• 한국산업융합학회 논문집
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• 제17권1호
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• pp.27-34
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1621-1623
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• 1997

Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.

• 한국산업융합학회 논문집
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• 제18권2호
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• pp.119-128
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• 2015

In this paper, we propose a new motion control technology to design robust control system of industrial robot. The system modeling of robotic manipulation tasks with constraints is presented, and the control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference of robot manipulator is generated by the reference controller as a discrete state system and the control behavior of constrained system which has poor modeling information and time-invariant constraint function is improved motion control system is successfully evaluated by experiment to the desired tasks.

• Steel and Composite Structures
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• 제23권3호
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• pp.263-271
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• 2017

A theoretical study was carried-out of mode II delamination fracture behavior of the End Loaded Split (ELS) functionally graded beam configuration with considering the material non-linearity. The mechanical response of ELS was modeled analytically by using a power-law stress-strain relation. It was assumed that the material is functionally graded transversally to the beam. The non-linear fracture was investigated by using the J-integral approach. Equations were derived for the crack arm curvature and zero axes coordinate that are needed for the J-integral solution. The analysis developed is valid for a delamination crack located arbitrary along the beam height. The J-integral solution was verified by analyzing the strain energy release rate with considering material non-linearity. The effects of material gradient, non-linear material behavior and crack location on the fracture were evaluated. The solution derived is suitable for parametric analyses of non-linear fracture. The results obtained can be used for optimization of functionally graded beams with respect to their mode II fracture performance. Also, such simplified analytical models contribute for the understanding of delamination fracture in functionally graded beams exhibiting material non-linearity.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 ITC-CSCC -2
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• pp.1308-1311
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• 2002

We present a low-power MPEG-4 video codec chip capable of delivering high-quality video data in wireless multimedia applications. The discussion will focus on the architectural design techniques for implementing a high-performance video compression/decompression chip at low power architectures. The proposed MPEG-4 video codec can perform 30 frames/s of QCIF or 7.5 frame/s of CIF at 27MHz for 128k∼144kbps. By introducing the efficiently optimized Frame Memory Interface architecture, low power motion estimation and embedded ARM microprocessor and AMBA interface, the proposed MPEG-4 video codec has low power consumption for wireless multimedia applications such as IMT-2000.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2002년도 추계학술대회 논문집
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• pp.73-77
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• 2002

이 논문은 빠른 ASIP(application specific instruction processor) 시뮬레이션을 위한 재적응성을 가진 컴파일드 시뮬레이션 기법에 대해 이야기 한다. 다양한 응용분야에서의 설계 요구사항을 충족시키는 ASIP의 빠른 개발을 위해서, 건전한 설계 방법론 및 고성능의 시뮬레이터가 필요하다. 본 논문에서는 HiX$R^2$라는 ADL(architecture description language)을 이용하여 인스트럭션 수준에서 컴파일드 시뮬레이터를 자동 생성하였다. 컴파일드 시뮬레이션은 시뮬레이션 수행 시 반복되는 인스트럭션 페칭 및 디코딩 부분을 시뮬레이션 런-타임 이전에 미리 수행함으로서 일반적으로 사용되는 인터프리티브 시뮬레이션에 비하여 큰 성능향상을 얻을 수 있다. HiX$R^2$에 기반 한 컴파일드 시뮬레이션은 ARM9 프로세서와 CalmRISC32 프로세서 예제들로 수행하였고, 결과로서 인터프리티브 방식에 비해 150배 이상의 성능향상이 있었다.

• Nuclear Engineering and Technology
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• 제50권4호
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• pp.613-618
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• 2018

We are developing a shared remote control mobile robot for aerial work in nuclear power plants (NPPs); a robot consists of a mobile platform, a telescopic mast, and a dual-arm slave with a working tool. It is used at a high location operating the manual operation mechanism of a fuel changer of a heavy water NPP. The robot system can cut/weld a pipe remotely in the case of an emergency or during the dismantling of the NPP. Owing to the challenging control mission considering limited human operator cognitive capability, some remote tasks require a shared control scheme, which demands systematic software design and integration. Therefore, we designed the architecture of the software systematically.

• JSTS:Journal of Semiconductor Technology and Science
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• 제16권6호
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• pp.719-727
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• 2016

This paper proposes a unified medium access control (MAC) design methodology and presents the implementation of the IEEE 802.11ac down-link multi-user multi-input and multi-output wireless local area network MAC using the proposed design methodology. The proposed methodology employs unified code for both network simulation and system implementation. Because the unified code closely relates these two processes, the performance of the implemented MAC system can be estimated before implementation. The MAC architecture for an access point implemented using the proposed design methodology is verified on an ARM-based platform, and it is applied to a 65 nm CMOS library.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.434-434
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• 2000

It is the main problem to measure the position and orientation of a robot end effector for the calibration of robots. The calibration methods can be used as a tool to improve the accuracy of robots without change of the arm or control architecture of robots. But such calibration methods require the accurate measurements. Dynamic measurement of position and orientation Provides a solution of this problem and improves dynamic accuracy by dynamic calibration o( robots. This paper describes the development o( the laser tracking system capable of determining the static and dynamic performance of industrial robots. The structure and system components are presented and basic experimental results are included to demonstrate the instrument performance. The system can be applied to the remote controlled mobile robots as weil as the calibration of robots.

• 한국시뮬레이션학회:학술대회논문집
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• 한국시뮬레이션학회 2003년도 춘계학술대회논문집
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• pp.79-84
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• 2003

이 논문은 빠른 ASIP(application specific instruction processor) 평가를 위한 재적응성을 가진 컴파일러/시뮬레이터 환경에 대해 이야기한다. ASIP의 성능은 하드웨어 구조뿐만 아니라, 수행되는 응용 소프트웨어에 영향을 받기 때문에, 높은 성능의 ASIP 개발을 위해서는 컴파일러 및 시뮬레이터의 개발이 선행되어야 한다. 그러나 다양한 ASIP 구조에 따라 적합한 고성능의 컴파일러/시뮬레이터를 만드는 일은 매우 시간 소모적인 일이 될 뿐만 아니라, 오류가 발생하기도 쉽다. 본 논문에서는 HiXR2라는 ADL(architecture description language)을 이용하여 명령어 구조를 기술하고 이를 바탕으로 컴파일러와 시뮬레이터를 자동 생성하였다. HiXR2의 재적응성 및 생성된 컴파일러/시뮬레이터의 정확성을 검증하기 위하여 ARM9 프로세서와 CalmRISC32 프로세서 구조를 각각 기술하고, 각각에 대하여 응용프로그램 코드를 컴파일 및 시뮬레이션 하는 예제를 보였다.