• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.23-31
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• 2002

We proposed a concept of a desktop micro device factory for visually servoed teleoperated microassembly assisted by a virtual reality (VR) interface. It is composed of two micromanipulators equipped with micro tools operating under a light microscope. First a manipulator, control method for the micro object to follow a planned trajectory in pushing operation is proposed undo. vision based-position control. Then, we present the cooperation control strategy of the micro handling operation under vision-based force control integrating a sensor fusion framework approach. A guiding-system based on virtual micro-world exactly reconstructed from the CAD-CAM databases of the real environment being considered is presented for the imprecisely calibrated micro world. Finally, some experimental results of microassembly tasks performed on millimeter-sized components are provided.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.287-290
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• 2004

In the moving object database system, spatiotemporal join is very import operation when we process join moving objects. Processing time of spatio-temporal join operation increases by geometric progression with numbers of moving objects. Therefore efficient methods of spatio-temporal join is essential to moving object database system. In this paper, we propose spatio-temporal join algorithm with TB-Tree that preserves trajectories of moving objects, and show result of test. We first present basic algorithm, and propose cpu-time tunning algorithm and IO-time tunning algorithm. We show result of test with data set created by moving object generator tool.

• Korean Journal of Computational Design and Engineering
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• v.4 no.3
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• pp.247-258
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• 1999

With the contemporary CAD/CAM system, where the tool path is generated and verified purely based on the geometric operation, geometric accuracy of the machined surface cannot be guaranteed dut to the cutting mechanics, meaning that the cutting mechanics should be incorporated in some fashion. In this paper, we incorporate the instantaneous cutting force and the tool deflection phenomena in predicting the machined surface for the finish-cut and milling operation. For the given NC dat including cutting conditions, the developed algorithm computes cutting force and deflection amount along the tool trajectory, and outputs the 3D graphic model of the machined surface together with error analysis. The validity and accuracy of the presented method has been tested by the actual cutting experiments. Experimental results and accuracy enhancement method together with implementing architecture of the VMCS (Virtual Machining CAM System) are discussed in the paper.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.08a
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• pp.102-112
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• 2004

In this paper, we propose a human model for analysis for human work pattern or human fault, where a gantry crane simulator is used to survey the property of human operation. From the input and output of gantry crane response, we make a human operation model by using conventional ARX identification method. For identify the human model, we assume the eight inputs and two outputs. By using the input/output data, we estimate the parameters of ARX of the human system model. For verify the proposed method, we compared the real data with the modeled data, where three kinds of work trajectory path are used.

• Journal of Institute of Control, Robotics and Systems
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• v.1 no.1
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• pp.50-57
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• 1995

In this paper, the design and the implementation of the controller for an articulate robot, which is developed in our Automatic Control Laboratory, are mainly discussed. The controller reduces software computational load via distributed processing method using multiple CPU's, and simplifies structures by the time-division control with TMS320C31 DSP chip. The method of control is based on the fuzzy-compensated PID control with scale factor, which compensates for the influence of load variation resulting from the various postures of the robot with conventional PID scheme. The application of the proposed controller to the robot system with DC servo-motors shows some excellent control capabilities. Also, the response characteristics of system for the various trajectory commands verify the superiority of the controller.

• Journal of Navigation and Port Research
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• v.29 no.2
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• pp.135-140
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• 2005

In this paper, we propose a human model for analysing the human work pattern or human fault, where a gantry crane simulator is used to survey the property cf human operation From the input and output cf gantry crane response, we make a human operation model by using conventional ARX identification method To identify the human model, we assume the eight inputs and two outputs. By using the achieved input/output data, we estimate the parameters of ARX for the human work model. To verify the proposed method, we compared the real data with the modeled data, where three kinds of work trajectory path are used.

• Journal of information and communication convergence engineering
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• v.3 no.1
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• pp.33-37
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• 2005

One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. In this paper, to improve robot job ability, as two robots perform a job in co-operation control, we studied optimal position and posture of Mobile Manipulator with minimum movement of each robot joint. Kinematics of mobile robot and task robot is solved. Using mobility of Mobile robot, weight vector of robots is determined. Using Gradient methode, global motion trajectory is minimized. so the job which Mobile Manipulator perform is optimized. The proposed algorithm is verified with PURL-II which is Mobile Manipulator combined Mobile robot and task robot. and discussed the result.

• Journal of Satellite, Information and Communications
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• v.8 no.4
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• pp.142-149
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• 2013

As we, human expand its everyday life boundary to the geosynchronous orbit, we have experienced frequent chance of the atmospheric re-entry and surface impact of space objects(satellite and space debris). Recently a satellite re-entry monitoring room in Korea has been operated to predict the time and the location of the re-entry of space objects. However, we do not have a domestic version of a numerical re-entry model for normal operation using TLE (Two line Element) information from the United States Strategic Command yet. The space information from the several space operation centers has been used to analyse the re-entry situations. In this paper, the re-entry time is calculated with TLE based on the several atmosphere models, the result is comprehensively analyzed, a new re-entry case model fitted from the result of the predicted satellite re-entry times by a new Rubber Sheet Shift Method used by the domestic satellite re-entry room is suggested.

• Journal of Space Technology and Applications
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• v.2 no.1
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• pp.30-40
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• 2022

This paper illustrates the trajectory design of drift distance recovery after initial launch and proximity operation when verifying rendezvous/docking technology using nanosatellites. The rendezvous/docking is a technology that is the basis of on-orbit servicing technology and is a preemptive process essential for approaching a target object. In particular, since it is difficult to verify in space, nanosatellites have recently been used to reduce the risk and cost of the development stage. Therefore, this paper not only introduces the configuration and specifications of thrusters for nanosatellites but also designs relative trajectories that can take into account the thrust limitations which come from the small size and low power of nanosatellites. In addition, we intend to be helpful in later designing scenarios according to the improvement of available thruster performance through comparison of trajectories and thrust usage with cases without thrust limitations.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.1
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• pp.48-55
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• 2011

Hydraulic excavator is one of the most widely used heavy machines in construction sites including dismantling. In the dismantling sites, the excavators equipped with crusher or breaker carry out dangerous operations, so drivers are always exposed to unexpected danger. For safety operation, remote control of the hydraulic excavator has been studied using proportional control valve, which requires an appropriate motion control of its bucket tip. In this case, kinematics and dynamics analysis have to be preceded through modeling of excavator. However, it is difficult to acquire reasonable results from the analysis due to insufficient information of physical parameters such as mass of each links and locations of mass centers, etc. This study deals with the trajectory control of bucket tip, which is based on experimental estimation of cylinder output force. The estimated forces are fed into the control of each cylinder in order to compensate gravitational and frictional effects in the cylinders. The control was applied to horizontal trajectories that are for flattening work.