• Journal of the Optical Society of Korea
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• v.20 no.1
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• pp.174-179
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• 2016

In this paper, a novel full-aperture reflective null measuring method is proposed to detect the transmission wavefront of a conformal dome surface. An aspheric compensator is designed and placed behind the dome to reflect the aspheric testing wave back to the same path. To ensure the feasibility of this method, tolerance analysis is conducted, and guidance to assembly is given accordingly. The accuracy of this method is verified to be λ/30 (λ =3.39 μm) by Monte Carlo algorithm. In addition, the influence of different error factors, including the thickness error and decenter error of the dome, on the testing wavefront is analyzed. Simulation and experiment indicate that this method is practical and simple, and can measure the conformal domes precisely and comprehensively.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.173-180
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• 2015

In this paper, we propose a new precise control technology of robotic gripper for assembling and handling of part. When a robot manipulator interacts mechanically with its environment to perform tasks such as assembly or edge-finishing, the end-effector is thereby constrained by the environment. Therefore grasping force control is very important, since it increases safety due to monitoring of contact force. A comparison of various force control architecture is reported. Different force control methods can often be configured to achieve similar results for a given task, and the choice of control algorithm depends strongly on the application or on the characteristics of a particular robot. In the research, the adjustable gripping force can be controlled and improved the accuracy using the artificial intelligence techniques.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.2
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• pp.135-144
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• 1995

조립작업에 있어서의 경로계획(path planning)에 대하여 지금까지 많은 연구가 진행되어 왔으며, 그것의 주종을 이루는 것들은 cell decomposition 방식과 potential field 방식이다. 이러한 방식들은 free space를 세분하거나 potential field를 계산하는데 많은 시간을 필요로 하며, 조립부품 이동영역이 configuration space로 먼저 치환이 되어야 하는 문제점들이 발생하게 된다. 그러므로, 만약에 조립부품에 대한 이동환경이 복잡하지 않고 알려져 있으면 위의 방식들은 비용적인 면에서 많은 낭비를 가져온다. 본 논문에서는 간단하면서도 알려진 작업환경에서 효과적인 조립부품의 경로계획 알고리즘을 개발하였다. 먼저, channel, junction 및 간격 유지계수(clearance gap)의 개념을 도입하고, 이 개념들을 이용하여 룰 방식의 알고리즘을 개발하였다. 그리고, 이 알고리즘을 이동용 로봇의 경로계획에도 적용될 수 있음을 보였다.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 1999.11a
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• pp.121-126
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• 1999

In this paper, to bring under robust and accurate control of auto-equipment systems which disturbance, parameter alteration of system, uncertainty and so forth exist, neural network controller called dynamic neural processor(DNP) is designed. In order to perform a elaborate task like as assembly, manufacturing and so forth of components, tracking control on the trajectory of power coming in contact with a target as well as tracking control on the movement course trajectory of end-effector is indispensable. Also, the learning architecture to compute inverse kinematic coordinates transformations in the manipulator of auto-equipment systems is developed and the example that DNP can be used is explained. The architecture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simulations are provided to demonstrate the effectiveness of the proposed learning method using the DNP.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.6 s.237
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• pp.809-814
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• 2005

The goal of this paper is to minimize the weight of the T-structure supporting steering system in reducing the vibration level on steering wheel which could be amplified by the resonance. Presently, requirements for reducing noise, vibration and harshness (NVH) in automotive area are more stringent than ever. One of them is the vibration of steering system which occurs sometimes at high speeds or when the engine is idling. Besides, the reduction of weight is also one of requirements for improvement of vehicle performance. This paper used the micro genetic algorithm as an optimization method to satisfy above two requirements. The whole T-structure assembly including steering column was used for frequency analysis.

• Proceedings of the Korea Contents Association Conference
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• 2005.11a
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• pp.393-397
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• 2005

In this paper, we constructed data transformation system because data designed in CAD is not portable in PCB product line. interface for the automation of PCB product. To do this, we analyze the information of PCB components and construct the information of It components. We also developed two kinds of algorithm; one is to detect human error and another is to exchange itself for the data which is suitable for PCB assembly line. Also our system is compared with existing systems.

• Korean Journal of Computational Design and Engineering
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• v.15 no.5
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• pp.325-332
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• 2010

A lens system for mobile phone cameras is comprised of various lenses and designed so as to satisfy design requirements for responses such as a modular transfer function (MTF). However, it is difficult to manufacture and assemble camera modules to maintain the same performance compared with the designed camera modules, because of uncertainty. We should always design a lens system by considering uncertainty that can be caused by errors in the manufacturing and assembly process of mobile phone cameras. The robust optimization offers tools of making robust decisions with the consideration of design parameters, uncontrollable parameters, and the variance of the system. Using an efficient reliability analysis method and an optimization algorithm, we obtained robust optimization results that maximize the mean of MTF and minimize the standard deviation and proposed a new robust design process for a lens system.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.5
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• pp.86-98
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• 1993

The application of A.C. motor for servo system is rapidly increased according to the recent advance of power electronics and digital control techniques. The induction motor which has a simple structure and needs less maintenance has become to be used widely in the industrial field for the speed and position control recently. In this paper, the full-bridge resonant inverter is applied to the speed control of single phase inducting motor. The digital PID control algorithm is used and the control parameter is determined by the Zigler-Nichols transient response method. The speed control is carried out by the one chip micro-processor(intel EV 8097BH) and control program is developed by the assembly language. By the experimental result, it is confirmed that the speed of single phase induction motor driven by full bridge series inverter can be smoothly controlled by a digital PID controller.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.514-517
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• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confined by simulation of the contour tracking task of four joint manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.410-410
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• 2000

Impedance control is recognised as one of the most proper control scheme to carry out the assembly tasks, since it can control the dynamic relationship between the manipulator and environment directly. However, it is well known that the contact force cannot be controlled directly using the impedance control. Also impedance parameters should be properly defined depending on the task to be performed. We propose a new position based impedance control, which has self-adjusted impedance parameters and can control the contact force explicitly, Impedance parameters, as time-varying parameters, are adjusted automatically based on the measured contact force and the position error during the task. A proposed algorithm was implemented on the peg-in-hole task with the industrial manipulator. We shows the effectiveness of proposed control method experimentally.