• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1060-1067
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• 2005

This paper attempts to derive and analyze the dynamic system of pinching a rigid object by means of two multi-degrees-of-freedom robot fingers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• 한국강구조학회 논문집
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• 제10권4호통권37호
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• pp.677-689
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• 1998

본 연구에서는 중심압축력을 받는 스털스터드의 설계강도에 대하여 다루었으며 비교 평가하였다. 미국규준인 냉간성형 LRFD 설계규준 (AISI). 유럽의 냉간박벽부재설계규준 (EC3 part 1.3) 및 독일의 관련규정 (DASt-Richtlinie 016)의 유사성과 차이점을 소개하고 분석하며 체계적으로 평가하였다. 특히 유효폭과 전체 안정성문제 (휨좌굴과 비틀림좌굴)가 이 논문에서 내포되어 있다. 또한 예제를 통하여 두 규준인 AISI와 EC3에 의한 설계압축강도를 산정하고 비교 분석하였다.

• 전기학회논문지
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• 제59권1호
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• pp.184-191
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• 2010

Many researchers have been considering genetic algorithms to system optimization problems. Especially, real-coded genetic algorithms are very effective techniques because they are simpler in coding procedures than binary-coded genetic algorithms and can reduce extra works that increase the length of chromosome for wide search space. Thus, this paper presents a fuzzy system design technique to improve the performance of the fuzzy system. The proposed system consists of two procedures. The primary tuning procedure coarsely tunes fuzzy sets of the system using the k-means clustering algorithm of which the structure is very simple, and then the secondary tuning procedure finely tunes the fuzzy sets using enhanced real-coded genetic algorithms based on the primary procedure. In addition, this paper constructs multiple fuzzy systems using a data preprocessing procedure which is contrived for reflecting various characteristics of nonlinear data. Finally, the proposed fuzzy system is applied to the field of time series prediction and the effectiveness of the proposed techniques are verified by simulations of typical time series examples.

• 한국정보전자통신기술학회논문지
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• 제3권3호
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• pp.73-80
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• 2010

상수 모듈러스 오차와 두확률 밀도 함수의 유클리드 거리에 기본을 둔 블라인드 알고리듬은 정보 이론적 학습 방법의 장점에도 불구하고 복소 채널의 위상 회전을 극복하지 못해 열악한 성능을 보인다. 이 논문에서는, 출력 전력이 다중 모듈러스 값의 근방에 있을 때 decision-directed 모드로 동작하는 기법을 정보 이론적 학습에 추가하므로서 복소 채널의 위상 회전 문제를 해결할 수 있음를 보였다. 복소 채널 모델과 16 QAM 방식에 대한 시뮬레이션 결과에서 복소 채널의 위상 회전 문제가 해결되어 현격한 성능 향상을 보였다.

• 한국경영과학회지
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• 제23권2호
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• pp.187-200
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• 1998

This paper presents an original approach for solving short-term power scheduling in extended power system with two fuels in a unit and a limited fuel using Lagrangian relaxations. The underlying model incorporates the full set of costs and constraints including setup, production, ramping, and operational status, and takes the form of a mixed integer nonlinear control problem. Moreover, the mathematical model developed includes two fuels in a unit and a limited fuel, regulation reserve requirements of prespecified group of units. Lagrangian relaxation is used to disaggregate the model by generator into separate subproblems which are then solved with a nested dynamic program including empirical knowledges. The strength of the methodology lies partially in its ability to construct good feasible solutions from information provided by the dual. Thus, the need for branch-and-bound is eliminated. In addition, the inclusion of two fuels in a unit and a limited fuel provides new insight into the limitations of current techniques. Computational experience with the proposed algorithm indicates that Problems containing up to 23 units including 8 unit used two fuels and 24 time periods can be readily solved in reasonable times. Duality gaps of less than 4％ were achieved.

