• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.565-570
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• 1999

In this paper, we developed a windows 95 version Off-Line Programming system which can simulate a Robot model in 3D Graphics space. 4axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 95's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Journal of the Institute of Convergence Signal Processing
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• v.3 no.4
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• pp.57-61
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• 2002

We design Collision Avoidance System using model vehicle. The purpose of this system(Collision Avoidance System) is to maintain continuously constant distance between a forward running vehicle and a following automatic guided vehicle(AGV). For this system, we design modeling of vehicle and observe this through simulation. By sing super sonic sensors to measure the distance between vehicles and controller using 80c196kc for changing velocity of motor, we design Collision Avoidance System as maintaining continuously constant distance between vehicles.

• 한국지구물리탐사학회:학술대회논문집
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• 2010.10a
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• pp.169-170
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2057-2062
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• 2003

Chained form mobile robots have been studied from the viewpoint of the control and analysis of nonholonomic mechanical systems in literature. However, researches for the detailed closed form kinematic modeling are rarely progressed. Nothing that a chained form mobile robot can be considered as a parallel system including several chains and wheels, the transfer method using augmented generalized coordinates is applied to obtain inverse and forward kinematic models of chained form mobile robots. Various numerical simulations are conducted to verify the effectiveness of the suggested kinematic model.

• MALSORI
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• no.51
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• pp.151-165
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• 2004

For educational and research purposes, a Korean speech recognition platform is designed. It is based on an object-oriented architecture and can be easily modified so that researchers can readily evaluate the performance of a recognition algorithm of interest. This platform will save development time for many who are interested in speech recognition. The platform includes the following modules: Noise reduction, end-point detection, met-frequency cepstral coefficient (MFCC) and perceptually linear prediction (PLP)-based feature extraction, hidden Markov model (HMM)-based acoustic modeling, n-gram language modeling, n-best search, and Korean language processing. The decoder of the platform can handle both lexical search trees for large vocabulary speech recognition and finite-state networks for small-to-medium vocabulary speech recognition. It performs word-dependent n-best search algorithm with a bigram language model in the first forward search stage and then extracts a word lattice and restores each lattice path with a trigram language model in the second stage.

• Tunnel and Underground Space
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• v.7 no.4
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• pp.334-340
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• 1997

Alpha center theory which was first proposed by Stefanescu has been proved to be effective for the detection of the location of the conductive orebody. A numerical forward modeling was conducted to verify the effectiveness of this method. Field works were carried out along the three profiles in two different areas for the purpose of finding fractured zone which might be accompanied with the presence of the groundwater. And the results were modeled by alpha center method, which was later testified by wellproven 2-dimensional finite difference inversion scheme. Field data could be successfully modeled with this alpha center algorithm, especially for the smooth-varying resistivity models. For the abrupt change of the resistivity values, the alpha center coefficients have a tendency to be negative to simulate the steep resistivity gradients. This method is quite simple and easy for the future applications. The numerical calculation can be performed very quickly with the personal computers.

• Journal of KSNVE
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• v.8 no.6
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• pp.1103-1112
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• 1998

A new time series method, directional ARMAX (dARMAX) model-based approach. is proposed for rotor dynamics identification. The dARMAX processes complex-valued signals, utilizing the complex modal testing theory which enables the separation of the backward and forward modes in the two-sided frequency domain and makes effective modal parameter identification possible, to account for the dynamic characteristics inherent in rotating machinery. This paper is divided into two parts : The dARMAX modeling, analysis. and fitting strategy are presented in the first part. whereas a evaluation of its performance characteristics based on both simulated and experimental data is presented in the second.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.5
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• pp.118-125
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• 2002

The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2001.07a
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• pp.37-40
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• 2001

This paper presents the modeling methodology of Zinc diffusion process applied for high-speed avalanche photodiode fabrication using neural networks. Three process factors (sealing pressure, amount of Zn$_3$P$_2$ source per volume, and doping concentration of diffused layer) are examined by means of D-optimal design experiment. Then, diffusion rate and doping concentration of Zinc in diffused layer are characterized by a static response model generated by training fred-forward error back-propagation neural networks. It is observed that the process models developed here exhibit good agreement with experimental results.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.7
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• pp.28-35
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• 2002

This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newman$^{[1]}$ does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating transnational friction motion into the original algorithm. It is shown that transnational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.