• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.4 s.316
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• pp.1-7
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• 2007

When the sensor geometry is poor, the user position estimate obtained by of GN (Gauss-Newton) method is often diverged in radio navigation. In other to avoid divergence problem QCLS (Quadratic Correction Least Square) method using TDOA (Time Difference of Arrival) measurements is introduced, but the estimation error is somewhat large. This paper presents the modified QCLS method using weighted least square. Since the weighting matrix is influenced by the unknown user position, two-step approach is employed in the proposed method. The weighting matrix is estimated in the first step using least square, and then find user position is obtained using weighted least square. Simulation results show that the performance of the proposed method is superior to the conventional QCLS all over the workspace.

• Journal of Digital Contents Society
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• v.11 no.4
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• pp.597-606
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• 2010

This paper describes a real-time camera tracking framework specifically designed to track a monocular camera in an AR workspace. Typically, the Kalman filter is often employed for the camera tracking. In general, however, tracking performances of conventional methods are seriously affected by unpredictable situations such as ambiguity in feature detection, occlusion of features and rapid camera shake. In this paper, a recursive Bayesian sampling framework which is also known as the particle filter is adopted for the camera pose estimation. In our system, the camera state is estimated on the basis of the Gaussian distribution without employing additional uncertainty model and sample weight computation. In addition, the camera state is directly computed based on new sample particles which are distributed according to the true posterior of system state. In order to verify the proposed system, we conduct several experiments for unstable situations in the desktop AR environments.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.81-90
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• 2000

Parallel manipulator is suitable for the high precise task because it than has higher stiffness, larger load capacity and more excellent precision, due to the closed-lop structure, than serial manipulator. But the controller design for parallel manipulator is difficult because the parallel manipulator has both the complexity of structure and the interference of actuators. The precision improvement of parallel manipulator using a classical linear control scheme is difficult because the parallel manipulator has the tough nonlinear characteristics. In this paper, firstly, the kinematic analysis of a parallel manipulator used at the experiments is performed so as to show the controllability. The analysis of internal singular configuration of the workspace is performed using the kinematic isotropic index so a sto show the limitation of control performance of a simple linear controller with fixed control gains. Secondly, a control scheme is designed by using an adaptive fuzzy logic controller so that active joints of the parallel manipulator track more precisely the desired input trajectory. This adaptive fuzzy logic controller so that active joints of the parallel manipulator track more precisely the desired input trajectory. This adaptive fuzzy logic controller is often used for the control of nonlinear system because it has both the inference ability and the learning ability. Lastly, the effeciency of designed control scheme is demonstrated by the real-time control experiments with IBM PC interface logic H/W and S/W of my won making. The experimental results was a success.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.7
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• pp.133-141
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• 2014

Social needs of smart work have been increasing throughout the worldwide and several developed countries have been developing enabled framework for smart work's coming proceed for a long time. The government is leading the smart work in Korea to devise a more efficient and competitiveness. Design of public collaboration solution has been proposed to provide the integration among a variety of smart environments and the interoperability between end-to-end. This paper takes a objective to develop a universal solution applicable to between traditional PC and mobile devices, such as a home station, and to built smart workplace linking workplace, outside space and the home. In particular, this paper offer entry-level advantages of public collaboration solution in conjunction with collaboration platform and phone platform owned by mobile communication platform company are mutually interfaced and aimed at small and medium-sized businesses and public.

• The KIPS Transactions:PartD
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• v.8D no.6
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• pp.735-746
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• 2001

As collaborative works have been spread over the internet, the need for information systems providing virtual workspaces has grown rapidly. Through virtual workspaces, the members participating in those collaborative works share and exchange their information effectively. It is desirable that these systems can be extended according to various requests of users, providing reliable services. In this paper, we describe a group of components for supporting collaboration and the iPlace (internet workPlace) system developed with those components. The iPlace system provides effective sharing and reusing of information among the members of collaborative groups through personal workspaces-the private spaces on the Web for each user and shared workspaces-the shared spaces for each of those groups. In addition, implemented with EJB technology, it provides highly scalable and reliable services.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.2
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• pp.704-710
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• 2017

Our research team is developing a 6-DOF manipulator that is adequate for the narrow workspace of press forming processes. This paper addresses the task sequence optimization methods for the manipulator to minimize the task-finishing time. First, a kinematic model of the manipulator is presented, and the anticipated times for moving among the task locations are computed. Then, a mathematical model of the task sequence optimization problem is presented, followed by a comparison of three meta-heuristic methods to solve the optimization problem: an ant colony system, simulated annealing, and a genetic algorithm. The simulation shows that the genetic algorithm is robust to the parameter settings and has the best performance in both minimizing the task-finishing time and the computing time compared to the other methods. Finally, the algorithms were implemented and validated through a simulation using Mathworks' Matlab and Coppelia Robotics' V-REP (virtual robot experimentation platform).

