• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2713-2718
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• 2003

Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control parameter. The purpose of this work is to introduce a new concept of an effective mass in sawing task and to suggest an external impulse model in sawing task. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Experiments are performed for soft and hard workpieces to justify the external impulse model in the sawing task. It is demonstrated through simulation and experiment that the proposed external impulse model is effective to characterize the impact property.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.1
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• pp.37-44
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• 2018

In this work, a 4-DOF industrial robot system with three translational and one rotational motions which is widely used in palletizing applications is developed. In order for small robot manufacturing companies to develop their own robot systems for CNC machining and/or general automations, the analysis and design methods of a 4-DOF robot manipulator are presented and the development of a PC-based robot controller with EtherCAT are introduced. It is noted that the robot controller is developed by using Simulink Real-Time, which can provide an integrated environment of easier control algorithm development and data logging. Through position control and accuracy/repeatability measurement results, the developed robot prototype has comparable performances with commercial counterparts. In the future works, the advanced functions of industrial robots such as kinematic calibration, vibration suppression control, computed torque control, etc. will be investigated.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.499-501
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• 2004

This paper deals with the implementation of a quadruped working robot using wireless sensor network with TinyOS. It is often required to install real time OS and wireless network in the mobile robot field since robots work alone without human intervention and also exchanging their information between robot systems. The suggested controller utilizes a built-in wireless network OS and makes the variance action related with human-kindly motions for a quadruped walking robot. In addition, a kinematics analysis of its structure and control architecture of robot system is suggested and verified the usefulness through the real experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.446-450
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• 1993

In this paper we propose an arc welding robot system, where two robots works coordinately and employ the vision sensor. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. The vision sensor consists of two laser slit-ray projectors and one CCD TV camera, and is mounted on the top of one robot. The vision sensor detects the 3-dimensional shape of the groove on the target work which needs to be weld. And two robots are moved coordinately to trace the grooves with accuracy. In order to realize fast image processing, totally five sets of high-speed parallel processing units (Transputer) are employed. The teaching tasks of the coordinated motions are simplified considerably due to this vision sensor. Experimental results reveal the applicability of our system.

• Education of Primary School Mathematics
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• v.7 no.1
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• pp.43-56
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• 2003

In late 19C, German mathematician Felix Klein declaired "Erlangen program" to reform mathematics education in Germany. The main ideas of "Erlangen program" contain the importance of instructing the concepts of functions and groups in school mathematics. After one century from that time, the importance of concepts of groups revived by Bourbaki in the sense of the algebraic structure which is the most important structure among three structures of mathematics - algebraic structure. ordered structure and topological structure. Since then, many mathematicians and mathematics educators devoted to work with the concepts of group for school mathematics. This movement landed on Korea in 21C, and now, the concepts of groups appeared in element mathematics text as plane rigid motion. In this paper, we state the rigid motions centered the symmetry - an important notion in group theory, then summarize the results obtained from some classroom activities. After that, we discuss the responses of children to concepts of groups.of groups.

• Journal of KSNVE
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• v.11 no.1
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• pp.111-117
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• 2001

Present work deals with a study on the deployment or retraction of cantilever beam that includes the rigid-body motion of large displacement of beam through the translational and rotational motions in 2-dimensional plane. The equations of motion are derived with respect to non-Cartesian coordinate system. In the formulation of equations of motion, shear deformations and geometrically non-linear effect are included. An assumed mode method is applied and numerical convergence characteristics are studied also. Types of motion of the moving beam are assumed to be classified as‘slow’or‘fast’motion, and the dynamic characteristics are investigated.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.860-865
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• 2010

This paper deals with gait assisting rehabilitation robot which helps SCI patient walk again. We propose new concept of orthotic for robot considering motions of Hip and Knee Joints, and how to fit the robot to a user in terms of weight balance and comfortable standing. Then we describe our first engineering sample being designed based on the passive orthotic and show how to make the robot work for SCI patient in basic operation.

• Advances in nano research
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• v.5 no.1
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• pp.35-47
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• 2017

This paper deals with free vibration analysis of nanosize rings and arches with consideration of surface effects. The Gurtin-Murdach model is employed for incorporating the surface effect parameters including surface density, while the small scale effect is taken into consideration based on nonlocal elasticity theory of Eringen. An analytical Navier solution is presented to solve the governing equations of motions. Comparison between results of the present work and those available in the literature shows the accuracy of this method. It is explicitly shown that the vibration characteristics of the curved nanosize beams are significantly influenced by the surface density effects. Moreover, it is shown that by increasing the nonlocal parameter, the influence of surface density reduce to zero, and the natural frequency reaches its classical value. Numerical results are presented to serve as benchmarks for future analyses of nanosize rings and arches.

• Journal of Biosystems Engineering
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• v.23 no.4
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• pp.327-334
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• 1998

This work was intended to determine the optimum values of the cab suspension parameters by a simulation method in order to minimize the seat accelerations of agricultural tractors in the frequencies lower than 50Hz. A dynamic model of cab motions was developed and verified using a tractor excited over half-sine bumps on a concrete test road. A simulation program based on the model was also developed. A method was proposed to determine the optimum values of the suspension parameters. It was found that the natural frequencies of the cab and seat suspensions must be apart as far as possible until the sum of seat and cab accelerations is minimized, which also reduces the seat accelerations maximally.

• Interaction and multiscale mechanics
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• v.1 no.4
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• pp.467-476
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• 2008

In this work, a nano-size rocksalt crystal (magnesium oxide) is considered as a continuous collection of unit cells, while each unit cell consists of discrete atoms; and modeled by a multiscale concurrent atomic/continuum field theory. The response of the crystal to an electromagnetic (EM) wave is studied. Finite element analysis is performed by solving the governing equations of the multiscale theory. Due to the applied EM field, the inhomogeneous motions of discrete atoms in the polarizable crystal give rise to the change of microstructure and the polarization wave. The relation between the natural frequency of this system and the driving frequency of the applied EM field is found and discussed.