• 한국지능시스템학회논문지
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• 제23권1호
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• pp.29-34
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• 2013

본 논문은 애드혹 통신을 기반으로 아이폰의 가속도 센서를 사용하여 이동로봇을 무선 제어하는 연구에 대하여 다룬다. 이동로봇을 아이폰으로 무선제어하기 위한 방법으로 사용자 원격제어와 자율제어 방법이 제안되었다. 궤적 추종제어 알고리즘의 효율성을 평가하기 위하여 아이폰의 인터페이스를 기반으로 모니터에 그려진 궤적을 가상로봇이 추종하는 시뮬레이터를 개발하였다. 제안된 시뮬레이터에서는 궤적 추종제어를 위해 이동로봇을 제어할 때 컴퓨터에서 해당 알고리즘을 이용하여 미리 시뮬레이션이 가능하며 사용자에 의한 원격제어와의 결과 비교도 보여준다. 연구의 결과로 제안된 시뮬레이터가 이동로봇에 자율이동제어 방법을 사용할 때, 자율추종 알고리즘의 적합성과 효율성을 미리 검사 하는데 사용될 수 있음을 보여준다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.43-43
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• 2000

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes; One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according to the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot's gait motion. In our walking algorithm, the ankle joint is mainly used lot balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on even surface.

• 대한조선학회논문집
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• 제49권5호
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• pp.400-409
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• 2012

It is not easy to know the accurate mass and mass moment of inertia of robot. Because of this uncertainty, error may exist when we control the robot based on the inaccurate mass information. Moreover the properties of the portable robot can change during its operation. Therefore we developed the motion simulator based on the adaptive control. First, the computed torque control was carried out in order to minimize an error between target angles and real angles. The computed torque control is based on the equation of robot motion, which is derived from the Lagrange-Euler equation. To minimize the error between the real model and the approximated model, the adaptive control was carried out. During this simulation, the interference check was also carried out. The interference check verifies that the robot can move successfully without any collision.

• 수산해양기술연구
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• 제32권3호
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• pp.321-328
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• 1996

This paper presents a robot simulator which can automatically generate a smooth collision free path. This simulator has the characterstisc of the object - oriented programming which is coded in Borland C+ +. Using General Inverse Algorithm, the inverse kinematics solutions of any kind of robots can be found generally. This simulator also uses Bezier Functions for the description of a smooth collision - free path. In addition, GUI(Graphic User Interface)technique is employed for user's convenience.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.351-353
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• 1992

Recently, robot plays an important role in factory automation and its use is rapidly increasing. In paticular, modern industry tends to need the robot to adjust itself swiftly to new workcell. But, robot is to be taught of operator through teaching box in order that it can carry out new tasks. In the process, interruption of the production line is frequent and so much time and expense are required. Computer Graphic Simulator(CGS) provides a useful tool to overcome such a problem. In this paper, CGS consists of teaching mode and execution mode. The 5-axis Rhino robot is modelled in IBM-PC/386 compatible 32-bit personal computer with 80387 co-processor and the simulator performs defined operations on the computer screen.

• 한국기계가공학회지
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• 제14권5호
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• pp.8-14
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• 2015

Heat treatment for car body molds is mainly a manual process performed by a worker. The performance of this process is affected by workers' skill level, and has limitation in maintaining uniform product quality. In this study, we developed a diode laser heat treatment robot system that implements an OLP type simulator to overcome the limitation of manual process, and to improve and stabilize the quality level. In addition, we verified the efficiency of the robot system and mechanism stability from the early stage through design verification and simulated analysis in the development stage. In addition, we carried out a field test to study the way to establish optimized D/B for diode laser heat treatment criteria for car body molds, such as heat treatment speed, interval, etc. via site experiment.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.181-187
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• 2012

Horse riding is widely recognized as a valuable form of education, exercise and therapy. But, the injuries observed in horse riding range from very minor injuries to fatalities. In order to reduce these injuries, the effective horseback riding simulator is required. In this paper, we proposed the implementation method of horse gait and riding aids for horseback riding robot simulator HRB-1. For implementation of horse gait to robot simulator, we gathered and modified real motion data of horse. We obtained two main frequencies of each gait by frequency analysis, and then simple sinusoidal functions are acquired by genetic algorithm. In addition, we developed riding aids system including hands, leg, and seat aids. With the help of a developed robotic system, beginners can learn the skill of real horse riding without the risk of injury.

• Journal of Computing Science and Engineering
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• 제7권2호
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• pp.122-131
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• 2013

The MPI CyberMotion Simulator provides a unique motion platform, as it features an anthropomorphic robot with a large workspace, combined with an actuated cabin and a linear track for lateral movement. This paper introduces the simulator as a tool for studying human perception, and compares its characteristics to conventional Stewart platforms. Furthermore, an experimental evaluation is presented in which multimodal human control behavior is studied by identifying the visual and vestibular responses of participants in a roll-lateral helicopter hover task. The results show that the simulator motion allows participants to increase tracking performance by changing their control strategy, shifting from reliance on visual error perception to reliance on simulator motion cues. The MPI CyberMotion Simulator has proven to be a state-of-the-art motion simulator for psychophysical research to study humans with various experimental paradigms, ranging from passive perception experiments to active control tasks, such as driving a car or flying a helicopter.

• 대한기계학회논문집A
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• 제38권6호
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• pp.585-592
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• 2014

본 논문에서는 도마뱀 로봇 설계를 위한 생체운동 모사 다물체 동역학 시뮬레이터가 개발되었다. 시뮬레이터에 사용된 다물체-기구 동역학 모델은 상용 소프트웨어인 RecurDyn 에 쿠반에놀 도마뱀의 모션 캡쳐 데이터와 Micro-CT 데이터를 적용하여 생성되었다. 다양한 도마뱀의 보행 운동 특성 해석을 위해서 생체운동 시뮬레이터는 궤적 생성모듈, 역기구학 모듈, 역동역학 모듈로 구성된다. 궤적생성 모듈은 도마뱀의 속도에 따른 척추운동과 발 궤적을 생성한다. 또한, 도마뱀 로봇 설계를 위해서 역기구학을 통한 관절 각도 계산과 그를 통한 역동역학 해석으로 이동속도에 대한 요구 조인트 구동력을 생성한다.

• Journal of Welding and Joining
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• 제30권4호
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• pp.44-48
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• 2012

H-beam used for stiffening the upper structure of ocean plant is cut in the various shapes. The cutting process of the H-beam is done manually and requires a long time and high cost. Therefore, automation of H-beam cutting is an important task. This research aims to develop a 3-D simulator to build the automatic H-beam cutting system and to determine the optimal cutting method. The automatic H-beam cutting system composes of 6 robots including 2 cutting robots hang to a crane and 1 conveyer. The appropriate system layout for covering the various sizes and types of H-beam was tested and determined using the simulator. The H-beam cutting system uses a hybrid type of plasma and gas cutting because of special cutting shapes of H-beam. The cutting area of each cutting method should be properly divided according to the size and shape of H-beam to shorten the total cutting time. Additionally the collision between a robot and a robot or a robot and H-beam should be avoided. The optimal cutting method for the shortest cutting time without the collision could be found for the various cutting conditions by use of the simulator. 2 simulation samples shows the availability of the simulator to find the optimal cutting method.