• Journal of the Korean Society for Precision Engineering
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• v.13 no.3
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• pp.34-41
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• 1996

This work deals with finding a suitable position correction algorithm of industrial robot based on measuring particular points, which calculates two dimensional correction quantities and the must allow visually acceptable door-chassis assembly task. Three optimizing algorithms corresponding to three differ- ent error based performance indices are compared and selected to the best one, in terms of the predefined total uniformity, line uniformity and computational time. The selected algorithm(Total Error Minimization) is implemented for a simple door-chassis model to show its effectiveness.

• Journal of Applied Reliability
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• v.18 no.3
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• pp.229-239
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• 2018

Purpose: There is a difficulty in Environmental Stress Screening (ESS) test design for weapon system's electrical/electronic components/products in small and medium-sized enterprises. To overcome this difficulty, I propose an easy ESS test design approach algorithm that is optimized with only one environment tolerance design information parameter (${\Delta}T$). Methods: To propose the mass production weapon system ESS test design for cost-effective optimization, I define an optimum cost-effective mathematical model ESS test algorithm model based on modified MIL-HDBK-344, MIL-HDBK-2164 and DTIC Technical Report 2477. Results: I clearly confirmed and obtained the quantitative data of ESS effectiveness and cost optimization along our ESS test design algorithm through the practical case. I will expect that proposed ESS test method is used for ESS process improvement activity and cost cutting of mass production weapon system manufacturing cost in small and medium-sized enterprises. Conclusion: In order to compare the effectiveness of the proposed algorithm, I compared the effectiveness of the existing ESS test and the proposed algorithm ESS test based on the existing weapon system circuit card assembly for signal processing. As a result of the comparison, it was confirmed that the test time was reduced from 573.0 minutes to 517.2minutes (9.74% less than existing test time).

• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.2
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• pp.154-161
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• 2009

In order to implement continuous-path motion on a robot, it is necessary to blend one joint motion to another joint motion near a via point in a trapezoidal form of joint velocity. First, the velocity superposition using parametric interpolation is proposed. Hybrid motion blending is defined as the blending of different two type's motions such as blending of joint motion with linear motion, in the neighborhood of a via point. Second, hybrid motion blending algorithm is proposed based on velocity superposition using parametric interpolation. By using a 3-axis SCARA (Selective Compliance Assembly Robot Arm) robot with $LabVIEW^{(R)}$ $controller^{(1)}$, the velocity superposition algorithm using parametric interpolation is shown to result in less vibration, compared with PTP(Point- To-Point) motion and Kim's algorithm. Moreover, the hybrid motion $algorithm^{(2)}$ is implemented on the robot using $LabVIEW^{(R)(1)}$ programming, which is confirmed by showing the end-effector path of joint-linear hybrid motion.

• Bioinformatics and Biosystems
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• v.1 no.1
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• pp.61-66
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• 2006

We propose a new fragment assembly program MLP (mate-based layout with PHRAP). MLP consists of PHRAP, repeat masking, and a new layout algorithm that uses the mate pair information. Our experimental results show that by using MLP instead of PHRAP, we can significantly reduce the difference between the assembled sequence and the original genome sequence.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1991.11a
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• pp.139-145
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• 1991

본 논문에서는 chamfer가 없는 경우에도 조립이 가능한 로봇 조립용 손목기구를 개발하였다. 손목기구에서는 chamfer있는 경우에 우수란 적응능력을 가지는 RCC(Remote Center Compliance) 구조가 이용되었으며 위치측정용 sensor와 공압 actuator를 이용하여 조립시 생기는 RCC 구조의 변형을 측정하여 이로부터 능동적으로 오차를 교정하도록 하였다. sensor signal로부터 적절한 오차교정방향을 찾아내는 algorithm 으로는 신경회로망을 이용하였으며 이 결과 손목기구의 비선형성에도 잘 적응함을 볼 수 있었다. 제작된 로봇 조립용 손목을 이용하여 chamferless part의 조립을 실험한 결과 clearance ratio가 0.02인 경우 eccentricity가 2mm 까지 오차교정이 가능함을 볼 수 있었다.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.1
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• pp.45-52
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• 2000

The purpose of this research was developing an integrated way to solve two typical tolerance optimization problem i.e. optimal tolerance allotment and design centering. A new problem definition design centering-tolerance allotment problem (DCTA) was proposed here for the first time and solved. Genetic algorithm and coarse Monte Carlo simulation were used to solve the stochastic optimization problem. Optimal costs were compared with the costs from the previous optimization strategies Significant cost reductions were achieved by DCTA scheme.

• Proceedings of the KWS Conference
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• 2006.10a
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• pp.77-79
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• 2006

While RSW(Resistance Spot Welding) have been the most successful sheet metal joining process in automotive industry, there are certain qualify issues due to the control system and its application process. Recent materials and coatings make the process more complicated resulting in new challenges for quality welds. In this research, an intelligent RSW system with adaptive control algorithm is introduced to overcome typical RSW issues and its applications to automotive body assembly are presented.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.185-188
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• 1993

The goal of this paper is to develop an on-board controller for a model helicopter's hovering attitude control, using i8096 one-chip microcontroller. Required controller algorithm is programmed in ASM-96 assembly language and downloaded into an i8096 microcontroller. The performance of hovering flight using this system is verified by experiments with the model helicopter mounted on an instrumented flight stand where 3 potentiometers and an optical proximity sensor measure te attitude and main rotor speed of the helicopter.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.211-215
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• 1989

This paper describes a dynamic robotic assembly system in which an industrial robot executes peg-in-hole task in a moving state. As an effective means to synchronize the end-effector of the robot with the moving conveyor this work uses a control algorithm which is essentially a PID position control scheme combined with velocity feedforward loop. A RCC wrist is used for the inserting task and its force responses are investigated for various tracking conditions and inserting velocities through a series of experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.239-243
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• 1989

This paper represents the control software development for Direct Drive Arm Robot with the WHILE language composed the 68000 assembly language and high level language modula-2. Direct Drive Ann Robot needs the control program which is fast step and exactly position moving because Direct Drive Arm Robt depends on accuracy. We found that the self-tuning algorithm for this robot control is very good for the real time control and the floating point operation using the 32 bit CPU(MC 68020) controller.