• Journal of the Korean Society of Industry Convergence
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• v.21 no.4
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• pp.183-189
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• 2018

The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.4B
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• pp.344-348
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• 2006

This paper proposes a QoS policy for cellular networks which support the policy based network management scheme. The policy exploits the existing underlying DiffServ mechanism and the priority-based packet scheduler in order to provide the packets with different handling priority depending on their belonging traffic classes. The simulation results reveals the effectiveness of the proposed policy under the network congestion; it shows that the goodput of the real-time traffic is not affected at all in spite of the surge of the non real-time traffic.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2888-2890
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• 2005

In this paper, we introduce a new structure of fuzzy-neural networks Fuzzy Set-based Polynomial Neural Networks (FSPNN). The two underlying design mechanisms of such networks involve genetic optimization and information granulation. The resulting constructs are Fuzzy Polynomial Neural Networks (FPNN) with fuzzy set-based polynomial neurons (FSPNs) regarded as their generic processing elements. First, we introduce a comprehensive design methodology (viz. a genetic optimization using Genetic Algorithms) to determine the optimal structure of the FSPNNs. This methodology hinges on the extended Group Method of Data Handling (GMDH) and fuzzy set-based rules. It concerns FSPNN-related parameters such as the number of input variables, the order of the polynomial, the number of membership functions, and a collection of a specific subset of input variables realized through the mechanism of genetic optimization. Second, the fuzzy rules used in the networks exploit the notion of information granules defined over systems variables and formed through the process of information granulation. This granulation is realized with the aid of the hard C- Means clustering (HCM). The performance of the network is quantified through experimentation in which we use a number of modeling benchmarks already experimented with in the realm of fuzzy or neurofuzzy modeling.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.621-625
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• 2005

This paper presents a new hybrid serial-parallel robot(HSPR), which has six degrees of freedom driven by ball screw linear actuators and motored joints. This hybrid robot design presents a compromise between high rigidity of fully parallel manipulators and extended workspace of serial manipulators. The hybrid robot has a large, singularity-free workspace and high stiffness. Therefore, the presented kinematic structure of the hybrid robot is particularly suitable for multi-tasking machining processes such as milling, drilling, deburring and grinding. In addition to the machining processes, the hybrid robot can be used for welding, fixturing, material handling and so on. The study on design of the hybrid robot is performed. A kinematic analysis and mechanism description of the hybrid robot with six-controlled degree of freedom is presented. In the virtual design works by DADS, workspace and force analysis are discussed. A numerical model is treated to demonstrate our analysis and to determine the range of permissible extension of the struts. Also, we determine some important design parameters for the hybrid robot.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.756-760
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• 2005

By development of a robot technology, personal robot is being developed very actively. Various infra-technologies are accumulated in hardware and software how by internal a lot of research and development efforts, and it is circumstance that actual commodity is announced. But, personal robot is applied to be acting near human, and takes charge of safety and connected directly a lot of works of home security, gas-leakage, fire-warning facilities, or/and etc. So personal robot must do safe and stable action even if any unexpected accidents are happened, important functions are always operated. In this paper, we are wished to show design structures for supporting fault-tolerant operation from our real-time robot middleware viewpoint. Personal robot, in being developed, was designed by module structure to do to interconnect and to interoperate among each module that is mutually implemented by each research facilities or company. Also, each modules can use appreciate network system that is fit for handling and communicating its data. To guarantee this, we have being developed a real-time network middleware, for especially personal robot. Recent our working is to add and to adjust some functions like connection management, distributed routing mechanism, remote object management, and making platform independent robot application execution environment with self-moving of robot application, for fault-tolerant personal robot.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.9
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• pp.923-930
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• 2013

These days, the interests on the high speed handling robots are increasing because it is important to get down the unit cost of production to get the price competitiveness. The parallel kinematic mechanism is more suitable to implement the high speed robot system as well known. The moving parts of the high speed parallel robot have to be designed for light weight. But the vibration motion is induced by the light weight links because they drive in high acceleration and deceleration. In this reason, the structural analysis of the high speed parallel kinematic robot is very important in the design process. In this paper, the study on the structural analysis of a high speed parallel robot has been done and the research results will be introduced.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.593-596
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• 2008

The reed switch position transmitter (RSPT) is used as a position indicator for the control rod in commercial nuclear power plants made by ABB-CE. But this position indicator has some problems when directly adopting it to the integral reactor. The Control Element Drive Mechanism (CEDM) for the integral reactor is designed to raise and lower the control rod in steps of 2mm in order to satisfy the design features of the integral reactor which are the soluble boron free operation and the use of a nuclear heating for the reactor start-up. Therefore the resolution of the position indicator for the integral reactor should be achieved to sense the position of the control rod more precisely than that of the RSPT of the ABB-CE. This paper adopts seismic resistance reed switches to the position indicator in order to reduce the damages or impacts during the handling of the position indicator and earthquake.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.253-255
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• 2013

It is being exposed to hazard about the person or company's information, according to mobile-telecommunication's development. Those situations are being threatened to private information exposure and in a bid to stop the outflow of new technologies from coporations or goverment. to resolve this issue, the administration of SMART phone's applications and the skill of handling for device applying the standard of DM defining protocol and Mechanism Study into the software management and Device supervision under controlling, OMA which is affiliated to Mobile Service Standard Organization.

• Journal of Korea Society of Digital Industry and Information Management
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• v.6 no.4
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• pp.57-65
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• 2010

Application of WBAN technology in medical field facilitates the prevention of diseases by collecting the vital signs remotely. It also enables to prevent the accidental emergency situation in advance plus long-tem monitoring of patients with chronic diseases such as heart diseases, hypertension, or the elderly and infirm. For emergency patients, major vital signal information collected by the 'Sensing' should have the top priority and such information should be transferred as promptly as possible without competition. In addition, when an emergency occurs to a patient, a priority mechanism is necessitated for a urgent message to get through to the final destination. However, LR-WPAN IEEE 802.15.4 technology does not consider such emergency message handling features. To deal with aforementioned issues, the IEEE 802.15.4 super frame protocol structure has been designed for stable transfer of emergency information in WBAN environment in this study, and alternation to super frame structures have been made, allowing GTS(Guaranteed Time Slot) can be used first at CFP (Contention Free Period) by reserving the resources in advance and prioritize the emergency signals. NS-2 has been utilized for the performance test and analysis.

• Journal of Energy Engineering
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• v.24 no.2
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• pp.154-166
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• 2015

The in-core instrumentation measures core power distribution and coolant temperature in local regions of the core in pressurized water reactors. The installation types are distinguished by the designs of routing paths that exit either through reactor bottom mounted instrument nozzles or through reactor top mounted instrument nozzles. Although each type has unique advantages, it is generally known that top mounted design is more competitive with respect to emphasizing nuclear safety issues and ability to cope with severe accidents. The international nuclear vendors have provided various types of reactors with top mounted design. Nuclear power reactors in Korea, however, only have been designed to be applicable to the use of bottom mounted design, and it has been pointed out that the capabilities of Korean reactors against severe accidents should be further enhanced. The paper deals with technical issues on reactor internal and external design, in-core instrumentation, support assembly, sealing mechanism with nozzles, handling, and analytical issues in order to establish the ways of development.