• 한국정밀공학회지
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• 제29권6호
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• pp.640-647
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• 2012

Current electronic products are dominated by the laser processing and the application will be extended this time. Especially, demands for high precision laser processing with a large area has been increasing for a number of applications such as in solar cell battery, display parts, electronic component and automobile industry. In this paper we designed an on-the-fly system for ultrafast/high precision/large area laser processing. In addition, we have developed the path algorithm for large area. Expansion of the area in which laser processing is an important factor to handle the ultrafast/wide area processing, it will require a processing path. Processing path is path of 2- axis stage and stage of change in velocity can be smooth as possible. We proposed a path of the user concept using NURBS(Non-Uniform Rational B-Spline)method. Through our experiment with the chopper, was to prove the continuity of edge parts. Through basic shape experiments, we proved that large area can be processed using laser. We developed a simulation tool using Visual C++.

• 한국정보통신학회논문지
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• 제9권2호
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• pp.283-288
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• 2005

본 논문에서는 이동 환경의 패킷 전달 기법과 위치에 독립적인 주소의 사용 등이 멀티캐스트의 주요 연구 핵심과 유사한 점에 고려하여, 멀티캐스트의 그룹 관리 기법과 경로 설정 방법을 이용하여 이동성을 제공하는 새로운 방법을 제안하였다. 그리고 이동 환경에서 멀티미디어의 원활한 서비스를 위해 선가입을 통한 smooth 핸드오프기법을 제안하였다. smooth 핸드오프는 호스트의 이동 방향 예측을 이용한 선가입 기법을 사용하여 핸드오프 시 발생하는 지연 요소를 최소화하는 기법이다. 제안된 이동성 제공 기법과 smooth 핸드오프의 성능을 실험하기 위하여 NS-2 네트워크 모의실험 프로그램을 확장하여 실험하였다. 실험 결과 제안된 기법에서 선가입을 사용했을 때가 이동성을 지원하는 여러 기법들보다 핸드오프 지연과 수신되는 데이터의 처리량에서 우수한 성능을 보였다.

• 대한기계학회논문집B
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• 제23권2호
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• pp.210-217
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• 1999

This paper reports the experimental results on heat transfer characteristics of R-22 and R-407C(HFC-32/125/134a 23/25/52 wt%) condensing inside horizontal smooth and finned tubes. The test condensers used In the study are double pipe heat exchangers of 7.5 mm ID, 9.5 mm OD smooth tube, and 60 finned micro-fin tube with 8.53 mm ID, 9.53 mm OD. Each of these tubes was 4 000 mm long tubes connected with an U-bend. These U type two-path test tubes are divided In 8 local test sections for the identification of the local condensing heat transfer characterisitcs and pressure drop, U-bend effects on condensing flows. Inlet quality is maintained 1.0, and refrigerant mass velocity is varied from 102.0 to $301.0kg/m^2{\cdot}s$. From the results, it was found that the pressure drop of the R-407C Increased, and heat transfer coefficient decreased compared to those of R-22. In comparison condensing heat transfer characteristics of micro-fm tube with those of smooth tube, increasing of condensing heat transfer coefficient was found outstanding compared to the increasing ratio of pressure drop. Furthermore, pressure drop In U-bend showed at most a 30 % compared to the total pressure drop in the test section.

• 한국콘텐츠학회논문지
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• 제2권3호
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• pp.119-126
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• 2002

이동망에서의 서비스 품질은 중요한 망 설계 요소중의하나이다. 특히, All-IP망에서 VoIP와 같은 실시간 응용은 망 링크간에 이동 호스트의 전이시 발생할 수 있는 패킷 손실을 최소로하는 smooth handoff가 필요하다. 본 논문에서는 MH가 All-IP를 지원하는 다른 망으로 이동시에 패킷 손실을 줄일 수 있는 동적 버퍼링 기반의 새로운 멀티캐스트 알고리즘을 제안한다. 새로운 프로토콜의 핵심 요소는 동적 버퍼링과 멀티캐스트 데이터그램 전달 경로를 줄이기 위해 멀티캐스트 라우팅 에이젼트(MRA) 개념을 도입한 것이다. 제안된 프로토콜은 짧은 라우팅 경로 및 이동 호스트에 근접한 노드에서 이동 호스트로의 직접 데이터그램 전송을 통하여 성능 향상을 기대할 수 있다.

