• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.179-185
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• 2019

This paper presents cable-hydraulic driven 3DoF (Degree-of-Freedom) manipulator for cooperative robot with high output/low inertia and enhancing lager workspace of hydraulic manipulator. Hydraulic actuation could be solution to design more higher output manipulator than the one of electric motor actuation due to install actuation source and robot joint separated. In spite of this advantage, the conventional hydraulic driven manipulator using cylinder or vane actuator is not suitable for the candidate of cooperative robot because smaller workspace owing to small RoM (Range of Motion) hydraulic actuator. In this paper, we propose 3DoF manipulator with cable-hydraulic actuation which is more larger ratio of payload-to-weight than the one of conventional cooperative manipulator and larger workspace than the one of existing hydraulic driven manipulator. The performance of proposed manipulator was demonstrated by the experiments for confirming overall workspace task, high payload operation task under worst situation and comparing repeatability between developed manipulator and existed cooperative robots. The results of experiments showed that the appropriate performance of proposed manipulator for cooperative robot.

• Journal of Information Technology Applications and Management
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• v.14 no.2
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• pp.11-26
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• 2007

In this paper we suggest a context-driven configuration model of virtual businesses to form a business network model consisting of role-based, interaction-centered business partners. The model makes use of the subcontext concept which explicitly represents actors and interactions in virtual business (VB) context. We separate actors who have capacities on tasks in a specific kind of role and actor subcontext which models requirements in specific interaction subcontext. Three kinds of actors are defined in virtual service chains, service user, service provider, and external service supporter. Interaction subcontext models a service exchange process between two actor subcontexts with consideration of context dependencies like task and quality dependencies. Each subcontext may be modeled in the form of a situation network which consists of a finite set of situation nodes and transitions. A specific situation is given in a corresponding context network of actors and interactions. It is illustrated with a simple example.

• Journal of KIISE:Computer Systems and Theory
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• v.27 no.2
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• pp.160-168
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• 2000

In this paper, we present a performance monitor to trace and evaluate the performance of programs running on networked computers. The performance monitor of the JaNeC is online/batch as well as event/time driven. Since it is implemented with the Java programming language, it provides us with high portability among heterogeneous computer systems, and friendly graphical user interface. This performance monitor consists of various views such as 'Task/Event Filter' and 'TimeLine', 'Task View', 'Task Hoistory', 'Message Passing View', 'Host Cpu View', which allow the user to easily analyze event and time during the program execution.

• Journal of the Korean Society for Precision Engineering
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• v.8 no.4
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• pp.84-94
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• 1991

In order to achieve high accuracy of teaching and increase productivity using industrial robots in polishing process of dies, an off-line task programming system was developed on IBM-PC/386 under WINDOWS 3.0 operating system. The internal structure and the machematical basis of CAMPoli are described. Surface modeling technique of polishing dies with sculptured surfaces is introduced by poing data interpolation methodology through the use of CL-data transmitted from conventional CAM system. Tool selection, polishing speed, polishing pressure and kinds of tool motions can be determined and selected by user specified polishing variables. Task creation and verification of polishing path via computer graphics simulation of polishing tool can be done by the menu- driven function of CAMPoli system. Post-processing module is attached to generate robot language. Some simulation results are provided as verification means of the system.

• International Journal of Control, Automation, and Systems
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• v.6 no.1
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• pp.101-108
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• 2008

The transposed Jacobian is proposed to transform the control space from task space to joint space, in this paper. Instead of inverse Jacobian, the transposed Jacobian is preferred to avoid singularity problem, short real time calculations and its generality to apply for rectangular Jacobian. On-line Jacobian identification is proposed to cancel parametric errors produced by D-H parameters of manipulator. To identify Jacobian, the joint angles and the end-effector position are measured when tracking a desired trajectory in task space. Stability of control system is analyzed. The control system is simulated for position control of a two-link manipulator driven by permanent magnet dc motors. Simulation results are shown to compare the roles of inverse Jacobian and transposed Jacobian for transforming the control space.

• Journal of Internet Computing and Services
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• v.7 no.5
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• pp.13-24
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• 2006

Context aware computing is an emerging paradigm to achieve ubiquitous computing environments by enabling computer systems to understand their situational contexts. A context aware system uses context to provide relevant information and services to the user depending on the user's task. In this paper, we propose an ontology based context aware modeling methodology that transmits low level contexts acquired by directly accessing various sensors in the physical environments to high level contexts. With these high level contexts, context aware application can provides proactive and intelligent services using ECA (Event Condition Action) rules. We implemented a presentation service in smart office environment.

• The KIPS Transactions:PartA
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• v.18A no.6
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• pp.255-264
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• 2011

A sensor network is a special network that makes physical data sensed by sensor nodes and manages the data. The sensor network is a technology that can apply to many parts of field. It is very important to transmit the data to a user at real-time. The core of the sensor network is a sensor node and small operating system that works in the node. TinyOS developed by UC Berkeley is a sensor network operating system that used many parts of field. It is event-driven and component-based operating system. Basically, it uses non-preemptive scheduler. If an urgent task needs to be executed right away while another task is running, the urgent one must wait until another one is finished. Because of that property, it is hard to guarantee real-time requirement in TinyOS. According to recent study, Priority Level Scheduler, which can let one task preempt another task, was proposed in order to have fast response in TinyOS. It has restrictively 5 priorities, so a higher priority task can preempt a lower priority task. Therefore, this paper suggests Preemptive EDF(Earliest Deadline First) Scheduler that guarantees a real-time requirement and reduces average respond time of user tasks in TinyOS.

• Journal of KIISE:Computer Systems and Theory
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• v.31 no.3_4
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• pp.170-186
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• 2004

Recently, for real-time applications such as multimedia and signal processing, it becomes increasingly important to provide a probabilistic guarantee that each task in the application meets its deadline with a given probability. To provide the probabilistic guarantee, an analysis method is needed that can accurately predict the deadline miss probability for each task in a given system. This paper proposes a stochastic analysis method for real-time systems that use priority-driven scheduling, such as Rate Monotonic and Earliest Deadline First, in order to accurately compute the deadline miss probability of each task in the system. The proposed method accurately computes the response time distributions for tasks with arbitrary execution time distributions, and thus makes it possible to determine the deadline miss probability of individual tasks. In the paper. through experiments, we show that the proposed method is highly accurate and outperforms exisiting methods proposed in the literature.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• Journal of KIISE:Computing Practices and Letters
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• v.11 no.1
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• pp.62-68
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• 2005

This paper presents a scheme to enhance fixed priority scheduling algorithms on multiprocessors. This scheme gives the highest priority to jobs with zero laxity and schedules them Prior to other jobs. A fixed priority algorithm employing this scheme strictly dominates the original one; it can schedule all task sets schedulable by the fixed priority algorithm and some task sets not schedulable by the fixed priority algorithm. Simulation results show that the proposed scheme improves fixed priority algorithms in terms of the number of schedulable task sets and schedulable utilization bound.