• 대한교통학회지
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• 제26권2호
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• pp.101-107
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• 2008

실시간의 차량 검지 자료 수집시 검지기 고장이나 네트워크의 지연 등의 문제로 인하여 교통정보가 결측되는 현상이 발생한다. 이는 결과적으로 사용자에게 제공되는 구간별 속도정보의 결측으로 이어진다. 본 논문에서는 이와같이 결측된 속도정보를 보정하여 신뢰성 있는 속도정보 제공을 목적으로 한다. 본 연구는 유사도로의 속도정보를 기반으로 한 여러 신호처리 알고리즘을 사용하였는데, 과거의 속도 정보를 이용하여 가장 좋은 결과를 도출하는 알고리즘을 선정한 후 결측자료를 추정하는 방법으로 결측자료를 도출한다. 서울 시내 간선도로 및 고속도로의 자료를 사용하여 제안된 추정기법의 성능을 보였다.

• 기술혁신학회지
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• 제12권2호
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• pp.312-334
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• 2009

최근 OECD 회원국들을 비롯한 선진국들은 국가과학기술 혁신역량 강화 및 성과 제고를 위한 개방형 기술혁신(Open Innovation)전략 추진에 주목하고 있으며 이와 관련한 연구활동도 활발하게 진행 되고있다. 그러나, 국방과학기술혁신 분야에서는 아직까지 이에 대한 연구가 미미한 실정이다. 따라서, 본 논문에서 우리나라 국방과학기술의 환경변화 및 문제점들을 분석해 보고 개방형 기술혁신 개념의 국방분야 적용방안을 모색해 보았다. 이를 위해 국가경제에 기여하는 국방과학기술혁신역량 강화 및 성과제고를 위한 개방형 국방기술혁신의 이론적 틀(framework)과 향후 추진방향을 제시하였다.

• 한국산업융합학회 논문집
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• 제20권1호
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• pp.49-55
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• 2017

This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.

• Journal of Biosystems Engineering
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• 제33권1호
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• pp.14-20
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• 2008

An agricultural unmanned helicopter was suggested for an alternative to current pesticide application methods to solve such problems as high cost, low efficiency, shirking task and unsafe work. To pursuit this trend, researches on the development of unmanned helicopters have been accelerated in Korea as well. In this research, a guide type centrifugal clutch that plays an important role in the unmanned helicopter was studied. Theoretical analyses and experimental tests were conducted for designing an optimal clutches. Main design factors of the guide type centrifugal clutch were found to be spring constant, free length of spring, mass of friction sector, contact area, allowable pressure, number of friction sector, friction coefficient, radius of drum, and clutch arrangement. And these design factors could be the functions of engaging engine speed and desired power transfer capacity. The result of the single clutch test showed the power transfer capacity of 14.1 PS at 5,800 rpm and the result of the dual clutch test showed that the capacity of 17.7 PS at 5,600 rpm. These experimental results agreed well the theoretical simulations.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.1117-1120
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• 2001

Chemical mechanical planarization(CMP) has emerged as the planarization technique of choice in both front-end and back-end integrated circuit manufacturing. Conventional CMP process utilize a polyurethane polishing pad and liquid chemical slurry containing abrasive particles. There have been serious problems in CMP in terms of repeatability and defects in patterned wafers. Since IBM's official announcement on Copper Dual Damascene(Cu2D) technology, the semiconductor world has been engaged in a Cu2D race. Today, even after~3years of extensive R&D work, the End-of-Line(EOL) yields are still too low to allow the transition of technology to manufacturing. One of the reasons behind this is the myriad of defects associated with Cu technology. Especially, dishing and erosion defects increase the resistance because they decrease the interconnection section area, and ultimately reduce the lifetime of the semiconductor. Methods to reduce dishing & erosion have recently been interface hardness of the pad, optimization of the pattern structure as dummy patterns. Dishing & erosion are initially generated an uneven pressure distribution in the materials. These defects are accelerated by free abrasive and chemical etching. Therefore, it is known that dishing & erosion can be reduced by minimizing the abrasive concentration. Minimizing the abrasive concentration by using Ce$O_2$ is the best solution for reducing dishing & erosion and for removal rate. This paper introduce dishing & erosion generating mechanism and a method for developing a semi-rigid abrasive pad to minimize dishing & erosion during CMP.