots. In this paper, we first propose and evaluate two unicast routing protocols tailored for use in ad hoc networks formed by mobile multi-robot teams: Mobile robot distance vector (MRDV) and mobile robot source routing (MRSR). Both protocols exploit the unique mobility characteristics of mobile robot networks to perform efficient routing. Our simulation study show that both MRDV and MRSR incur lower overhead while operating in mobile robot networks when compared to traditional mobile ad hoc network routing protocols such as DSR and AODV. We then propose and evaluate an efficient multicast protocol mobile robot mesh multicast (MRMM) for deployment in mobile robot networks. MRMM exploits the fact that mobile robots know what velocity they are instructed to move at and for what distance in building a long lifetime sparse mesh for group communication that is more efficient. Our results show that MRMM provides an efficient group communication mechanism that can potentially be used in many mobile robot application scenarios.

• 한국지능시스템학회논문지
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• 제21권3호
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• pp.353-358
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• 2011

본 논문에서는 이족 로봇을 위한 가상의 다리에 기반한 보행 모델을 제시한 후, 시뮬레이션을 통하여 제시한 보행 모델의 근본적인 롤/피치/요(roll/pitch/yaw) 운동 특성을 분석한다. 이를 위하여 로봇의 무게 중심과 압력 중심에서의 운동 경로를 사람의 발걸음 운동 패턴과 유사한 임의의 패턴으로 설정하고, 이러한 경로를 따라 보행할 경우에 나타나는 주요 관성 성분 특성을 확인한다. 결과적으로, 이족 보행에서 롤, 피치 및 요 방향으로의 운동은 보행과정에서 생성될 수 있는 자연스러운 현상이며, 이것은 발걸음의 간격, 무게 중심의 위치 및 로봇 몸체의 이동가속도와 밀접한 관계가 있음을 보인다. 또한, 이족보행의 밸런스 관점에서 발의 위치 설정을 위한 경로계획의 중요성을 고찰한다.

• Journal of Positioning, Navigation, and Timing
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• 제10권3호
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• pp.179-187
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• 2021

To estimate the location of the train, we consider an integrated navigation system that combines Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS). This system provides accurate navigation results in open sky by combining only the advantages of both systems. However, since measurement update cannot be performed in GNSS signal blocked areas such as tunnels, mountain, and urban areas, pure INS is used. The error of navigation information increases in this area. In order to reduce this problem, the train's Non-Holonomic Constraints (NHC) information can be used. Therefore, we deal with the INS/GNSS/NHC integrated navigation system in this paper. However, in the process of installing the navigation system on the train, a Mounting Misalignment Error of the IMU (MMEI) inevitably occurs. In this case, if the NHC is used without correcting the error, the navigation error becomes even larger. To solve this problem, a method of easily estimating the MMEI without an external device is introduced. The navigation filter is designed using the Extended Kalman Filter (EKF) by considering the MMEI. It is assumed that there is no vertical misalignment error, so only the horizontal misalignment error is considered. The performance of the integrated navigation system according to the presence or absence of the MMEI and the estimation performance of the MMEI according to the method of using NHC information are analyzed based on simulation. As a result, it is confirmed that the MMEI is accurately estimated by using the NHC information together with the GNSS information, and the performance and reliability of the integrated navigation system are improved.

• 한국정보통신학회논문지
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• 제26권5호
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• pp.682-687
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• 2022

터널링 전계효과 트랜지스터(tunneling field-effect transistor; TFET)로 적층된 3차원 적층형 집적회로(monolithic 3D integrated-circuit; M3DIC)에 대한 연구 결과를 소개한다. TFET는 MOSFET(metal-oxide-semiconductor field-effect transistor)와 달리 소스와 드레인이 비대칭 구조이므로 대칭구조인 MOSFET의 레이아웃과 다르게 설계된다. 비대칭 구조로 인해서 다양한 인버터 구조 및 레이아웃이 가능하고, 그 중에서 최소 금속선 레이어를 가지는 단순한 인버터 구조를 제안한다. 비대칭 구조의 TFET를 순차적으로 적층한 논리 게이트인 NAND 게이트, NOR 게이트 등의 M3DIC의 구조와 레이아웃을 제안된 인버터 구조를 바탕으로 제안한다. 소자와 회로 시뮬레이터를 이용해서 제안된 M3D 논리게이트의 전압전달특성 결과를 조사하고 각 논리 게이트의 동작을 검증한다. M3D 논리 게이트 별 셀 면적은 2차원 평면의 논리게이트에 비해서 약 50% 감소된다.

• 한국음향학회지
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• 제40권6호
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• pp.578-586
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• 2021

종단간 음성인식기의 성능향상을 위한 변분 오토인코더(Variational AutoEncoder, VAE) 및 비교사 데이터 증강(Unsupervised Data Augmentation, UDA) 기반의 준지도 학습 방법을 제안한다. 제안된 방법에서는 먼저 원래의 음성데이터를 이용하여 VAE 기반 증강모델과 베이스라인 종단간 음성인식기를 학습한다. 그 다음, 학습된 증강모델로부터 증강된 데이터를 이용하여 베이스라인 종단간 음성인식기를 다시 학습한다. 마지막으로, 학습된 증강모델 및 종단간 음성인식기를 비교사 데이터 증강 기반의 준지도 학습 방법으로 다시 학습한다. 컴퓨터 모의실험 결과, 증강모델은 기존의 종단간 음성인식기의 단어오류율(Word Error Rate, WER)을 개선하였으며, 비교사 데이터 증강학습방법과 결합함으로써 성능을 더욱 개선하였다.

