• 한국정밀공학회지
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• 제14권12호
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• pp.56-65
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• 1997

This paper presents the robot program for propeller grinding. A robot manipulator is constructed by combining a parallel and a serial mechanism to increase high sitffness as well as workspace. The robot program involves inverse/direct kinematics, velocity mapping, Jacobian, and etc. They are cerived in efficient formulations and implemented in a real time control. A velocity control is used to measure the hight of a propeller blade with a touch probe and a position control is performed to grind the surface of the blade.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.575-581
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• 1993

This paper deals with analysis of articulated robot manipulator used for Arc welding and Material handling. Compared with present robot of which weight holding capacity is 6kg, this robot shows wider and symmetric working range for it's serial type mechanism. The link length is determined to have widest working range by using optimal simulation. To reduce body's weight, small AC servo motor is adopted and driving peak torque exerted at each joint is reduced by using dynamic analysis. So it is possible to reduce body's weight by 40% compared with the same class's robot and get wider working range. And by adopting modular design concept, each axis is designed to be changed easily for user's special need and repair.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2004년도 한국우주과학회보 제13권2호
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• pp.223-226
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• 2004

This paper presents a feasibility study of an advanced IO board design for the next generation of low-earth orbit satellites. Advanced IO board design includes sensor interface, NO, D/A, Digital Module, Serial Module etc, and allows to process increasing data rates between IO board and CPU board. The higher data rate involved in modem IO board additionally introduce issues such as noise, fault tolerance, command and data handling, limited pin count and power consumption problems. The experience in KOMPSAT-l and 2 program with this kind of problems resulted in using SMCS chip set, a high speed serial link technology based on IEEE-1355 (Space Wire Protocol) (ESA-ESTEC 2003, Parkes 1999), as a standard for next generation of satellite IO board design.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.781-786
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• 1996

In this paper, output precision characteristic of planar 3 and 6 degree-of-freedom parallel mechanisms are investigated. The 6 degree-of-freedom mechanism is formed by adding an additional small link along with an actuated joint in each of serial subchain of the 3 degree-of-freedom mechanism. First, kinematic analysis for two parallel mechanisms are performed, then their first-order kinematic characteristics are examined via isotropic index and minimum velocity transmission ratio of the mechanisms. It can be concluded that the planar 6 degrees-of-freedom parallel mechanism can be very effectively employed as a high-precision macro-micro manipulator from the analysis results when its link lengths are properly chosen.

• Journal of Advanced Marine Engineering and Technology
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• 제25권4호
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• pp.869-879
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• 2001

Serial communications such as RS-232C or RS-485 have been used to control and monitor the industrial plants for a long in cooperating with a computer or microprocessor. In recent years a great deal of effort has been made to achieve these control and monitoring through Internet network. This paper proposes a microprocessor system to implement remote control and monitoring system through Internet network. The proposed system uses NE2000 compatible NIC for data link and physical layer to access Internet network The microprocessor employed in the system plays a role of interfacing NE2000 compatible NIC interpreting protocols above link layer, controlling and monitoring industrial plants simultaneously. This paper also shows MMI and experimental results which control and monitor two power plants on the computer monitor with a mouse remotely to verify the proposed.

• 로봇학회논문지
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• 제17권4호
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• pp.493-499
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• 2022

This paper presents the design for the kinematic structure of a system for an automatically moored 6000 ton autonomous ship in a port, and the process and results of optimal design for the link cross-sectional shape. We propose an automatic mooring system with a PPP type serial manipulator structure capable of linear motion in the XYZ axis. The mooring force applied by the mooring system was derived with dynamics simulation tool "ADAMS". The design goal is the minimization of the cross-sectional area of the link. Constrains include compressive stress and shear stress. The optimization problems were solved by using the sequential quadratic programing method implemented in the fmincon package. The shape of the cross section was assumed to be rectangle. Through future research, we plan to manufacture automatic mooring system for 6000ton class autonomous ship.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1367-1370
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• 2003

PROFIBUS is an open industrial communication network for a wide range of application in manufacturing automation and process control systems. PROFIBUS-DP(Decentralized Peripherals) are mainly used to connect smart automation devices via a fast serial link. PROFIBUS-DP adopts master/slave mechanism for communication service. In this paper, we present an implementation method of the protocol stacks for the master station of PROFIBUS-DP.

• 한국마린엔지니어링학회:학술대회논문집
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• 한국마린엔지니어링학회 2002년도 춘계학술대회논문집
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• pp.205-208
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• 2002

The vericut is one of the best CAM application for manufacturing data verification system. It is much applied in most manufacturing company for checking the manufacturing work. Using it a off-line manufacturing system is connected for on-line working on local area network. First, we choose the serial communication to chain an off-line manufacturing system and a personal computer which link with the server running the vericut.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(2)
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• pp.277-280
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• 2001

The proposed clock generator lowers the operating frequency in a system core though it keeps data bandwidth high because it has a multiphase clocking architecture. Moreover. it has a dual loop which is comprised of an inner analog phase generation loop and outer digital phase control loop. It has both advantages of DLL's wide operating range and DLL's low jitter The proposed design has been demonstrated in terms of the concept and Hspice simulation. All circuits were designed using a 0.25${\mu}{\textrm}{m}$ CMOS process and simulated with 2.5 V power supply.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(5)
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• pp.165-168
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• 2002

This paper has been studied about the real time monitoring system development using TCP/IP ethernet and RS-422 serial communication link in general communication methods that rocket fire control agents could be monitoring about real time Rocket fire event procedures and be managing total rocket fire courses. Also, this paper has been studied the HMI(Human Machine Interface) control program and algorithm that guarantee confidential control for the Fire Display System.