• Journal of the Korea Society of Computer and Information
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• v.13 no.2
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• pp.235-242
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• 2008

An Autonomous mobile robot is a very useful system to achieve various tasks in dangerous environment, because it has the higher performance than a fixed base manipulator in terms of its operational workspace size as well as efficiency. A method for estimating the position of an object in the Cartesian coordinate system based upon the geometrical relationship between the image captured by 2-DOF active camera mounted on mobile robot and the real object, is proposed. With this position estimation, a method of determining an optimal path for the autonomous mobile robot from the current position to the position of object estimated by the image information using homogeneous matrices. Finally, the corresponding joint parameters to make the desired displacement are calculated to capture the object through the control of a mobile robot. The effectiveness of proposed method is demonstrated by the simulation and real experiments using the autonomous mobile robot.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.6
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• pp.1252-1264
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• 1988

Recently industrial robots together with positioners are often used to enhance the system performance for arc welding. In this paper, a redundancy control method is proposed to the robot-positioner system with seven degrees of freedom, where one kinematic modelling technique is employed. Also, manipulability in the given cutting plane of the workspace. An algorithm maximizing the manipulability is applied to the robot and the positioner and the simulation results are shown for the task following a linear path.

• Korean Journal of Construction Engineering and Management
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• v.5 no.5 s.21
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• pp.163-171
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• 2004

This research investigates a Modeling Spell Checker that, similarly to Word Spell Checker for word processing software, would conform as-built 3D models to standard construction rules. The work is focused on the study of pipe-spools. Specifically pipe diameters and coplanarity are checked and corrected by the Modeling Spell Checker, and elbows are deduced and modeled to complete models. Experiments have been conducted by scanning scenes of increasing levels of complexity regarding the number of pipes, the types of elbows and the number of planes constituting pipe-spools. For building models of pipes from sensed data, a modeling method, developed at the University of Texas at Austin, that is based on the acquisition of sparse point clouds and the human ability to recognize geometric shapes has been used Results show that primitive-based models obtained after scanning construction sites can be corrected and even improved automatically, and, since such models are expected to be used as feedback control models for equipment operators, the higher modeling accuracy achieved with the Modeling Spell Checker could potentially increase the level of safety in construction. Result also show that some improvements are still needed especially regarding the co-planarity of pipes. In addition, results show that the modeling accuracy significantly depends on the primitive modeling method, and improvement of that method would positively impact the modeling spell checker.

• Journal of Korea Game Society
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• v.4 no.3
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• pp.21-28
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• 2004

Game Designs & Developers that system designs improve, the product and the change of tasks to all developers are essential in achieving On-Line Game project. Existent On-line Game project management designs supper the definition and the change of project activities, and configuration management designs support version check, workspace management, build management, etc. In this paper, the proposed Design defines Game component based development process model, and achieves recording of process progression, processing the request of change, reporting the progression of each task, product registering and change, version recording, artifact or form search, etc. using UML. Furthermore, study on the stake holders get the systematic management and standardization by sharing information that are necessary in Game design & development and configuration management in distributed environment using the system integrated management design.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.4
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• pp.566-571
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• 2008

In this paper, we propose a footstep planning method of biped robot based on the Particle Swarm Optimization(PSO). We define configuration and locomotion primitives for biped robots in the 2 dimensional workspace. A footstep planning method is designed using learning process of PSO that is initialized with a population of random objects and searches for optima by updating generations. The footstep planner searches for a feasible sequence of locomotion primitives between a starting point and a goal, and generates a path that avoids the obstacles. We design a path optimization algorithm that optimizes the footstep number and planning cost based on the path generated in the PSO learning process. The proposed planning method is verified by simulation examples in cluttered environments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.479-483
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• 2006

