• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.223-228
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• 2001

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.457-458
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• 2008

• Journal of the Korean Society for Precision Engineering
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• v.14 no.5
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• pp.42-52
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• 1997

Computer aided process planning and Offline programming are decisive factors in successful implementation of automated robotic production. However, conventional offline programming procedure has proven ineffective due to time-consuming teaching process for robot programming and due to inefficient system modeling. The paper presents an efficient procedure to semi-automatically generate robot job programs for ship block welding applications. In the research, the teaching positions are automatically determined by predefined rules which are functions of the type and the dimensions of the given welding section of ship block. And a sequence of robot movements and welding conditions such as welding type, welding current, welding speed, and welding torch orientation, are determined by use of Standard Program which is experimentally proved to work well for the welding wection group. Finally, a robot program for the welding section is generated automatically. Based on the algorithm, a offline automatic teaching software is developed. The paper presents also the algorithm and structure of the software.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1731-1734
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.62-72
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• 1997

High flexibility and productivity using industrial robots are being achieved in manufacturing lines with off-line robot programmings. A good off-line programming system should have functions of robot modelling, trajectory planning, graphical teach-in, kinematic and dynamic simulations. Simulated results, however, can hardly be applied to on-line tasks until any calibration procedure is accompained. This paper proposes a visual calibration scheme in order to provide a calibration tool for our own off-line programming system of SCARA robots. The suggested scheme is based on the position-based visual servoings, and the perspective projection. The scheme requires only one camera as it uses saved kinematic data for three-dimensional visual calibration. Predicted images are generated and then compared with camera images for updating positions and orientations of objects. The scheme is simple and effective enough to be used in real time robot programming.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.3
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• pp.19-25
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• 2001

In this paper, we developed a Windows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. 4 axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinemat-ics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 98s GUI environment was also studied. The developing is Microsoft Visual C++. Graphic libraries, OpernGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.1
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• pp.1-8
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• 2008

We propose how to program the off-line buffing robot path along shoes' outsole shape in the footwear buffing process by a 5-axis microscribe system like robot mechanism. The microscribe system we developed consists of a 5-axis robot link with a turn table, a signal processing unit, PC and an application software program. Itmakes a robot path on the shoes' upper in accordance with the movement of a microscribe with many joints. The developed system calculates the encoder pulse values for the microscribe arm's rotation and transmits the angle pulse values to the PC through a processing unit. Denavit-Hartenberg's(D-H) direct kinematics is used to make the global coordinate from microscribe joint one. Problems with the microscribe's kinematics can be solved efficiently and systematically by D-H representation. With the coordinate values calculated by D-H equation, our system can draw a buffing gauge-line on the upper sole. We obtain shoes' outline points, which are 2 outlines coupled with the points and the normal vector based on the points. By applying the system to the buffing robot in a flexible manufacturing system, it can be used effectively to program the path of a real buffing robot.

• Journal of KIISE:Software and Applications
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• v.26 no.5
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• pp.647-656
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• 1999

본 논문에서는 오프라인 무제약 필기 한글 단어를 인식하기 위한 시스템을 제안한다. 제안된 단어 인식 시스템은 크게 다석가지 모듈-문자 분리,조합행렬생성, 특징 추출, 문자인식, 사전 후처리 -로 구성되어 있다. 문자 분리 모듈은 입력된 단어 영상을 하나의 문자보다 더 작은 이미지 조각으로 과다 분리하며 , 조합 행렬 생성모듈에서는 동적 프로그래밍 기법을 이용하여 분리된 이미지 조각들로부터 사전상의 모든 단어들과 대응되는 가능한 모든 조합을 생성한다. 문자인식모듈은 각 그룹에 대하여 일괄적으로 얻어진 특징과 유니그램을 이용하여 문자인식을 수행한다. 마지막으로 사전 후처리 모듈에서는 각 그룹에 대한 문자인식 결과와 단어 사전을 사용하여 입력단어에 대한 최종 인식 결과를 도출한다. 본 문에서 제안한 방법은 문자 분리, 문자 인식 및 후처리를 상호 보완적으로 결합함으로써 한글이 포함된 무제약 필기 문자열을 효과적으로 인식할 수 있다. 제안된 시스템의 성능을 평가하기 위하여 실제 우편 봉투 상에 쓰여진 필기 한글 단어 200개를 대상으로 실험을 하였다. 실험 결과 200개의 단어중 172개의 단어를 정인식하여 86%의 정확도를 얻을 수 있었으며 나머지 28개의 오인식된 단어들을 분석한 결과 대부분의 오류는 문자 인식기의 낮은 신뢰도 때문임을 알 수 있었다. 또한, 하나의 단어를 인식하기 위하여 약 2초가 소요되었다.

• Journal of Software Assessment and Valuation
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• v.17 no.1
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• pp.67-73
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• 2021

In this paper, a system configuration method that can practice Linux-based programming language online is presented. The proposed system utilizes the web-server function, which is the biggest feature of the Linux operating system, and simulates the telnet and FTP functions without firewalls or other security restrictions, so that it is possible to practice similar to the actual Linux console. To do this, we analyzed the functional elements that a programming tool should have on the web and established an algorithm to implement it. In particular, a method was implemented in which an error message caused by a user's mistake can appear in the same form as the actual telnet screen. As a result of using the implemented learning system in the class for students, it is possible to practice the Linux programming language online, as well as the instructor can directly check and guide all the learners, so the learner's satisfaction is similar to that of the offline class was confirmed.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1832-1835
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• 1997

Off-line programming systems are widely spread in assembly lines of minute electronic products to huge offshore structures. Any OLP system has to be calibrated before the on-line robot tasks are performed because there are inherent differences between the CAD model on OLP and the real robot workspace. This paper uses simple geometric expressions to propose a calibration method applicable to an OLP for SCARA robots. A positioning task on the two-dimensional horizontal surface was used in the error analysis of a SCARA robot and the anaysis shows that the inaccuracy results from the two error sources non-zero offset angles of two rotational joints at the zero return and differences in link lengths. Pen marks on a sheet of plotting paper are used to determine the accurate data on the joint centers and link dimensions. The calculated offset angles and link lengths are fed back to the OLP for the calibration of the CAD model of the robot and task environments.