• Journal of the Korean Society of Safety
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• v.26 no.5
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• pp.81-88
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• 2011

The goal of this study was to determine whether food industry workers are exposed to musculoskeletal loads due to the work time, frequency, awkward postures and inappropriate workspace design. Three catering workers were evaluated based on job analysis and posture analysis. The results showed that the four most time-consuming tasks were arranging(17%), cooking(16%), handling before cooking(15%) and cutting(15%), and the four most frequent tasks were arranging(21%), cooking(18%), handling after cooking(16%) and handling before cooking(13%). The most common posture was a standing posture(73%) with neutral back(73%), and bent head(50%), left lower arm(71%), right lower arm(78%) and right hand(60%). The comparative analysis of subtasks for the risk levels of musculoskeletal disorders was conducted using the work time, frequency and cumulative time of the postures. The 'displaying' and 'handling after cooking' showed higher risk levels than other subtasks. In addition, the height and length of the tables were evaluated to be inadequate for the workers. It can be concluded that the working environments for catering workers of restaurants should be improved due to the high cumulative time of awkward postures of upper extremities.

• Journal of KIISE:Databases
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• v.32 no.1
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• pp.100-110
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• 2005

The update transactions to be executed in spatial databases usually have been known as interactive and long duration works. To improve the parallelism of concurrent updates, it needs multiple transactions concurrently update a large spatial object which has a spatial extensions larger than workspace of a client. However, under the existing locking protocols, it is not possible to concurrently update a large spatial object because of conflict of a write lock This paper proposes a partial locking scheme of enabling a transaction to set locks on parts of a big object. The partial locking scheme which is an exclusive locking scheme set by user, acquires locks for a part of the big object to restrict the unit of concurrency control to a partial object of a big object. The scheme gives benefits of improving the concurrency of un updating job for a large object because it makes the lock control granularity finer.

• The KIPS Transactions:PartC
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• v.13C no.4 s.107
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• pp.521-532
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• 2006

WebDAV is an IETF standard protocol which support asynchronous collaborative authoring on the Web. The recently published WebDAV Access Control Protocol provides various methods of controlling the resources on a WebDAV server and their properties, helping high-level group activities to be performed through the WebDAV server. Based on the WebDAV access control protocol, we developed Group Workspaces which support exchanging and/or sharing data among the group members. Any member of a Group Workspace can create and share resources among the members. Also, any member can add, change or delete the resources. To support the Group Workspaces, we developed a client application named GroupExplorer, which solely supports Group Workspaces. We constructed the server for Group Workspaces using Jakarta Slide - a WebDAV server supporting the WebDAV Access Control Protocol.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.9
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• pp.179-190
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• 1999

To automate the polishing process, a polishing robot with two axes which is attached to a machining center with three axes has been developed by our previous research. This automatic polishing robot is able to keep the polishing tool normal to the curved surface of die and is able to maintain a constant pneumatic pressure. Therefore, in the case of a curved surface die, the surface roughness to be polished by the system with five axes is improved superior than the surface by a three-axis machining center. However, because the polishing robot was big and heavy, a polishing workspace was limited and then it was difficult to attach the robot to machining center. In this study, the smaller and lighter polishing robot than the previous has been designed to improve defects due to the magnitude and weight of the robot. And the sliding mode control ins applied to polishing robot to improve the tracking performance. To obtain switching parameters of sliding mode control, the signal compression method is used. Code separation program to separate the date for a three-axis machining center and a two-axis polishing robot from a five-axis NC data is improved for users to check conveniently the separated trajectory and to handle many data by using the graphic user interface. To evaluate the polishing performance of the developed robot, the polishing experiment for shadow mask was carried out. The result shows the automatic polishing robot has a good trajectory tracking performance and obtains a good polished workpiece efficiently under recommended polishing conditions.