• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.10
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• pp.1738-1745
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• 2016

In this paper, we present localization and autonomous navigation method using GPU(Graphics Processing Unit)-based SIFT(Scale-Invariant Feature Transform) algorithm and virtual force method for mobile robots. To do this, at first, we propose the localization method to recognize the landmark using the GPU-based SIFT algorithm and to update the position using extended Kalman filter. And then, we propose the A-star algorithm for path planning and the virtual force method for autonomous navigation of the mobile robot. Finally, we demonstrate the effectiveness and applicability of the proposed method through some experiments using the mobile robot with OPRoS(Open Platform for Robotic Services).

• Transactions of Materials Processing
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• v.15 no.1 s.82
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• pp.82-88
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• 2006

In this paper, the web-based monitoring system is developed for the effective process monitoring of mold manufacturing using web. In developed system, the cutting force for monitoring the manufacturing condition is measured using hall-sensor that is low cost and useful to be installed in a machine tool indirectly. Specially, the current of main spindle in a machine tool is converted into cutting force by various experiments. For effective web-based monitoring, the program which runs in the local computer of client is made to exchange message between a server and a client by making of ActiveX control and the result of manufacturing is shown on web-browser by Ch language. The developed system in this study is the foundation of establishing E-manufacturing in mold factory.

• Proceedings of the Korea Concrete Institute Conference
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• 2006.05a
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• pp.78-81
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• 2006

In the current study, a force-based fiber frame finite element model of FRP concrete structural members has been developed. For compressive behaviors of confined concrete wrapped by FRP jackets, the multiaxial behavior of concrete has been considered with the equivalent tangent modulus of concrete. The behavior of FRP jackets has been modeled using the mechanics of orthotropic laminated composite materials in two-dimensional stress states. The force-based finite element formulation is based on the force-interpolation functions within the element without using the displacement shape functions to satisfy the equilibrium in element levels.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.1761-1766
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• 2004

In this lecture, we reviewed the principle and types of force sensors with strain gages, tactile sensors based on MEMS and force sensor as well as nano force sensors. Also we investigated applications of force sensors for NT, BT and RT.

• Structural Engineering and Mechanics
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• v.53 no.2
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• pp.261-276
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• 2015

Structural damage and moving load identification are the two aspects of structural system identification. However, they universally coexist in the damaged structures subject to unknown moving load. This paper proposed a dynamic response sensitivity-based model updating method to simultaneously identify the structural damage and moving force. The moving force which is equivalent as the nodal force of the structure can be expressed as a series of orthogonal polynomial. Based on the system Markov parameters by the state space method, the dynamic response and the dynamic response derivatives with respect to the force parameters and elemental variations are analytically derived. Afterwards, the damage and force parameters are obtained by minimizing the difference between measured and analytical response in the sensitivity-based updating procedure. A numerical example for a simply supported beam under the moving load is employed to verify the accuracy of the proposed method.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.27 no.4
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• pp.33-41
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• 2004

This study examines the relationship between multiple sales force management practices and performance within each of Miles & Snow (1978)'s strategy types and Walker & Ruekert (1987)'s strategy types. The findings are as follows : First, Prospectors seem to be associated with increased performance when they are utilizing a relationship selling strategy, internal sales force, moderate levels of supervision, outcome-based control system and incentive-oriented compensation system. Second, Analyzers seem to be associated with increased performance when they are utilizing a relationship selling strategy, internal sales force, outcome-based control system to deal with the instability in their strategic focus. Third, Low Cost Defender seem to be associated with increased performance when they are utilizing a relationship selling strategy, external sales force, low levels of supervision, outcome-based control system and salary-oriented compensation system. Fourth, Differentiated Defenders seem to be associated with increased performance when they are utilizing a relationship selling strategy, high levels of supervision, balanced (outcome+behavior) control system and salary-oriented compensation system.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.4
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• pp.123-129
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• 2001

Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control tech-niques. To satisfy the requirements, importance of force control is being continuously increased and the expensive force sensor is usually installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimated the contact force occurring between the end-effector of 2 DOF robots and environ-ment. The contact force estimation system is developed based on the static and dynamic models of 2 DOF robot manipula-tors. where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.14-19
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• 2000

Recent requirements for the fast and accurate motion in industrial robot manipulator need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is usually installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between the end-effector of 2 DOF robots and environment. The contact force estimation system is developed based on the static and dynamic models of 2 DOF robot manipulators, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.2
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• pp.192-197
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• 2001

Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is often installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between the end-effector of robots and environment in 3-D. The contact force monitoring system is developed based on the static and dynamic models of 3 DOF robot manipulators, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.681-687
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• 2010

In this paper, an implementation of force control for a slave mobile robot in tele-operation environment is presented. A mobile robot is built to have a force control capability with a force sensor and tested for force tracking control performances. Both position and contact force are regulated by a PID based hybrid control method and the impedance force control method. To minimize accumulated errors due to the adaptive impedance force control method, the novel force control method with a weighted function is proposed. Experimental studies of regulating contact forces for different control algorithms are tested and their performances are compared.