• 한국통신학회논문지
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• 제37C권10호
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• pp.859-869
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• 2012

본 논문에서는 3차원 동영상의 시 공간적 정보 중복성 (TSR: temporal-spatial redundancy)과 노블 룩업테이블(N-LUT: novel look-up table)를 이용한 효과적인 3차원 동영상 홀로그램 생성기법인 TSR-N-LUT을 제시하였다. 제안된 기법에서는 먼저, DPCM (differential pulse code modulation) 알고리즘을 이용하여 3차원 동영상 프레임간의 시간적 중복 데이터를 제거한 다음, 잔여 영상에 대해서도 각 프레임별로 영상라인 간 중복 데이터를 제거하게 된다. 따라서, 시 공간적인 중복 데이터가 제거된 물체영상에 N-LUT 기법을 적용함으로써 효과적으로 3차원 비디오 홀로그램을 합성하게 된다. 실험결과 제안된 TSR-N-LUT 기법은 기존 방법에 비해 평균적으로 홀로그램 계산을 위한 물체 포인트 수가 23.72% 감소함과 동시에 홀로그램 생성속도 역시 19.55% 개선됨을 보임으로써 제안된 기법의 실제 응용 가능성을 제시하였다.

• 제어로봇시스템학회논문지
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• 제3권5호
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• pp.469-475
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• 1997

A method for solving the inverse kinematic problem of reclaimer is presented in this paper. The reclaimers in the raw yard are being used to dig raws and transfer them to the blast furnaces. The kinematic configuration of the reclaimer is different from that of commercially available robots, because it has a rotating disk with several buckets at the end of the boom to dig raws. The reclaimer has a redundancy due to the rotating disk : the degrees of freedom are greater than the number of forward kinematic equations. A plane equation in the 3-dimensional space is determined by using several points adjacent to the reclaiming point of the raw ores pile. A constraint is obtained from the relation ship of the plane equation and trajectories of the bucket of the reclaimer. Finally, a solution of the inverse kinematics of the reclaimer is determined by a numerical method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1150-1155
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• 1990

This paper proposes an optimal redundancy resolution of a kinematically redundant manipulator while considering homotopy classes. The necessary condition derived by minimizing an integral cost criterion results in a second-order differential equation. Also boundary conditions as well as the necessary condition are required to uniquely specify the solution. In the case of a cyclic task, we reformulate the periodic boundary value problem as a two point boundary value problem to find an initial joint velocity as many dimensions as the degrees of redundancy for given initial configuration. Initial conditions which provide desirable solutions are obtained by using the basis of the null projection operator. Finally, we show that the method can be used as a topological lifting method of nonhomotopic extremal solutions and also show the optimal solution with considering the manipulator dynamics.

• 동력기계공학회지
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• 제19권3호
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• pp.75-80
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• 2015

Typically, robot system configured by articulated robot manipulator with 1 DOF transfer unit is being applied in automotive manufacturing automation process. Especially, 1 DOF transfer unit is necessary to extend workspace of robot manipulator. In this configuration, because transfer unit works only one direction, robot manipulator only works in one side in case of car body painting or sealing automation process. it is necessary three robot manipulator system at least. In this paper, in order to robot manipulator works effectively in car body sealing automation application, we are suggested omni-directional manipulator system and conducted studying on redundancy resolution method to solve manipulability-optimal problem.

• ETRI Journal
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• 제35권3호
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• pp.439-447
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• 2013

To increase device memory yield, many manufacturers use incorporated redundancy to replace faulty cells. In this redundancy technology, the implementation of an effective redundancy analysis (RA) algorithm is essential. Various RA algorithms have been developed to repair faults in memory. However, nearly all of these RA algorithms have low analysis speeds. The more densely compacted the memory is, the more testing and repair time is needed. Even if the analysis speed is very high, the RA algorithm would be useless if it did not have a normalized repair rate of 100%. In addition, when the number of added spares is increased in the memory, then the memory space that must be searched with the RA algorithms can exceed the memory space within the automatic test equipment. A very efficient RA algorithm using simple calculations is proposed in this work so as to minimize both the repair time and memory consumption. In addition, the proposed algorithm generates an optimal solution using a tree-based algorithm in each fault group. Our experiment results show that the proposed RA algorithm is very efficient in terms of speed and repair.

• 로봇학회논문지
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• 제7권1호
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• pp.35-44
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• 2012

This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1102-1107
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• 1992

Existing CAD systems do nto provide the advanced function for systematic checking of design and drafting errors in mechanical drawings. This paper describes a method for sytematic checking of global parts in mechanical drawings. The checking items are deficiency and redundancy of dimensions, input-errors in dimension figures and symbols, etc. Checking for deficiency and redundancy of global dimensions has been performed applying Graph Theory. This system has been applied to several examples and we have confirmed the feasibility of this checing method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.847-851
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• 1994

Existing CAD systems do not provide the advanced function for systematic checking of design and drafting errors in mechanical drawings. This paper describes a method for systematic checking in mechanical drawings. The checking items are deficiency and redundancy of dimensions, input-errors in dimension figures and symbols, etc. Checking for deficiency and redundancy of global dimensions has been performed applying Graph Theory. This system has been applied to several examples and we have confirmed the feasibility of this design checking method.

• 대한기계학회논문집A
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• 제33권10호
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• pp.1014-1022
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• 2009

A biped robot in locomotion can be regarded to be kinetically redundant in that the link-chain from its foot on the ground to its swing foot has more degrees of freedom that needed to realize stable bipedal locomotion. This paper proposes a new method to generate a trajectory for bipedal locomotion based on this redundancy, which directly generates a locomotion trajectory at the joint level unlike some other methods such as LIPM (linear inverted-pendulum mode) and GCIPM (gravity-compensated inverted-pendulum mode), each of which generates a trajectory of the center of gravity or the hip link under the assumption of the dominance of the hip-link inertia before generating the trajectory of the whole links at the joint level. For the stability of the trajectory generated in the proposed method, a stability condition based on the ZMP (zero-moment point) is used as a constraint as well as other kinetic constraints for bipedal motions. A 6-DOF biped robot is used to show how a stable locomotion trajectory can be generated in the sagittal plane by the proposed method and to demonstrate the feasibility of the proposed method.

• 전자공학회논문지SC
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• 제48권4호
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• pp.71-79
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• 2011

본 논문에서는 이더넷 파워링크의 마스터 이중화 기법의 실시간성 향상을 위해 PReq 신호를 이용한 원전용 실시간 제어망의 실시간성과 신뢰성을 고려한 마스터 이중화 기법을 제안하였다. 제안된 마스터 이중화 기법은 동기 구간에서 PReq 신호를 이용하여 마스터 고장을 감지하고 비동기 구간에서 AMNI 프레임을 전송하여 단위 사이클 구간 앞서서 전환이 가능하다. 이를 통해 실시간 주기 데이터의 손실 및 이로 인한 문제점들을 최소한으로 줄일 수 있다. 제안된 마스터 이중화 기법의 효용성을 증명하기 위하여 OPNET Modeler를 이용하여 성능분석 및 검증을 수행하였고 이를 통해 마스터 전환시간을 줄일 수 있음을 보였다.