• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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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.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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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.

• 한국CDE학회논문집
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• 제4권3호
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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.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 Asia Navigation Conference
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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.

• 제어로봇시스템학회논문지
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• 제1권1호
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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.

• 한국항해항만학회지
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• 제29권2호
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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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• 제3권1호
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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.

• ETRI Journal
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• 제46권3호
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• pp.379-391
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• 2024

To meet increasing traffic requirements in mobile networks, small base stations (SBSs) are densely deployed, overlapping existing network architecture and increasing system capacity. However, densely deployed SBSs increase energy consumption and interference. Although these problems already exist because of densely deployed SBSs, even more SBSs are needed to meet increasing traffic demands. Hence, base station (BS) switching operations have been used to minimize energy consumption while guaranteeing quality-of-service (QoS) for users. In this study, to optimize energy efficiency, we propose the use of deep reinforcement learning (DRL) to create a BS switching operation strategy with a traffic prediction model. First, a federated long short-term memory (LSTM) model is introduced to predict user traffic demands from user trajectory information. Next, the DRL-based BS switching operation scheme determines the switching operations for the SBSs using the predicted traffic demand. Experimental results confirm that the proposed scheme outperforms existing approaches in terms of energy efficiency, signal-to-interference noise ratio, handover metrics, and prediction performance.

• 한국위성정보통신학회논문지
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• 제8권4호
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• pp.142-149
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• 2013

인공위성을 포함한 우주물체가 지구궤도로 재진입하고 대기권에서 소실되거나, 지표면에 추락하는 일들이 날로 증가하고 있다. 최근 국내에서도 위성추락상황실을 운영하여 인공위성의 추락고도 및 추락시기에 대한 예측을 실시하였다. 아직까지 국내에서는 우주물체의 추락 시 현업에 적용할 수 있는, 미전략사령부에서 발표하는 TLE 자료를 활용한 독자적인 추락예측모델이 없으며, 다른 위성 운영국에서 발표하는 추락 예상시기를 참고하였다. 이 연구에서는 TLE 자료에 대기모델을 바탕으로 추락예상시기를 예측하고, 분석한 결과를 종합 분석하였고, 위성추락상황실 운영간 적용했던 RUBBER SHEET SHIFT METHOD(RSSM)의 인공위성 예상추락시기 예측결과를 토대로 새로운 추락모델에 대한 예시를 제안하였다.

• 우주기술과 응용
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• 제2권1호
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• pp.30-40
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• 2022

본 논문에서는 초소형 위성을 활용한 랑데부/도킹 기술검증 시 초기 발사 이후 표류(drift) 거리 회복(recovery)과 근접 운용을 위한 시나리오 설계에 대해 기술하였다. 랑데부/도킹은 궤도상서비싱(on-orbit servicing, OOS) 기술의 기반이 되는 기술로서 목표 물체에 접근하는 데 반드시 필요한 선제적인 과정이다. 특히 우주상에서 검증이 어려운 기술로서 개발 단계의 위험성 및 비용 등을 줄이기 위하여 최근에는 초소형 위성이 활용되고 있다. 따라서 본 논문에서는 랑데부/도킹 기술 검증을 위한 초소형 위성의 추력기 구성과 제원을 소개하며, 초소형 위성의 작은 크기 및 낮은 전력에서 오는 추력 한계를 고려할 수 있는 상대 궤적을 설계하고자 한다. 또한 추력 한계를 고려하지 않은 경우와의 궤적 및 추력 사용량 등의 비교를 통해 추후 사용 가능한 추력기의 성능 향상에 따른 시나리오 설계에도 도움이 되고자 한다.