• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.474-474
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• 2000

This paper shows that a system with two-link arm can obtain hand reaching movement to a target object projected on a visual sensor by reinforcement learning using a layered neural network. The reinforcement signal, which is an only signal from the environment, is given to the system only when the hand reaches the target object. The neural network computes two joint torques from visual sensory signals, joint angles, and joint angular velocities considering the urn dynamics. It is known that the trajectory of the voluntary movement o( human hand reaching is almost straight, and the hand velocity changes like bell-shape. Although there are some exceptions, the properties of the trajectories obtained by the reinforcement learning are somewhat similar to the experimental result of the human hand reaching movement.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.119-124
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• 2000

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• International Journal of Fluid Machinery and Systems
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• v.4 no.1
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• pp.140-149
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• 2011

For a certain operating point of a horizontal shaft bulb turbine (i.e. volume flow, net head, blade angle, guide vane angle) the efficiency for different pressure levels (i.e. different Thoma-coefficient ${\sigma}$) is calculated using a commercial Computational Fluid Dynamics (CFD-)-code including two-phase flow and a cavitation model. The results are compared with experimental results achieved at a closed loop test rig for model turbines. The comparison of the experimentally and numerically obtained efficiency and the visual impression of the cavitation show a good agreement. Especially the drop in efficiency is calculated with satisfying accuracy. This drop in efficiency in combination with the visual impression is of high practical importance since it contributes to determine the admissible cavitation in a bulb-turbine. It is seen that the incipient cavitation in Kaplan type turbines has no major importance in determing this admissible amount of cavitation.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.2 no.4
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• pp.65-71
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• 2009

Web Contents have been evolved from statics, dynamics contents to Mashup service. In recent years, Mashup which can creates new contents by mixing different services is topic on the web service. But, Mashup is only concentrate on making new contents to provide for client. In this paper, we propose the policy of composing services and client-friendly UI.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.250-255
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 98 version. 4 axes industrial robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 98's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.29B no.10
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• pp.37-45
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• 1992

For a precise manipulator control in the presence of environmental uncertainties, it has long been recognized that the robot should be controlled in a task-referenced space. In this respect, an effective visual servo control system for robot manipulators based on neural networks is proposed. In the proposed control system, a Backpropagation neural network is used first to learn the mapping relationship between the robot's joint space and the video image space. However, in the real control loop, this network is not used in itself, but its first and second derivatives are used to generate servo commands for the robot. Second, and Adaline neural network is used to identify the approximately linear dynamics of the robot and also to generate the proper joint torque commands. Computer simulation has been performed demonstrating the proposed method's superior performance. Futrhermore, the proposed scheme can be effectively utilized in a robot skill acquisition system where the robot can be taught by watching a human behavioral task.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.724-727
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• 1997

In this paper, we developed a Windows 95 version Off-Line Programming System which can simulate a Robot model in 3D Graphic space. 4 axes SCARA Robot (especially FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.6
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• pp.105-112
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• 2003

This paper presents the numerical design technology of a passive orifice fluid damper system especially for the characteristics between the damper piston velocity and the damping force. Numerical analysis with the visual interfacial modeling technique was applied into the analysis of the damper system's dynamics. A prototype orifice fluid damper was manufactured and experimentally tested to validate the numerical simulation results. The performances of various damper system schemes were investigated based on the verified numerical simulation model of orifice fluid damper.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1821-1822
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• 2008

This paper presents modeling of QIROV's motion on the X-Y plane. Modeling covered the dynamics of a ROV equiped with two trusters at tail, and it started with reconstructing the forces of X, Y and toque from two trusters' forces. The simulator built based on the modeling using Visual C under MS Windows XP.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.565-570
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• 1999

In this paper, we developed a windows 95 version Off-Line Programming system which can simulate a Robot model in 3D Graphics space. 4axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.