• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.1039-1046
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• 2000

This paper introduces the control and measurement of a double parallel robot manipulator applied for unknown geometric surface grinding. A measurement system is developed to recognize a grinding path by a vision camera and to observe a grinding load by a current sensor. With the measured fusion information, an intelligent controller identifies the unknown geometric surface and moves the robot along the grinding path with a constant grinding load.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.76-81
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• 1993

This paper presents an Auto-Drive-Guidance System which provides a path to the destination with the shortest driving distance(or time), as well as service information such as the location of gas stations, hospitals, or police stations. This system displays on the monitor screen the best driving path to the destination, points the current car position on the map, informs the driver of current position by voice whenever the car passes well-known places, or displays the map the driver wishes to view. With this system, driving becomes more comfortable, and traffic jams will be greatly reduced. As a result, gasoline consumption will be reduced and so air pollution. The system can also be applied to such areas as communication network, geographic map, and tour information.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1994.04a
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• pp.42-48
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• 1994

This paper presents the navigation method for a mobile robot which uses a single camera and fluorescent lamp as a guide mark, projected on a convex mirror. The current position and heading direction of the mobile robot are obtained from the image of the guide mark. While the mobile robot travels to a goal position, the current position and heading direction of the mobile robot are updated continuously and the desired path and actual moving path are displayed on the monitor screen in real time. This proposed method eliminates the need to rotate the camera to track the guide mark, since a panoramic view of the surrounding area is available from the convex mirror, and natural guide marks such as usual florescent lamp on the ceiling or door frame can be used for navigation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.930-933
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• 2000

Experimental study was conducted for finding the characteristics of machining precision according to the change of feedrate when ball endmilling of semisphere shape. The values of tool deflection and cutting force were measured simultaneously by the systems of eddy-current sensor and dynamometer. The machining precision was analyzed by roundness values, which were deeply relating with tool deflection and forces. the roundness was decreased in down-milling than in up-milling for each feedrate. As the cutting edge is moved to radius direction on the tool path, the tool deflection and the cutting force were seemed to be decreased. As the tool path was moved downward, the values of roundness, cutting force and tool deflection were obtained better ones. When compared the values of roundness, cutting force and tool deflection for different feedrate, the best machining accuracy was obtained at feed rate of 90mm/min in down-milling.

• Transactions of Materials Processing
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• v.25 no.3
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• pp.176-181
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• 2016

The exhaust tail pipe is the only visible part of the exhaust system on a vehicle. The conventional way to make the tail pipe is welding after stamping. There are various problems that occur during the stamping of stainless steel sheets such as scratching and local fracture. Problems during welding can also occur due to poor weldability. Tube hydroforming can be a solution, which eliminates these problems. The current study deals with the development of tube hydroforming for a vehicle tail pipe using finite element analysis for a free-feeding method. The current study focuses on the development of a proper load path for the tail pipe hydroforming and how bending influences the subsequent processing steps. The FE analysis results were compared with experimental results. This study shows the importance of bending and the necessity of considering bending when performing a tube hydroforming analysis.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.282-286
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• 2005

Contents of these treatise propose method to embody station addition and passivity point correction. That store in TCMS's memory being downloaded all train running path data that is consisted of name of station and station code, departure station, destination station, train number, running time through PCMCIA memory card. Search relevant running path data and current station, destination station, the next station start time present to TCMS's display. In case it is no received information of station, device that do function of passenger broadcasting and pilot light does not act. This time, if input information of current station, relevant device does point revision.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.674-684
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• 2011

More and more elderly and disabled people are using electric scooters instead of electric wheelchairs because of higher mobility. However, people with high levels of impairment or the elderly still have difficulties in driving the electric scooters safely. Semi-autonomous electric scooter system is one of the solutions for the safety: Either manual driving or autonomous driving can be used selectively. In this paper, we implement a semi-autonomous electric scooter system with functions of localization and path following. In order to recognize the pose of electric scooter in outdoor environments, we design an outdoor localization system based on the extended Kalman filter using DGPS (Differential Global Positioning System) and wheel encoders. We added an accelerometer to make the localization system adaptable to road condition. Also we propose a path following algorithm using two arcs with current pose of the electric scooter and a given path in the map. Simulation results are described to show that the proposed algorithms provide the ability to drive an electric scooter semi-autonomously. Finally, we conduct outdoor experiments to reveal the practicality of the proposed system.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.12
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• pp.583-595
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• 2002

Homing operation can be defined as a series of actions which are necessary for a mobile robot to move from the current position with any arbitrary orientation to a desired position with a specified orientation, while avoiding possible obstacles. In this paper, a homing and obstacle avoidance algorithm for nonholonomic mobile robots is proposed. The proposed algorithm consists of a local goal generator, a discrete state controller, and local path tracking controller based on Aicardi's path following algorithm. In the discrete state controller, 4 states are defined according to the environmental conditions and 4 desired high-level command for the states are given as follows: avoid, wander, home and homing zones. The proposed local goal generator is designed to generate the desired local path by using weighted distance transforms which are newly made to satisfy the nonholonomic constraints of mobile robots. Here, subgoals are also found as vertices of the desired local path. To demonstrate result effectiveness and applicability of the proposed algorithm, computer simulations are illustrated and experimental results for a real mobile robot system are also provided.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.100-103
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• 2005

In this study, tool path control algorithm for aspherical surface grinding was derived and discussed. The aspherical surface actually means contact points between lens and tool. Tool positions are generally defined at the center of a tool, so there is difference between tool path and lens surface. The path was obtained from contact angle and relative position from the contact point. The angle could be calculated after differentiating an aspheric equation and complex algebraic operations. The assumption of the control algorithm was that x moves by constant velocity while z velocity varies. X was normal to the radial direction of lens, but z was tangential. The z velocities and accelerations were determined from current error and next position in each step. In the experiment, accuracy of the control algorithm was checked on a micro-precision machine. The result showed that the control error tended to be diminished when the tool diameter increased, and the error was under sub-micro level.

• Journal of Power Electronics
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• v.7 no.4
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• pp.278-285
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• 2007

Recently, plasma display panels (PDP) have become the most promising candidate in the market for large screen size flat panel displays. PDPs have many merits such as a fast display response time and wide viewing angle. However, there are still concerns about high cost because they require complex driving circuits composed of high power switching devices to generate various voltage waveforms for three operational modes of reset, scan, and sustain. Conventional PDP driving circuits use path switches for voltage separation and a scan switch to offer a scan voltage for reset and scan operations, respectively. In addition, there exist reset switches to initialize PDPs by regulating the wall charge conditions with ramp shaped pulses, which means the necessity of specific power devices for the reset operation. Because power for the plasma discharge accompanied by a large current is transferred to a panel via path switches, high power rating switches are used for path switches. Therefore, this paper proposes a novel low-cost PDP driving scheme achieved by not only eliminating path switches but also merging the function of reset switches into other switches used for sustain or scan operations. The simulated voltage waveforms of the proposed topology and experimental results implemented in a 42-inch panel to demonstrate the validity of using a new gate driver that merges the functions of power switches are presented.