• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1708-1713
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• 1997

In teleoperation of a manipulator, kinesthetic feedback can take an essential role in the sense that it provides an operator with more realistic information. In this paper, in order to implement the concept of kinesthetic feedback, force mapping algorithms based on screw theory have been presented. In the development of such algorithms, the virtual environment has been modeled usign a spring and dampers, and the forces caused by hitting the joint limits of a conrtolled manipulator were considered. Finally, some experimental results of force mapping algorithm have been presented.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1999년도 추계학술발표회요약집
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• pp.97.1-97
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• 1999

• 한국방사성폐기물학회:학술대회논문집
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• 한국방사성폐기물학회 2018년도 춘계학술논문요약집
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• pp.104-105
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• 2018

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 추계학술대회 논문집
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• pp.365-366
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• 2006

• 전력전자학회:학술대회논문집
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• 전력전자학회 2000년도 전력전자학술대회 논문집
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• pp.61-65
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• 2000

In this paper We have developed the high-speed controller for haptic control. The proposed controller is based on the PCI/FPGA technology which can calculate the real position and transmit the force data to device rapidly. The haptic system is composed of 6DOF force display device high-speed controller. The developed system will be used on constructing the dynamical virtual environment. To show the efficiency of our system we designed simulation program of force-reflecting. As the result of the experiment we found that the controller has much higher resolution than some other controller It is so efficient in a 1 PC-based system with 1[kHz] haptic interrupt cycle.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2910-2912
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• 2000

Since the heavy-duty power manipulator has high ratio gear reducers at its joints, its dynamic characteristics are much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude when it is used as the slave manipulator in telemanipulator systems. This paper proposes a force reflecting position control scheme for 2 axes heavy-duty power manipulator which compensates control input saturation. A series of experiments is shown to give an excellent tracking performance regardless of saturation.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 2003년도 추계학술발표대회 요약집
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• pp.227.1-227.1
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• 2003

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.234-238
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• 2001

A lot of researches have been done in teleoperation field. For accurate and reliable teleoperation, force reflection is required so that the master can feel the same force, which is measured at reflection have been applied to most of the master device. Therefore the master can not control the force exerted by the slave robot to the environment. But some tasks such as an insertion with very small tolerance, skewing bolt and so forth, require the force command from the master.

• 산업경영시스템학회지
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• 제45권3호
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• pp.31-39
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• 2022

The Army, Navy, and Air Force are currently making various efforts to apply defense IoT technology by reflecting the characteristics of each military. However, there are concerns that comprehensive collection, management, and analysis may be limited because each military has no overlapping system or guaranteed interoperability of data, and there are inefficient aspects in terms of using and investing a limited defense budget. In this study, evaluation items and priorities for pilot projects were selected by applying Delphi technique and AHP method to determine which projects are preferentially effective when commonly applied in terms of Army, Navy, and Air force. As a result of the analysis, the project basis and driving force, project feasibility, performance and ripple effect, redundancy and connection were identified in the order of IoT-based small detachment units and unmanned base construction, intelligent smart unit, smart ground ammunition depot, and smart training management system. According to the comprehensive results reflecting the weights of each evaluation item, the fact that small detachment units and unmanned base construction project are recognized as the first project to be applied to the Army, Navy, and Air Force is a valid approach to be effective while each military is burdened with personnel management because of the reduction of manpower. Through the research results, it is expected that the direction of application to the policy of the defense IoT project can be confirmed in terms of efficient use of limited budgets.

• Structural Engineering and Mechanics
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• 제5권1호
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• pp.1-19
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• 1997

A numerical procedure for dynamic analysis of structures including lateral-torsional coupling, axial force effect and soil-structure interaction is presented in this study. A simple soil-structure system model has been designed for microcomputer applications capable of reflecting both kinematic and inertial soil-foundation interaction as well as the effect of this interaction on the superstructure response. A parametric study focusing on inertial soil-structure interaction is carried out through a simplified nine-degree of freedom building model with different foundation conditions. The inertial soil-structure interaction and axial force effects on a 20-storey building excited by an Australian earthquake is analysed through its top floor displacement time history and envelope values of structural maximum displacement and shear force.