• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.231-236
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• 1997

We propose the hybrid control for the path control of wheeled mobile robot system. To develop the hybrid control of mobile robot, the continuous dynamics of mobile robot are modeled by the switched systems. The abstract model and digital automata for the path control are developed. This hybrid control system has the 3-layered hierachical structure : digital automata as the higher process, mobile robot system as the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. The control of following the desired-paths with edges are investigated as the applications by the computer simulation.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.302-305
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• 2008

For an complete image composition to be stitched on several mosaic images, tracing displacement of direction and distance between successive images are important parameters. The input image is modeled by using a general second order two-dimensional Taylor-series and then converting it to a $3{\times}3$ correlation block and storing the data. A moving factor and coordinate is calculated by comparing the continuous correlation blocks. The experimentation result has a success rate of 85% for moving path tracing as continuous images are moved to 10% of image central position.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.1
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• pp.102-109
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• 2015

In Korea, Lunar exploration program has been prepared with the aim of launching in the 2020's. As a part of it, a lunar lander demonstrator was developed, which was the model for verifying the system such as structure, propulsion, and control system, before launching into the deep space. This paper deals with the path tracking performance of the lunar lander demonstrator with respect to the thruster controller based on Pulse Width Pulse Frequency Modulator (PWPFM) and Pulse Width Modulator (PWM). First, we derived equations of motion, considering the allocation of the thrusters, and designed the path tracking controller based on Euler angle. The signal generated from the path tracking controller is continuous, so PWPFM and PWM modulator are adopted for generating ON/OFF signal. Finally, MATLAB simulation is performed for evaluating the path tracking ability. We compared the path tracking performances of PWPFM and PWM based thrust controller, using performance measures such as the total impulse and the position error with respect to the desired path.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.10a
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• pp.228-234
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• 1998

This study is object to process improvement of continuous casting mold. For process improvement of continuous casting mold using CAD, CAM software and CNC machining center. CAM software is purpose of G-code generation for CNC programming. Then CAM software and CNC machining center are connect to RS-232C cable.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.627-629
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• 1999

The research fields of mobile robot consist of three parts. The first is path planning, the second is the application of new sensors, and the last is a combination of the communication technology and mobile robot. In this paper we treat the path-planning. We use a Bayesian probability map, Distance Transform and Fuzzy logic for a path-planning. DT and Fuzzy logic algorithms search for path in entire, continuous free space and unifies global path planning and local path planning. It is efficient and effective method when compared with navigators using traditional approaches.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.327-330
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• 1995

If a mobile robot is used in a real situation, robot must face a moving obstacles. In that case, the collision avoidance algorithm for moving obstacle is a indispensible element in mobile robot control. We csrried out a research to find and evaluate the advanced algorithm for mobile robot. At first we generate the continous path for mobi;e robot. Then by creating a curved path for avoidance, the mobile robot can change its path smoothly. Smoothed path made the robot adapt more effectively to the changing of path. Under time-varying condition, computer simulation was performed to show the validation of proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2311-2318
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• 2005

Progress in the LCD industries has been very rapid. Therefore, their manufacturing lines require larger LCD glass-handling robots and more precise path control of the robots. In this paper, we present two practical advanced algorithms for high-precision path generation of an LCD glass-handling robot. One is high-precision path interpolation for continuous motion, which connects several single motions and is a reliable solution for a short robot cycle time. We demonstrate that the proposed algorithm can reduce path error by approximately 91% compared with existing algorithms without increasing cycle time. The second is real-time static deflection compensation, which can optimally compensate the static deflection of the handling robot without any additional sensors, measurement instruments or mechanical axes. This reduces vertical path error to approximately 60% of the existing system error. All of these algorithms have been commercialized and applied to a seventh-generation LCD glass-handling robot.

• Earthquakes and Structures
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• v.1 no.1
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• pp.21-41
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• 2010

Multi-span steel-concrete composite (SCC) bridges are very sensitive to earthquake loading. Extensive damage may occur not only in the substructures (piers), which are expected to yield, but also in the other components (e.g., deck, abutments) involved in carrying the seismic loads. Current seismic codes allow the design of regular bridges by means of linear elastic analysis based on inelastic design spectra. In bridges with superstructure transverse motion restrained at the abutments, a dual load path behavior is observed. The sequential yielding of the piers can lead to a substantial change in the stiffness distribution. Thus, force distributions and displacement demand can significantly differ from linear elastic analysis predictions. The objectives of this study are assessing the influence of piers-deck stiffness ratio and of soil-structure interaction effects on the seismic behavior of continuous SCC bridges with dual load path, and evaluating the suitability of linear elastic analysis in predicting the actual seismic behavior of these bridges. Parametric analysis results are presented and discussed for a common bridge typology. The response dependence on the parameters is studied by nonlinear multi-record incremental dynamic analysis (IDA). Comparisons are made with linear time history analysis results. The results presented suggest that simplified linear elastic analysis based on inelastic design spectra could produce very inaccurate estimates of the structural behavior of SCC bridges with dual load path.

• The Journal of the Korea Contents Association
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• v.15 no.4
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• pp.500-509
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• 2015

The purpose of this study is to induce a indicator related to the response, handling and management which are appeared on each step of business enforcement in Reconstruction projects. Then, it aims to appropriately and reasonably resolve the conflicts of reconstruction business with relevant subjects. These projects physician satisfaction and continual business was going to have the impact that any analysis of the structure in an evaluation. In addition, this study analyzes the impact structure on the business satisfaction and a intention for continuous business through this evaluation. This study sets a operational hypothesis in order to verify the relationship between the variables. then, it creates the structural model by using the Smart PLS 3.0. After analyzing the impact structure, this study adopts the final Five hypothesis which shows (+) path coefficient as set in the hypothesis and test statistic above 1.65. then, The 'Approval for union establishment(H1)' has a path coefficient of 0.127. In addition, the 'Approval for business enforcement(H2)' has a path coefficient of 0.343. The 'Management and disposition plan(H4)' has a path coefficient of 0.145. and the 'External Factors(H6)' has a path coefficient of 0.124. Finally, The 'satisfaction of business' which affects the 'intention for continuous business(H7)' has a path coefficient of 0.727.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.2
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• pp.1-8
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• 2011

5-axis NC machining has a good advantage of the accessibility of tool motion by adding two rotary axes. It offers numerous advantages such as expanding machining fields in parts of turbo machineries like impeller, propeller, turbine blade and rotor, reasonable tool employment and great reduction of the set-up process. However, as adding two rotary axes, it is difficult to choose suitable machining conditions in terms of cutter path and cutter posture at a cutter contact point. Therefore in this paper, it is proposed to decide suitable machining condition through an experimental method such as adopting various cutter paths, cutter postures types. Also, in order to increase the efficiency of 5-axis machining, it is necessary to minimize the cutter posture changes and create a continuous cutter path while avoiding interference. This study, by using an MC-space algorithm for interference avoidance and an MB-spline algorithm for continuous control, is intended to create a 5-axis machining cutter path with excellent surface quality and economic feasibility. finally, this study will verify the effectiveness of the suggested method through verification processing.