• Advances in robotics research
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• 제1권2호
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• pp.141-154
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• 2014

Redundant parallel manipulators have some advantages over the nonredundant parallel manipulators. It is important to determine how many additional branches should be introduced. This paper studies whether one or two additional branches should be added to a 3-DOF parallel manipulator by comparing the flexible deformation of a 3-DOF parallel manipulator with one additional branch and that with two additional branches. The kinematic and dynamic models of the redundant parallel manipulator are derived and the flexible deformation is investigated. The flexible deformation of the manipulators with one additional branch and two branches is simulated and compared. This paper is helpful for designers to design a redundantly actuated parallel manipulator.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 C
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• pp.1590-1592
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• 2002

In this work the electrical characteristics of organic TFTs using organic insulator and flexible polyester substrate have been investigated. Pentacene and PVP(polyvinylphenol) are used as an active semiconducting layer and dielectric layer respectively. Pentacene was thermally evaporated in vacuum at a pressure of about $1{\times}10^{-6}$ Torr and at a deposition rate of $0.5{\AA}$/sec, and PVP was spin-coated. Aluminium and gold were used for gate and source/drain electrodes. 0.1mm thick flexible polyester substrate was used instead of glass or silicon wafer.

• 정보처리학회논문지D
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• 제8D권4호
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• pp.439-450
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• 2001

Mobile agent is one of the promising ways of overcoming network load and latency. It is also a new software paradigm including those concepts of client/server, applet/servelet, and code-on-demand. In this paper, a new mobile agent concept with flexible replay scheme is proposed, which can deal with embarrassing situation when replying results should be accomplished in various distributed applications. For example, they are 1) a burden of bulky result, 2) a need of different replay scheme dependent on work type, 3) connection failure to the target node, and 4) a need of fast migration to next node to keep the itinerary. Regarding the source node, there may be another situation that it wants to be aware of whether its wi가 is completed or not. Three kinds of reply schemes are proposed for dealing flexibly with such situations. They are based on priority reply list where nodes to be replied are stored according to their priorities. An experimental supply chain management model using the proposed reply schemes is designed and implemented. It is one of good distributed applications appropriate for our reply schemes, because it requires different reply schemes according to work types and it is important to gather required information in time.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제5권5호
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• pp.574-582
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• 1999

분산 환경에서의 공동 작업을 위한 CSCW (Computer Supported Cooperative Work) 시스템은 전자 결재에서부터 공동 저술, 공동 의사 결정 등의 분야에서 다양하게 이용된다. CSCW 시스템 중에서 특히 공동 작업 드로잉(drawing) 도구는 의사 소통, 공동 디자인, 교육 등의 분야에 적용될 수 있기 때문에 많은 연구가 진행되어 왔다. 그러나 기존의 공동 작업 드로잉 도구는 시스템 구성, 병행성 제어 등의 부분에서 유연성이 부족하다는 단점이 있다. 본 논문에서는 이러한 문제를 해결하기 위하여 병행성 제어 정책 및 뷰(view)에 관한 정보를 가지는 "자율 객체(autonomous object)"와 유연한 시스템 구성을 지원하는 서버와 클라이언트를 소개한다.

• 대한기계학회논문집A
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• 제20권12호
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• pp.3883-3891
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• 1996

Performance and productivity of robot manipulator can be improved by increasing its working speed and extending its link length. But heavy weght of the commercial robot links, considered as "rigid body", limits its mazimum working speed and the weght of the links can be reduced for high speed operation. But this light-weight link or long link for special use cannot be consideredas "rigid" structure and vibration of the link due to its flexibility causes errors in end-effector position and orientation. Thus the elastic behaviro of the flexible link should be taken care of for increasing work speed and getting smaller error of end-effector position. In this paper, the fuzzy control theory is selected to design the controller which controlos the joint positions of the robot manipulator and suppress the vibration of flexible link. In the forst place, for the 1 DOF flexible link system, the fuzzy control theory is implemented. The contdroller for the 1 DOF flexible link system is designed. Experimental research is carried out to examine the controllability and the validity of the fuzzy control theory based controller. Next, using the extended desing schemes for the case of the 1 DOF flexible link system and usign the experimental phenomena of the 3 DOF flexible link system, the fuzzy controller for the 3 DOF flexible link system is desinged and experimented.ed and experimented.

• 로봇학회논문지
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• 제3권4호
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• pp.323-330
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• 2008

This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1998년도 춘계학술대회 논문집
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• pp.209-213
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• 1998

This study considers flowshop scheduling problem related to flexible maufacturing cell in which consists of two machining centers, robots for loading/unloading, and an automated guided vehicle(AGV) for material handling between two machining centers. Because no machinng center has buffer storage for work in process, a machining center can not release a finished job until the empty AGV is available at that machining center. While the AGV cannot tranfer an unfinished job to a machining center until the machining center empty. In this paper, an new heuristic algorithm is given to find the sequence that minimize their makespan.

• 품질경영학회지
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• 제20권2호
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• pp.118-128
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• 1992

The determination of appropriate buffer capacity is an important issue in the design of the advanced manufacturing systems and closely related to the system efficiency and flexibility. Work-in-process is usually not desirable. However, in reality, maintaining some capacity of buffer storage is inevitable in compensation for the machine blocking and break down. The objective of this paper is to present analytical methods and tools for the buffer capacity planning in the Flexible Manufacturing System Environments. The effects when machine blocking is critical factor are also discussed.

• 대한산업공학회지
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• 제20권4호
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• pp.5-21
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• 1994

We have described the optimal process route selection model for the PCB(printed circuit board) auto-insertion line. This PCB assembly line is known as a FFL(flexible flow line) which produces a range of products keeping the flow shop properties. Under FFL environments, we have emphasized the balancing of work-loads in order to maximize total productivity of PCB auto-insertion line. So we have developed a heuristic algorithm based on a work-order selection rule and min-max concept for the job route selection model.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.459-462
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• 2002

This paper presents the development or a keypad test system for the improvement or the working environment and productivity improvement using the microprocessor PIC16F877 Chip. In order to detect the fault of keypad products, the design of hardware and software is performed in this system. All controls of the system is implemented by the 8 bit one chip micro-controller PIC. This keypad test system can also recognizes the work process, the work result and the fault position of the keypad which is made by the method of a flexible printed circuit (FPC) and construct the database about test results using personal computer. The experimental results show the effective performance of the keypad test system.