• Journal of the Korean Society for Precision Engineering
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• v.15 no.5
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• pp.153-160
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• 1998

A master-slave system for tele-operation had been developed and tested for several decades. In this paper the master robot is composed of several wires and provides position information of the handle which is driven by a operator within the master robot work space. A PC is used for the command calculation for a slave robot. This paper deals with the relation between the number of strings and D.O.F of the master robot, control method of the slave robot during the operation and the monitoring method over the working area by the computer graphics simulation. The D.O.F of the master robot can be modified by adding or subtracting some strings. The controller of the slave robot uses the advanced PD control method to keep the performance against varying working load.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.34C no.7
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• pp.82-91
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• 1997

In this paper, we analyze the dynamics of langevine competitive learning neural network based on its fokker-plank equation. From the viewpont of the stochastic differential equation (SDE), langevine competitive learning equation is one of langevine stochastic differential equation and has the diffusin equation on the topological space (.ohm., F, P) with probability measure. We derive the fokker-plank equation from the proposed algorithm and prove by introducing a infinitestimal operator for markov semigroups, that the weight vector in the particular simplex can converge to the globally optimal point under the condition of some convex or pseudo-convex performance measure function. Experimental resutls for pattern recognition of the remote sensing data indicate the superiority of langevine competitive learning neural network in comparison to the conventional competitive learning neural network.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.51.1-51
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• 2001

Teleoperation is a rapidly progressing field promising to have significant application in space, mining, medical, and other areas. Unfortunately, significant communication delays are expected in teleoperation. With this problem, the two major issues in teleoperation are stability robustness and transparency performance. Recent work in bilateral teleoperation in the two-channel showed that for any two-channel control architecture, stability robustness is enhanced if the feedforward control parameters are lowered. In this paper, we analyze the stability and performance robustness of the three channels control architectures using the passivity-based Llewellyn´s absolute stability criterion as wall as the minimum values and Z-width´s of the operator and environment transmitted impedances. And the stability and the performance robustness of two and three channels control architectures are quantitatively compared.

• Journal of applied mathematics & informatics
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• v.33 no.1_2
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• pp.13-31
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• 2015

In this paper, we introduce a general iterative algorithm for finding a common element of the common fixed point set of an infinite family of ${\lambda}_i$-strict pseudo-contractions and the solution set of a general system of variational inclusions for two inverse strongly accretive operators in q-uniformly smooth Banach spaces. Then, we analyze the strong convergence of the iterative sequence generated by the proposed iterative algorithm under mild conditions.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.10a
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• pp.107-112
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• 1996

In this paper it is proposed a new approach to the development of the automatic vision system to examine and repair the steam generator tubes at remote distance. In nuclear power plants workers are reluctant of works in steam generator because of the high radiation environment and limited working space. It is strongly recommended that the examination and maintenance works be done by an automatic system for the protection of the operator from the radiation exposure. Digital signal processors are used in implementing real time recognition and examination of steam generator tubes in the preposed vision system, Performance of proposed digital vision system is illustrated by experiment for similar steam generator model.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.658-665
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• 1998

In this paper, we propose a new approach to the development of the automatic vision system to examine and repair the steam generator tubes at remote distance. In nuclear power plants, workers are reluctant of works in steam generator because of the high radiation environment and limited working space. It is strongly recommended that the examination and maintenance works be done by an automatic system for the protection of the operator from the radiation exposure. Digital signal processors are used in implementing real time recognition and examination of steam generator tubes in the proposed vision system. Performance of the proposed digital vision system is illustrated by simulation and experiment for similar steam generator model.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.496-499
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• 1999

This paper describes a medular neural network(MNN) for a vision system which tracks a given object using a sequence of images from a camera unit. The MNN is used to precisely recognize the given robot endeffector and to minize the processing time. Since the robot endeffector can be viewed in many different shapes in 3-D space, a MNN structure, which contains a set of feedforwared neural networks, co be more attractive in recognizing the given object. Each single neural network learns the endeffector with a cluster of training patterns. The training patterns for a neural network share the similar charateristics so that they can be easily trained. The trained MNN is less sensitive to noise and it shows the better performance in recognizing the endeffector. The recognition rate of MNN is enhanced by 14% over the single neural network. A vision system with the MNN can precisely recognize the endeffector and place it at the center of a display for a remote operator.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.4
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• pp.79-86
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• 2002

As consumer electronics, information, and aero-space industry grow, the demand for aspheric lens increases higher. To enhance the precision and productivity of aspheric surface, a CAM system for ultra-precision aspheric surface needs to be realized. In this study, the developed CAM system can generate NC code fur various aspheric surfaces fast and precisely by a new bi-arc interpolation method that the location of maximum error is fixed at an efficient point. The newly developed bi-arc meets the given tolerance more precisely, performs faster calculation. The cutting condition input module and the NC code verification module are adequate to ultra-precision machining, so that a operator can obtain products fast and easily.

• Journal of applied mathematics & informatics
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• v.14 no.1_2
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• pp.115-122
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• 2004

We characterize the additive operators preserving rank-additivity on symmetry matrix spaces. Let $S_{n}(F)$ be the space of all $n\;\times\;n$ symmetry matrices over a field F with 2, $3\;\in\;F^{*}$, then T is an additive injective operator preserving rank-additivity on $S_{n}(F)$ if and only if there exists an invertible matrix $U\;\in\;M_n(F)$ and an injective field homomorphism $\phi$ of F to itself such that $T(X)\;=\;cUX{\phi}U^{T},\;\forallX\;=\;(x_{ij)\;\in\;S_n(F)$ where $c\;\in;F^{*},\;X^{\phi}\;=\;(\phi(x_{ij}))$. As applications, we determine the additive operators preserving minus-order on $S_{n}(F)$ over the field F.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.542-547
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• 2000

In this paper, we propose a new approach to the development of the automatic vision system to examine and repair the steam generator tubes at remote distance. In nuclear power plants, workers are reluctant of works in steam generator because of the high radiation environment and limited working space. It is strongly recommended that the examination and maintenance works be done by an automatic system for the protection of the operator from the radiation exposure. Digital signal processors are used in implementing real time recognition and examination of steam generator tubes in the proposed vision system. Performance of proposed digital vision system is illustrated by simulation and experiment for similar steam generator model.