• Journal of Korean Neurosurgical Society
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• 제66권6호
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• pp.632-641
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• 2023

Central nervous system tumors are identified as tumors of the brain and spinal cord. The associated morbidity and mortality of cerebrospinal tumors are disproportionately high compared to other malignancies. While minimally invasive techniques have initiated a revolution in neurosurgery, artificial intelligence (AI) is expediting it. Our study aims to analyze AI's role in the neurosurgical management of cerebrospinal tumors. We conducted a scoping review using the Arksey and O'Malley framework. Upon screening, data extraction and analysis were focused on exploring all potential implications of AI, classification of these implications in the management of cerebrospinal tumors. AI has enhanced the precision of diagnosis of these tumors, enables surgeons to excise the tumor margins completely, thereby reducing the risk of recurrence, and helps to make a more accurate prediction of the patient's prognosis than the conventional methods. AI also offers real-time training to neurosurgeons using virtual and 3D simulation, thereby increasing their confidence and skills during procedures. In addition, robotics is integrated into neurosurgery and identified to increase patient outcomes by making surgery less invasive. AI, including machine learning, is rigorously considered for its applications in the neurosurgical management of cerebrospinal tumors. This field requires further research focused on areas clinically essential in improving the outcome that is also economically feasible for clinical use. The authors suggest that data analysts and neurosurgeons collaborate to explore the full potential of AI.

• 반도체디스플레이기술학회지
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• 제22권3호
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• pp.112-118
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• 2023

As technology advances, the need for enhanced preparedness against cyber-attacks becomes an increasingly critical problem. Therefore, it is imperative to consider various circumstances and to prepare for cyber-attack strategic technology. This paper proposes a method to solve network security problems by applying reinforcement learning to cyber-security. In general, traditional static cyber-security methods have difficulty effectively responding to modern dynamic attack patterns. To address this, we implement cyber-attack scenarios such as 'Tiny Alpha' and 'Small Alpha' and evaluate the performance of various reinforcement learning methods using Network Attack Simulator, which is a cyber-attack simulation environment based on the gymnasium (formerly Open AI gym) interface. In addition, we experimented with different RL algorithms such as value-based methods (Q-Learning, Deep-Q-Network, and Double Deep-Q-Network) and policy-based methods (Actor-Critic). As a result, we observed that value-based methods with discrete action spaces consistently outperformed policy-based methods with continuous action spaces, demonstrating a performance difference ranging from a minimum of 20.9% to a maximum of 53.2%. This result shows that the scheme not only suggests opportunities for enhancing cybersecurity strategies, but also indicates potential applications in cyber-security education and system validation across a large number of domains such as military, government, and corporate sectors.

• 한국항행학회논문지
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• 제28권1호
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• pp.129-135
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• 2024

본 연구에서는 고속 반도체 패키지 및 PCB 내 노이즈 저감에 활용되는 비주기 전자기 밴드갭 기반 전원분배망에 대한 해석 방안을 제안한다. 비주기 전자기 밴드갭은 고속 반도체 시스템 성능 저하의 주요 원인 중 하나인 고주파·광대역 전원 노이즈를 효율적으로 감쇠할 수 있는 방안이지만 해석 시간 증대로 인해서 노이즈 감쇠 특성을 예측하는 데 어려움이 있다. 제안하는 해석적 방법에서는 전자기 밴드갭 단위셀 결합 구조에 대한 임피던스 파라미터를 도출하며 국소 배치된 전자기 밴드갭 구조를 포함하는 전원분배망의 전체 임피던스 파라미터를 도출한다. 국소배치된 전자기 밴드갭 구조의 임피던스 파라미터와 기존 전원분배망 구조의 임피던스를 효율적으로 등가치환할 수 있는 수식적인 방안을 제시한다. 제안하는 해석적 방법을 검증하기 위해서 전자기 밴드갭 구조가 국소배치된 PCB 테스트 샘플을 제작했다. 이 구조에 대한 3차원 전자장 시뮬레이션 결과, 측정결과, 제안 방안 결과를 비교한 결과 제안하는 해석적 방안은 높은 정확도를 보여줬으며 기존 3차원 전자장 시뮬레이션 기반 해석 방법 대비 99.7 % 해석 시간 단축을 달성했다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1354-1358
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• 2003

The process equipment for handling high level radioactive materials like spent fuels is operated in a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired optimally by a remotely operated manipulator. The master-slave manipulators(MSM) are widely used as a remote handling device in the hot cell. The equipment in the hot cell should be optimally placed within the workspace of the wall-mounted slave manipulator for the maintenance operation. But, because of the complexity in the hot cell, there would be some parts of the equipment that are not reached by the MSM. In this study, the maintenance process for these parts of the equipment is developed using virtual prototyping technology. To analyze the workspace of the maintenance device in the hot cell and to develop the maintenance processes for the process equipment, the virtual mock-up of the hot cell for the spent fuel handling process is implemented using IGRIP. For the implementation of the virtual mock-up, the parts of the equipment and maintenance devices such as the MSM and servo manipulator are modeled and assembled in 3-D graphics, and the appropriate kinematics are assigned. Also, the virtual workcell of the spent fuel management process is implemented in the graphical environment, which is the same as the real environment. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass are analyzed. Also, for the dedicated maintenance operation, the analyses for the detailed area of the end effectors in accordance with the slave manipulator's position and orientation are carried out. The parts of the equipment that are located outside of the MSM's workspace are specified and the maintenance process of the parts using the servo manipulator that is mounted in the hot cell is proposed. To monitor the process in the hot cell remotely, the virtual display system by a virtual camera in the virtual work cell is also proposed. And the graphic simulation using a virtual mock-up is performed to verify the proposed maintenance process. The maintenance process proposed in this study can be effectively used in the real hot cell operation and the implemented virtual mock-up can be used for analyzing the various hot cell operations and enhancing the reliability and safety of the spent fuel management.