• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.2
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• pp.158-165
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• 2013

This paper presents design and workspace analysis of a Korean home service robot. The robot is designed with specific needs of floor-task applications suitable for Korean life style. Shoulder and waist of the robot are adjusted by sliding mechanism to increase the workspace of the robot arms. Manipulators are designed and built and their workspaces are analyzed. Experimental studies of the robot for cleaning the floor are conducted.

• Proceedings of the Korean Information Science Society Conference
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• 2006.10c
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• pp.171-176
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• 2006

데이터 스트림(data stream)을 처리하기 위해서는 기본적으로 질의 대상이 되는 슬라이딩 윈도우에 대한 지원과 이에 대한 연속질의를 수행할 수 있어야 한다. 기존의 관계형 DBMS는 성능 문제로 인하여 데이터 스트림 처리에 한계가 있었으나 고성능 메인메모리 DBMS의 등장으로 빈번히 발생하는 스트림에 대한 충분한 질의 처리 능력을 갖추게 되었다. 본 논문에서는 메인메모리 DBMS기반에서의 데이터 스트림에 대한 연속질의 처리를 위해서 새로운 접근방법을 제공한다. 즉. 고성능 메인 메모리 DBMS의 높은 삽입과 갱신 성능을 전제로 트리거를 통한 슬라이딩 윈도우의 지원방법을 제시하고. 윈도우에 대한 연속질의는 응용에서 지원하되 효율적인 질의처리를 위해 저장프로시저를 적용한다. 이러한 메커니즘의 연속질의 처리 시스템은 CQL에서 정의한 세 가지 윈도우 유형을 모두 지원할 수 있다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1361-1362
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• 2011

• Journal of the Korean Society for Precision Engineering
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• v.19 no.12
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.41 no.9
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• pp.73-80
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• 2004

In this paper, we present the cell resequencing buffer to solve the cell sequence integrity problem of the Cyclic banyan network that is a high-performance fault-tolerant cell switch. By offering multiple paths between input ports and output ports, using the deflection self-routing, the Cyclic banyan switch offer high reliability, and it also solves congestion problem for the internal links of the switch. By the way, these multiple paths can be different lengths for each other. Therefore, the cells departing from an identical source port and arriving at an identical destination port can reach to the output port as the order that is different from the order arriving at input port. The proposed cell resequencing buffer is a hardware sliding window mechanism. to solve such cell sequence integrity problem. To calculate the size of sliding window that cause the prime cost of the presented device, we analyzed the distribution of the cell delay through the simulation analyses under traffic load that have a nonuniform address distribution that express tile Property of traffic of the Internet. Through these analyses, we found out that we can make a cell resequencing buffer by which the cell sequence integrity is to be secured, by using a, few of ordinary memory and control logic. The cell resequencing buffer presented in this paper can be used for other multiple paths switching networks.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.233-239
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• 2013

This paper presents the analysis and control of the position of the COG (Center of Gravity) for a two-wheel balancing robot. The two-wheel balancing robot is required to maintain balance by driving two wheels only. Since the robot is not exactly symmetrical and its dynamics is changing with respect to moving parts, robust balancing control is difficult. Balancing performance becomes difficult when two arms hold a heavy object since the center of gravity is shifted out of the wheel axis. Novel design of a sliding waist mechanism allows the robot to react against the shift of the COG by moving the whole upper body to compensate for the imbalance of the mass as a counter balancer. To relocate the COG position accurately, the COG is analyzed by force data measured from two force sensors. Then the sliding COG mechanism is utilized to control the sliding waist position. Experimental studies are conducted to confirm the proposed design and method.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.1
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• pp.123-129
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• 2012

