• Journal of Korean Institute of Industrial Engineers
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• v.25 no.3
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• pp.382-392
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• 1999

Industrial robots have increased in both the number and applications in today's material handling systems. However, traditional approaches to robot controling have had limited success in complicated environment, especially for real time applications. One of the main reasons for this is that most traditional methods use a set of kinematic equations to figure out the physical environment of the robot. In this paper, a neural network model to solve robot manipulator's inverse kinematics problem is suggested. It is composed of two Self-Organizing Feature Maps by which the workspace of robot environment and the joint space of robot manipulator is inter-linked to enable the learning of the inverse kinematic relationship between workspace and joint space. The proposed model has been simulated with two robot manipulators, one, consisting of 2 links in 2-dimensional workspace and the other, consisting of 3 links in 2-dimensional workspace, and the performance has been tested by accuracy of the manipulator's positioning and the response time.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.795-800
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• 2000

In a parallel manipulator, there are three constraints that determine workspace: link length constraint, passive joint angle constraint, and interference among links. Generally, the link length constraint is the most dominant. The interference among links is, however, also an important parameter in designing a desired parallel manipulator. In this study, the interference among links is mathematically modeled by considering the links as a line and a cylinder of radius of twice the link radius, and a new algorithm is suggested to check if arbitrary two links interfere each other or not. The workspace of a cubic parallel manipulator is illustrated in a 2D space satisfying the three constraints.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.893-900
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• 1994

In this study, workspace analysis has been performed for a Clemens Coupling type parallel robotic wrist with four degrees of freedom such as three angular degrees of freedom and 1 plunge motion. Because of plunge motion, this mechanism has no singular point that the general roll-pitch-roll mechanisms have. Also, proposed mechanism performs larger load, faster motion, with less weight and has better structural characteristics such as higher stiffness and strength to weight ratio compared with serial type mechanisms. As a basic step for position control, the closed form solution of forward and inverse kinematics are proposed and workspace is analyzed and plotted by applying triangle tracer method for workspace boundary tracing.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.6
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• pp.560-567
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• 2007

The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.

• Journal of Mechanical Science and Technology
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• v.20 no.10
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• pp.1614-1625
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• 2006

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix for each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. Finally, the kinematic optimization of the mechanisms is performed in consideration of their dexterity and rigidity. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.12 s.255
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• pp.1564-1572
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• 2006

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix of each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. .Finally, the kinematic optimization of the mechanisms is performed with regards to their dexterity, stiffness and space utilization. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.973-974
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• 2012

• Journal of KIISE:Computing Practices and Letters
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• v.14 no.9
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• pp.916-920
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• 2008

The personal workspace consists of user- specified computing environment such as user profile, applications and their configurations, and user data. Mobile computing devices (i.e., cellular phones, PDAs, laptop computers, and Ultra Mobile PC) are getting smaller and lighter to provide personal work-space ubiquitously. However, various personal work-space mobility solutions (c.f. VMWare Pocket ACE[1], Mojopac[2], u-PC[3], etc.) are appeared with the advance of virtualization technology and portable storage technology. The personal workspace can be loaded at public PC using above solutions. Especially, we proposed a framework called ubiquitous personal computing environment (u-PC) that supports mobility of personal workspace based on wireless iSCSI network storage in our previous work. However, previous u-PC could support limited applications, because it uses IRP (I/O Request Packet) forwarding technique at filter driver level on Windows operating system. In this paper, we implement OS-level virtualization technology using system call hooking on Windows operating system. It supports personal workspace mobility and covers previous u-PC limitation. Also, it overcomes personal workspace loading overhead that is limitation of other solutions (i.e., VMWare Pocket ACE, Mojopac, etc). We implement a prototype consisting of Windows XP-based host PC and Linux-based mobile device connected via WiNET protocol of UWB. We leverage several use~case models of our framework for proving its usability.

• Korean Institute of Interior Design Journal
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• v.22 no.6
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• pp.140-150
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• 2013

The weaving of Mosi(fine ramie) in the Hansan region was inscribed on the representative list of the UNESCO intangible cultural heritage in 2011. Unlike other fabric, as the Mosi is very sensitive towards humidity it needs different conditions for its workspace. The Hansan region is near the sea with many mountains around where it is easy for the Mosi to grow and is an appropriate place to weave Mosi. Recently the manpower for weaving of Mosi in the Hansan area is decreasing with the decrease of workspace drastically. After the investigation of workspace for the weaving of Mosi in the Hansan area, most of the places were done in individual houses and it could be classified in 1. Mosi storeroom, 2. Shed(Gwang che), 3. Dugout hut, 4. Under the toenmaru The depth of the dugout hut and under the toenmaru is around 80~60cm which is similar with the depth of the prehistoric dugout hut houses. The towns for weaving of Hansan Mosi are formed mostly in the Seochungun district, but the Hoamri Hansan-myeon and Gayangri Masan-myeon has the most traditional workspaces and they are still forming and maintaining the traditional town composition. However the numbers are too small and maintaining the traditional town is getting more difficult, so a plan for the maintenance should be made to continue to keep it as UNESCO intangible cultural heritage.

• Journal of Microbiology and Biotechnology
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• v.14 no.5
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• pp.1081-1085
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• 2004

Genome research has become very popular in most nations. In order to enhance the efficiency of collaboration among genome research groups, ways to store and share data, communicate with each other, be guided through right research strategies, and to easily use well-established databases. In addition, since techniques and softwares for genome research groups are well established, a similar research road map could commonly be applied. In this study, we developed a web-based work place for effective genome research, named 'BioPlace.' From the beginning of writing a proposal, research members can work on the same environment with convenient aid to share files or data. BioPlace provides various ways of collaboration methods among genome researchers. The BioPlace system supports two types of workplaces, namely 'Personal Workspace' and 'Team Workspace.' For each BioPlace user, a Persona] Workspace is provided, while a Team Workspace is provided for each group with the same purpose. In addition, BioPlace provides a 'General Research Road Map' for genome research, and several Korean user interfaces for BLAST, PDB, and Primer3. We expect that BioPlace may facilitate collaboration of genome research among the experienced scientists and help beginners in many different ways as well.