• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.147.2-147
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• 2001

In this paper we develop a new robust trajectory tracking control scheme without using joint velocity. The proposed controller doesn´t employ adaptation, Therefore, the construction of the controller becomed very simple. Moreover, by using numerical simulation, we make sure the effectiveness of the proposed controller in the presence of quantization errors.

• Proceedings of the Korea Contents Association Conference
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• 2010.05a
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• pp.459-462
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• 2010

E-Leaning 시스템에 필요한 LMS(Learning Management Systems)의 구축과 강의 제작은 일반 교육자들이 쉽게 접근할 수 없는 고급 기술 및 고비용을 필요로 한다. 따라서 일반 교육자들에게는 e-러닝 시스템의 이용이 용이하지 않은 실정이다. e-러닝 시장의 확대 및 교육 콘텐츠의 다양화를 위하여 일반 교육자들이 손쉽게 접근 및 이용이 가능한 오픈형 e-러닝 시스템의 구축 방법론을 개발하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2014.11a
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• pp.1209-1210
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• 2014

본 논문에서는 건설현장에서 응용할 수 있는 각종 작업환경을 고려하여 작업자의 근력증강을 지원하는 로봇을 설계하고 3D 모형을 제시하고자 한다.

• Journal of Convergence for Information Technology
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• v.11 no.4
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• pp.83-101
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• 2021

This study is to investigate, using AHP, what technologies should be applied first to Korean SMEs in order to respond to the 4th industrial revolution and change to a smart enterprise. To this end, technologies related to the 4th industrial revolution and smart factory are synthesized, and the classification criteria of Dae-Hoon Kim et al. (2019) are applied, but additional opinions of experts are collected and related technologies are converted to artificial intelligence (AI), Big Data, and Cloud Computing. As a base technology, mobile, Internet of Things (IoT), block chain as hyper-connected technology, unmanned transportation (autonomous driving), robot, 3D printing, drone as a convergence technology, smart manufacturing and logistics, smart healthcare, smart transportation and smart finance were classified as smart industrial technologies. As a result of confirming the priorities for technical use by AHP analysis and calculating the total weight, manufacturing companies have a high ranking in mobile, artificial intelligence (AI), big data, and robots, while service companies are in big data and robots, artificial intelligence (AI), and smart healthcare are ranked high, and in all companies, it is in the order of big data, artificial intelligence (AI), robot, and mobile. Through this study, it was clearly identified which technologies should be applied first in order to respond to the 4th industrial revolution and change to a smart company.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.676-678
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• 2003

Microtunneling techniques play a crucial role in the construction of pipelines. This paper shows the automatic tunneling algorithm of microtunneling system using fuzzy logic technology to assist operators to assure the quality of microtunneling construction. To have effective output value of fuzzy controller, we slightly modified the conventional defuzzification methods. The proposed automatic tunneling algorithm shows good tunneling results comparable with those of experts.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.66-69
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• 2003

This paper considers a reinforcement learning(RL) which deals with real environments. Most reinforcement learning studies have been made by simulations because real-environment learning requires large computational cost and much time. Furthermore, it is more difficult to acquire many rewards efficiently in real environments than in virtual ones. The most important requirement to make real-environment learning successful is the appropriate construction of the state space. In this paper, to begin with, I show the basic overview of the reinforcement learning under real environments. Next, 1 introduce a state-space construction method under real environmental which is State Partition Method. Finally I apply this method to a robot navigation problem and compare it with conventional methods.

• 유공압시스템학회:학술대회논문집
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• 2010.06a
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• pp.62-65
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• 2010

Field robot represented by excavator can be applied for various working in manufacturing, construction, agriculture etc. Because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. Since the excavator operates in the hazardous working circumstance, operators exposed in harmful environment. Therefore, automation system has been investigated to protect from the harmful environment. In this paper, the method to construct the remote control system is proposed. The remote control system is consisted of a manual and auto mode. Manual mode controls a hydraulic cylinder as open loop control. and auto mode controls the end effecter of excavator using tracking control system. The efficiency of remote control system was evaluated through the field test.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2018.11a
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• pp.138-139
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• 2018

The purpose of this study is to analyze the work of the existing manpower dependent cleaning method by investigating the window cleaning site. In this study, detailed work contents were confirmed by on-site investigation and interview with experts, and the relationship, procedure, repetition work, and time required for each work were analyzed. The future analysis results will be used as a basic data for comparative analysis of productivity and economical efficiency with the window cleaning device to be developed.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2021.11a
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• pp.4-5
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• 2021

In irregular curtain walls, the nominal stress required for each member varies greatly depending on the shape, so it is inefficient to design members based on the maximum required stress. Then, built-up members are absolutely necessary, but built-up members manufactured by Manpower-welding cannot be constructed in an irregular curtain wall building because it' not precise. In order to address the problems, this paper presents why Robotic-laser-welding should be used in irregular curtain walls using Gwanggyo Galleria Department Store involving 3D printing as an example. Results verify the performance of Robot-Laser-Welding as an efficient solution for precise steel curtain wall members.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.11a
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• pp.17-18
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• 2023

This study aims to compare the hardness value development characteristics according to the water-cement ratio during a series of experiments to develop a setting estimator for an AI-based concrete finishing automation system. For the test variables, water-cement ratios are varied with 30, 40 and 50%. Proctor penetration test and surface hardness test by setting time estimator are conducted to estimate the setting time. For the effect of water-cement ratios, they did not affect the surface hardness either, while initial set time and final set time are not constant with water-cement ratios.