Recently, interests on cleaning robots workable in pipes (termed as in-pipe cleaning robot) are increasing because Garbage Automatic Collection Facilities (i.e, GACF) are widely being installed in Seoul metropolitan area of Korea. So far research on in-pipe robot has been focused on inspection rather than cleaning. In GACF, when garbage is moving, the impurities which are stuck to the inner face of the pipe are removed (diameter: 300 mm or 400 mm). Thus, in this paper, by using TRIZ (Inventive Theory of Problem Solving in Russian abbreviation), an in-pipe cleaning robot of GACF with the 6-link sliding mechanism will be proposed, which can be adjusted to fit into the inner face of pipe using pneumatic pressure(not spring). The proposed in-pipe cleaning robot for GACF can have forward/backward movement itself as well as rotation of brush in cleaning. The robot body should have the limited size suitable for the smaller pipe with diameter of 300 mm. In addition, for the pipe with diameter of 400 mm, the links of robot should stretch to fit into the diameter of the pipe by using the sliding mechanism. Based on the conceptual design using TRIZ, we will set up the initial design of the robot in collaboration with a field engineer of Robot Valley, Inc. in Korea. For the optimal design of in-pipe cleaning robot, the maximum impulsive force of collision between the robot and the inner face of pipe is simulated by using RecurDyn(R) when the link of sliding mechanism is stretched to fit into the 400 mm diameter of the pipe. The stresses exerted on the 6 links of sliding mechanism by the maximum impulsive force will be simulated by using ANSYS$^{(R)}$ Workbench based on the Design Of Experiment(in short DOE). Finally the optimal dimensions including thicknesses of 4 links will be decided in order to have the best safety factor as 2 in this paper as well as having the minimum mass of 4 links. It will be verified that the optimal design of 4 links has the best safety factor close to 2 as well as having the minimum mass of 4 links, compared with the initial design performed by the expert of Robot Valley, Inc. In addition, the prototype of in-pipe cleaning robot will be stated with further research.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2008.06a
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• pp.181-181
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• 2008

DLC (Diamond-like Carbon) 박막은 높은 내마모성과 낮은 마찰 계수, 화학적 안정성 및 적외선 영역에서의 높은 투과율과 낮은 광 반사도, 높은 전기저항과 낮은 유전율, 전계방출특성 등 여러 가지 장점을 가진 물질이다[1]. 최근에는 DLC 박막의 여러 장점들과 산과 염기 유기용매에 대한 화학적 안정성으로 인하여 인조관절에서 인공심장의 판막에 이르기까지 의공학 관련 부품소재로 응용되고 있으며 내구성과 안정성에 있어서 탁월한 성능을 보여주고 있다. 또한 DLC 박막의 높은 경도와 낮은 마찰 계수, 부드러운 박막 표면 (수nm의 RMS 거칠기)의 장점을 살려 마그네틱 미디어와 하드디스크의 슬라이딩 표면에 사용되어지고, MEMS (Micro-Electro Mechanical System) 소자와 MMAs (Moving Mechanical Assemblies)의 고체윤활코팅으로 활용하여 미세기계의 내구성과 성능 향상을 도모할 수 있다. 이와 같이 DLC 박막은 다양한 분야에 응용되고 있으며, 박막이 지닌 여러 가지 장점들로 인하여 더 많은 분야에 응용될 가능성을 지닌 물질이다. 그러나 수 ${\mu}m$이상의 두께에서 박막이 높은 잔류응력 (residual stress)을 가지고, 열에 취약하여 이의 개선에 관한 연구들이 진행되어 지고 있다 [2]. 따라서 사용되는 목적에 따라 용도에 맞는 양질의 DLC 박막을 합성하기 위해선 합성 장치의 개발과 다양한 실험을 통한 최적의 합성조건 도출 등의 노력이 요구된다. 또한 DLC 박막 합성시의 여러 가지 증착 방법에 따른 박막 물성에 대한 재현성 확보 및 박막 증착에 관한 명확한 메커니즘 규명이 아직까지는 불분명하여 이에 관한 연구가 시급하다. 따라서 본 연구에서는 MEMS 소자와 MMAs의 고체윤활코팅으로 사용가능한 DLC 박막을 RF PECVD (Plasma Enhanced Vapor Deposition) 방식으로 합성하고 후열처리 온도에 따른 DLC 박막의 마찰계수 변화를 박막에 훼손을 주지 않는 FFM (Friction Force Microscopy) 방식을 사용하여 분석하였다.