Indoor positioning is recently highlighted and various kinds of indoor positioning systems are under developments. Since positioning systems have their own characteristics, proper positioning scheme should be chosen according to the required specifications. Positioning methods are often classified into time-based and angle-based one, and this paper presents the error analysis of these location methods. Because measurement equations of these methods are nonlinear, linearization is usually needed to get the position estimate. In this paper, Gauss-Newton method is used in the linearization. To analyze the position error, we investigate the error ellipse parameters that include eccentricity, rotation angle, and the size of ellipse. Simulation results show that the major axes of error ellipses of TOA and AOA method lie in different quadrants at most region of workspace, especially where the geometry is poor. When the TOA/AOA hybrid scheme is employed, it is found that the error ellipse is reduced to the intersection of ellipses of TOA and AOA method.

• Proceedings of the Korean Information Science Society Conference
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• 2005.07a
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• pp.646-648
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• 2005

웹데브는 HTTP 1.1을 확장한 프로토콜로서 사용자들이 원거리에 있는 웹서버의 파일을 편집하거나 관리할 수 있도록 지원하는 IETF 표준 프로토콜이다. 최근에는 웹데브 서버 상의 자원에 대한 접근을 보다 정교하게 제어하기 위하여 웹데브 접근제어 프로토콜이 발표되었다. 본 논문에서는 웹데브 접근제어 프로토콜을 바탕으로 일반적인 방문자들과의 자료 교환이나 공유를 체계적으로 지원하는 공개작업장의 개발에 대하여 기술한다. 공개작업장은 자료제공 공개작업장, 자료제출 공개작업장, 일반 공개작업장 등의 세가지 유형이 지원되며 이러한 작업장의 유형에 따라 사용자들의 접근을 적절히 제어하도록 접근제어를 설계하였다. 또한 공개작업장의 지원을 위하여 Slide 웹데브 서버를 확장하였으며, 공개작업장의 실제적인 활용을 위하여 공개작업장 전용 클라이언트인 OpenDAVExpiorer를 개발하였다.

• Journal of Information Technology Services
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• v.8 no.1
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• pp.193-202
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• 2009

Cloud computing emerges as a new computing paradigm which targets reliable and customizable services. The term builds on decades of research in virtual machine, distributed and parallel computing, utility computing, and more recently networking, web service, and software as a service. In this paper, we provide a seamless connection migration of web services. This is useful for cloud computing environment in which many client terminals have mobility. With the wireless internet facility, those mobile users can move place to place during internet communication. Therefore, we provide solutions to the two major problems in current virtualization based migration: communication failure problems and connection re-establishment. Communication channel flushing by zero window notification helps to resolve the communication failure problems and TCP port inheritance prevents connection re-establishment errors during socket reconstruction. Thus, our web service migration facility is now able to preserve open network connections, and even for server sockets. This is a highly transparent approach, in that we did not Introduce additional messages for channel flushing and did not make any modification to the TCP protocol stack. Experimental results show that the overhead due to connection migration of web services is almost negligible when compared with time to take the conventional web service migration.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.1
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• pp.103-108
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• 2012

In this paper, the optimal design of a spring-type gravity compensation system for an articulated robot is presented. Sequential quadratic programming (SQP) is adopted to resolve various nonlinear constraints in spring design such as stress, buckling, and fatigue constraints, and to reduce computation time. In addition, continuous relaxation method is used to explain the integer-valued design variables. The simulation results show that the gravity compensation system designed by proposed method improves the performance effectively without additional weight gain in the main workspace.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.740-743
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• 2005

Most works of the large vertical ceiling structures have been performed by human manually. These works require much more operation costs, labors and times, etc. Beside most people avoid this works because of it's characteristic such as danger, dirty and difficulty. So necessity of automation for these works has been rising. This automation needs a wall climbing mobile vehicle because of the movement of platform large workspace. In this study, we aim at develop the wheel which can be used for vertical wall-climbing mobile robot using electromagnet wheel. The wheel proposed can be available for several working processes on structures which consist magnetic substance.