• Journal of Mechanical Science and Technology
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• 제18권7호
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• pp.1094-1106
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• 2004

In this paper, a nonlinear controller based on sliding mode control is applied to a two-wheeled Welding Mobile Robot (WMR) to track a smooth curved welding path at a constant velocity of the welding point. The mobile robot is considered in terms of dynamics model in Cartesian coordinates under the presence of external disturbance, and its parameters are exactly known. It is assumed that the disturbance satisfies the matching condition with a known boundary. To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered: fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation and experiment on a two-wheeled welding mobile robot are provided to show the effectiveness of the proposed controller.

• International Journal of Control, Automation, and Systems
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• 제5권3호
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• pp.283-294
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• 2007

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundizing function is proposed and applied to a two-wheeled welding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the sliding surface vector including new boundizing function and the adaptation laws are chosen to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system is shown through the Lyapunov method. In addition, a simple way of measuring the errors by potentiometers is introduced. The simulations and experimental results are shown to prove the effectiveness of the proposed controller.

• International Journal of Ocean System Engineering
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• 제2권3호
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• pp.139-150
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• 2012

This paper presents an improved guidance algorithm for autonomous underwater vehicles (AUV) in 3D space for generating smoother vehicle turn during the course change at the way-points. The way-point guidance by the line-of-sight (LOS) method has been modified for correcting the reference angles to achieve minimal calculation and smoother transition at the way-points. The algorithm has two phases in which the first phase brings the vehicle to converge to a distance threshold point on the line segment connecting the first two way-points and the next phase generates an angular path with smoother transition at the way-points. Then the desired angles are calculated from the reference and correction angles. The path points are regularly parameterized in the spherical coordinates and mapped to the Cartesian coordinates. The proposed algorithm is found to be simple and can be used for real time implementation. The details of the algorithm and simulation results are presented.

• Journal of Mechanical Science and Technology
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• 제17권11호
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• pp.1682-1692
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• 2003

This paper proposes an adaptive controller for partially known system and applies to a two-wheeled Welding Mobile Robot (WMR) to track a reference welding path at a constant velocity of the welding point. To design the tracking controller, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as desired. Additionally, a scheme of error measurement is implemented on the WMR to meet the need of the controller. In this paper, the system moments of inertia are considered to be partially unknown parameters which are estimated using update laws in adaptive control scheme. The simulations and experiments on a welding mobile robot show the effectiveness of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.120.4-120
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• 2001

In this paper, a method of generating trajectories in real time for a mobile robot in a dynamic environment is proposed. Specifically, this method is focused on soccer-playing robots that need to calculate trajectories in real time, which are constantly subject to rapidly change as targets and obstacles move. The robots also should move at the fastest available speed, while tracking the generated trajectories. The method proposed in this paper solves the geometric problem of finding a smooth curve that joins two endpoints. To have this solved, we assign five constraints to each endpoint, which are the usual x, y, theta, and curvature as well as the influence of the initial robot velocity on the path. With these five constraints, the path generated can always be physically followed by robot. Through this method, the travel time of the robot over the entire path can b optimized. Therefore it can ...

• 한국정밀공학회지
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• 제13권9호
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• pp.62-69
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• 1996

Interpolator is a very important element in NC machines in that it controls tool path and speed. In this paper, studied were extensive interpolation characteristics of reference pulse method among various interpolation and pulse generation methods. Specifically, processing speed and path error of DDA, SPD and SFG methods were compared and analyzed against line, circle and elipse. As a result, in the point of processing speed, SPD method was found to be the best for line interpolation, SFG method for circle and ellipse, and DDA method was found to be the slowest for all paths. In the point of path error, DDA method was found to have the biggest error for all kinds of paths.