• 대한조선학회논문집
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• 제48권4호
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• pp.375-380
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• 2011

Loading/unloading at sea is necessitated as larger container ships are being used. It is also unavoidable to load/unload at sea during military operations. An experimental cable array robot system, which can be used for loading/unloading at sea, consisting of four cables operated by four motors is designed and built. Even though it has simple structure, it has a large pay-load/robot-weight ratio, flexibility and wide workspace and can be easily built at low cost. In order to plan and control the paths of end-effector, two interpolation methods are introduced and compared. Since the robot is entirely based on cable tension, an analysis of tension is also presented for monitoring and planning purpose.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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• pp.1014-1021
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• 1999

PID controllers with constant gains have been widely used in various control systems. But it is difficult to have uniformly good control performance in all operating conditions. In this paper, we propose a variable PID controller for robot manipulators. We divide total workspace of manipulators into several subspaces. PID controllers in each subspace are optimized using evolution strategy which is a kind of global search algorithm. In real operation, the desired trajectories may cross several subspaces and we select the corresponding gains in each subspace. The gains may have large difference on the boundary of subspaces, which may cause oscillatory motion. So we use artificial neural network to have continuous smooth gain curves to reduce the oscillatory motion. From the experimental results, although the proposed variable PID controller for robots should pay for some computational burden, we have found that the controller is more superior to the conventional constant gain PID controller.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.740-743
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• 2005

Most works of the large vertical ceiling structures have been performed by human manually. These works require much more operation costs, labors and times, etc. Beside most people avoid this works because of it's characteristic such as danger, dirty and difficulty. So necessity of automation for these works has been rising. This automation needs a wall climbing mobile vehicle because of the movement of platform large workspace. In this study, we aim at develop the wheel which can be used for vertical wall-climbing mobile robot using electromagnet wheel. The wheel proposed can be available for several working processes on structures which consist magnetic substance.

• 한국정보과학회논문지:데이타베이스
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• 제32권1호
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• pp.100-110
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• 2005

지리정보시스템(Geographic Information System)에서 지도 갱신 작업은 대화식으로 이루어지는 긴 트랜잭션이다. 지도 갱신 작업의 동시성을 향상시키기 위하여 특정 공간객체가 트랜잭션의 작업 영역보다 큰 공간 속성을 가질 때 다수의 트랜잭션이 해당 객체를 동시에 변경할 필요가 있다. 그러나, 큰 객체에 대한 쓰기 잠금이 충돌하기 때문에 둘 이상의 트랜잭션이 동일한 큰 객체를 동시에 변경할 수 없다. 이 논문에서는 큰 객체의 동시 변경을 지원하기 위하여 트랜잭션이 큰 객체의 부분에 대하여 잠금을 설정하는 부분 잠금 기법을 제시한다. 부분 잠금은 특정 공간객체의 부분객체에 대하여 사용자에 의해 설정되는 배타적 잠금으로 부분객체의 공간 속성을 이용하여 잠금 간의 충돌을 검사한다. 제안한 기법은 큰 객체에 대한 동시성 제어 단위를 낮추기 때문에 공간 객체를 변경하는 긴 트랜잭션의 동시성을 향상키는 장점을 가진다.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.583-588
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• 2015

Flexible tactile sensors can provide valuable feedback to intelligent robots regarding the environment around them. This is especially important when robots such as, service robots share a workspace with humans. This paper presents a contact force measurement algorithm of a flexible tactile sensor. This sensor is manufactured by a direct-writing technique, which is one 3D printing method, using multi-walled carbon nano-tubes. An analog signal processing circuit has been designed and implemented to reduce noise contained in the sensor output. In addition, a digital version of the Butterworth filter was implemented by software running on a microcontroller. Through various experiments, characteristics of the sensor system have been identified. Based on three traits, an algorithm to detect the contact and measure the contact force has been developed. The entire system showed a promising prospect to detect the contact over a large and curved area.

• 대한의용생체공학회:의공학회지
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• 제24권2호
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• pp.127-132
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• 2003

본 논문에서는 관절 경직 환자의 재활 치료를 위한 공압 실린더를 이용한 하이브리드형 로봇을 연구 개발하였다. 공압 실린더는 우수한 컴플라이언스를 가지고 있고 부피나 중량에 비해 높은 구동력을 가지고 있다 낮은 강성을 지닌 공압 구동기는 안정이 보장되어야 하는 물리 치료용 로봇의 구현에 적용하기 적당하다. 본 연구에서 제안한 로봇 시스템은 직렬형과 병렬형을 결합한 하이브리드 형으로 위치 결정부와 자세 결정부로 구분되며 하이브리드 구조를 통해 넓은 작업영역과 구동력을 얻을 수 있었다. 슬라이딩 모드 제어기를 이용하여 로봇 시스템의 공압 서보시스템의 추종성과 안정성을 얻을 수 있었으며 실험을 통하여서 개발된 시스템에 대한 검증을 하였다.

• Journal of Computing Science and Engineering
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• 제10권1호
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• pp.32-38
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• 2016

Navigating a large 3D virtual environment using a generic haptic device can be challenging since the haptic device is usually bounded by its own physical workspace. On the other hand, mouse interaction easily handles the situation with a clutching mechanism-simply lifting the mouse and repositioning its location in the physical space. Since the haptic device is used for both input and output at the same time, in many cases, its freedom needs to be limited in order to accommodate such a situation. In this paper, we propose a new mechanism called Z-Clutching for 3D navigation of a virtual environment by using only the haptic device without any interruption or sacrifice in the given degrees of freedom of the device's handle. We define the clutching state which is set by pulling the haptic handle back into space. It acts similarly to lifting the mouse off the desk. In this way, the user naturally feels the haptic feedback based on the depth (z-direction), while manipulating the haptic device and moving the view as desired. We conducted a user study to evaluate the proposed interaction technique, and the results are promising in terms of the usefulness of the proposed mechanism.

• 국제초고층학회논문집
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• 제3권1호
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• pp.73-79
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• 2014

In recent years, the performance requested for which an ultra-high rise buildings is diversified. Large spans are designed in order to gain wide workspace. Column positions are shifted in middle stories to provide space different from neighboring floors. Moreover, in the bottom layers of the building, it is becoming more important to expand freedom to plan flexibility such as creating publically opened wide atria that gives attractive free space. Earthquake-proof criteria is also changing not only human life protection deign but also a design that allows functional continuity. In order to achieve thee needs, as one of technology, we have developed ultra-high strength concrete filled tubular (CFT) columns of the box section that combine ultra-high strength concrete with specified strength of $150N/mm^2$ and ultra-high strength steel material with tensile strength of $780N/mm^2$. In this paper, the outline of development of an ultra-high strength CFT column is reported. Also, the structural design of the ultra-high-rise building using the CFT columns is reported.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2010년도 춘계 학술발표회
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• pp.1243-1249
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• 2010

Ground anchors can be good solution in large and deep excavation. Anchored supports generally provide larger workspace than strut supports and good performances. The major benefit provided by these anchored systems was the open excavation area created by eliminating horizontal or raked struts, which generally inhibit rapid construction within the site area. In loose soils, however, anchors are sometimes hard to get high pullout anchor capacity, so that the spacing of anchor both horizontally and vertically is frequently controlled, in which the construction costs of anchors are increased. In order to increase anchor capacity, therefore, conceptual introduction of the multi-strand anchor is presented in this paper. Also, this study shows an numerical study of predicting the load transfer of the multi-strand anchor and a beam-column analysis was performed by a Elastic-Plastic beam theory.

• 로봇학회논문지
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• 제8권1호
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.