• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.477-483
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• 2002

This paper deals with a workspace analysis of multi-legged walking robots in velocity domain(velocity workspace analysis). Noting that when robots are holding the same object in multiple cooperating robotic arm system the kinematic structure of the system is basically the same with that of a multi-legged walking robot standing on the ground, we invented a way ot applying the technique for multiple arm system to multi-legged walking robot. An important definition of reaction velocity is made and the bounds of velocities achievable by the moving body with multi-legs is derived from the given bounds on the capabilities of actuators of each legs through Jacobian matrix for given robot configuration. After some assumption of hard-foot-condition is adopted as a contact model between feet of robot and the ground, visualization process for the velocity workspace is proposed. Also, a series of application examples will be presented including continuous walking gaits as well as several different stationary posture of legged walking robots, which validate the usefulness of the proposed technique.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.17 no.8
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• pp.704-713
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• 2005

The purpose of this study is to suggest the concept of an integrated unit and to develop integrated units considering the layout of luminaires and diffusers in workspace. An integrated unit can be defined as a planning unit which satisfies the environment comfort criteria of workspace. Integrating process of each unit was proposed by considering the current workspace planning process. Luminaire and diffuser types are classified by surveying the workspace of the domestic and foreign office buildings. Several lighting units and air-conditioning units were developed by visual and thermal simulation, and integrated units for various architectural module which satisfies the visual and thermal comfort criteria were drawn from those units.

• The KIPS Transactions:PartC
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• v.13C no.2 s.105
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• pp.249-258
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• 2006

WebDAV is an IETF standard protocol, which is an extended version of HTTP 1.1, supporting asynchronous collaborative authoring of various contents on the web. Recently, to precisely control access to the resources on a WebDAY server, the WebDAV Access Control Protocol was published. This protocol helps developers to implement advanced server functionalities in a convenient way by providing various control methods to the resources on the WebDAV server. Based on the WebDAV access control protocol, we developed Open Workspaces, which systematically support exchanging and sharing data for general visitors. An Open Workspace can be supplied as a Download-Only Open Workspace, an Upload-Only Open Workspace, or an Upload-Download Open Workspace. Any registered user can create these workspaces without bothering the system administrator. To support the Open Workspaces, we extended the Slide WebDAV server and the DAVExplorer WebDAV client, which are being used popularly.

• Journal of the Korea Society of Computer and Information
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• v.16 no.1
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• pp.101-115
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• 2011

PECOLE (Peer-to-Peer Collaborative Environment) is a P2P-based multimedia distributed collaborative environment supporting a collaborative workspace which is composed of a variety of collaborative applications such as multi-chat, video conferencing, screen sharing and etc. Unfortunately, due to the PECOLE's simple group management, it is impossible to perform collaboration activities while joining multiple groups. In this paper, we present the design and implementation of PECOLE+ which is an extension of PECOLE. PECOLE+ resolves the drawback of PECOLE by providing the Group Management Service and the Workspace Management Service. The Group Management Service provides functionalities such as creating groups, joining multiple groups, and searching groups, and etc. The Workspace Management Service provides each group with an associated workspace, supporting the execution of collaborative applications over the workspace. In addition, any collaborative applications with the provided plug-in interfaces can be executed over the workspace as a PECOLE+ collaborative application.

• The KIPS Transactions:PartD
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• v.18D no.6
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• pp.451-460
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• 2011

The ability to trace change history and dependency relations of software artifacts which are continuously changed has been recognized as an important factor that support quality management activities such as verification, validation, and testing in software system development process. General software configuration management systems provide tracing information for artifacts only within the configuration management system, and it does not go further to changes that occur within personal workspace. This paper provides a solution that helps tracing down not only changes of configuration items but also change history of artifacts existent in personal workspace through the integration of configuration management system and personal workspace. Furthermore, in cases of artifacts which are included in a configuration item, this paper provides a solution that support tracing dependency relations between the artifacts by identifying their version links. For the integration of configuration management system and personal workspace, a revision of configuration item is connected to the artifact's version of the workspace by the tagging mechanism, and traceability for change history and dependency relations of artifacts can be managed more effectively through integrated change process.

• Journal of the Optical Society of Korea
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• v.11 no.4
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• pp.162-172
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• 2007

Scanning Laser Optical Tweezers(SLOT) is an optical instrument frequently employed on a microscope with laser being delivered through its various ports. In most SLOT systems, a mechanical tilt stage with a mirror on top is used to dynamically move the laser focal point in two-dimensions. The focal point acts as a tweezing spot, trapping nearby microscopic objects. By adding a mechanical translational stage with a lens, SLOT can be expanded to work in three-dimensions. When two mechanical stages operate together, the focal point can address a closed three-dimensional volume that we call a workspace. It would be advantageous to have a large workspace since it means one can trap and work on multiple objects without interruptions, such as translating the microscope stage. However, previous studies have paid less consideration of the volumetric size of the workspace. In this paper, we propose a new method for designing a SLOT such that its workspace is maximized through optimization. The proposed method utilizes a matrix based ray tracing method and genetic algorithm(GA). To demonstrate the performance of the proposed method, experimental results are shown.

• Journal of the Korea Society of Computer and Information
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• v.15 no.1
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• pp.61-69
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• 2010

An autonomous robot must have a global workspace map in order to cover the complete workspace. However, most previous coverage algorithms assume that they have a grid workspace map that is to be covered before running the task. For this reason, most coverage algorithms can not be applied to complete coverage tasks in unknown environments. An autonomous robot has to build a workspace map by itself for complete coverage in unknown environments. Thus, we propose a new DmaxCoverage algorithm that allows a robot to carry out a complete coverage task in unknown environments. This algorithm integrates a SLAM algorithm for simultaneous workspace map building. Experimentally, we verify that DmaxCoverage algorithm is more efficient than previous algorithms.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.765-768
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• 1995

A double parallel manipulator has only two or three links in each parallel mechanism. this reduces link interferences so that we expect a large workspace. To prove this property, this paper analyzes the workspace of a double parallel manipulator and compare it with that of a Stewart Platform. the analysis is separately conducted in a positional and an orientational division. For each, we obtain the workspace accrding to the ranges of lengths of links and show the volume in a cartesian coordinate or the angular ranges in yaw and pitch motions.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.771-777
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• 1996

In this paper, an optimal design technique for a Stewart platform has been presented considering workspace and dexterity. In the definition of a design objective function, previously suggested dexterity index was used to be maximized. In this optimal design process, the workspace can be used as design constraint when necessary. An algorithm for workspace computation has been briefly described. Finally, optimal desigm results for some example cases have been presented.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.342-348
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• 2015

This paper presents a two-wheel balancing mobile robot with linear workspace extension structures. The two-wheel mobile robot has two linear motions at the waist and shoulder to have extended workspace. The linear motion of the waist and shoulder provides some structural advantages. A dynamic equation of the simplified robot system is derived. Simulation studies of the position control of the robot system are performed based on the dynamic equations. The dynamic relationship between a two-wheel mobile system and linear extension mechanism is observed by simulation studies.