• 제어로봇시스템학회논문지
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• 제21권8호
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• pp.753-757
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• 2015

This paper introduces an experimental rescue robot, HUBO T-100 and presents the optimal motion control method. The objective of the rescue robot is to extract patients or wounded soldiers in the battlefield and hazardous environments. Another mission is to dispose and transport an explosive ordnance to safe places. To execute these missions, the upper body of the rescue robot is humanoid in form to execute various kinds of tasks. The lower body features a hybrid tracked/legged design, which allows for a variety of mode of locomotion, depending on terrain conditions in order to increase traversability. The weight lifting motion is one of the most important task for performing rescue related missions because the robot must lift an object or impaired person lying on the ground for transferring. Here, dynamics based motion optimization is employed to minimize joint torques while maintaining stability simultaneously. Physical experiments with a real humanoid robot, HUBO T-100, are presented to verify the proposed method.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.9-16
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• 2002

In this paper, we intend to demonstrate a new intuitive force-feedback device for advanced VR applications. Force feed-back for the device is tension based and is characterized by 7 degrees of freedom (DOF); 3 DOF for translation, 3 DOF for rotation, and 1 DOF for grasp). The SPIDAR-G (Space Interface Device for Artificial Reality with Grip) will allow users to interact with virtual objects naturally by manipulating two hemispherical grips located in the center of the device frame. We will show how to connect the strings between each vertex of grip and each extremity of the frame in order to achieve force feedback. In addition, methodologies will be discussed for calculating translation, orientation and grasp using the length of 8 strings connected to the motors and encoders on the frame. The SPIDAR-G exhibits smooth force feedback, minimized inertia, no backlash, scalability and safety. Such features are attributed to strategic string arrangement and control that results in stable haptic rendering. The design and control of the SPIDAR-G will be described in detail and the Space Graphic User Interface system based on the proposed SPIDAR-G system will be demonstrated. Experimental results validate the feasibility of the proposed device and reveal its application to virtual reality.

• 제어로봇시스템학회논문지
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• 제10권5호
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• pp.442-449
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• 2004

As underwater robotic vehicles (URVs) become attractive for more sophisticated underwater tasks, the demand of high performance in terms of accuracy and dexterity has been increased. An autonomous underwater robotic vehicle, ODIN (Omni-Directional Intelligent Navigator) was designed and built at the Autonomous Systems Laboratory of the University of Hawaii in 1991. Since 1991, various studies were conducted on ODIN and have contributed to the advancement in underwater robotics. Its refurbished model ODIN II was based on VxWorks in VMEbus. Recently, ODIN was born again as a PC based system, ODIN III with unique features such as new vehicle system software architecture with an objective-oriented concept, a graphical user interface, and an independent and modular structure using a Dynamic Linking Library (DLL) based on the Windows operating system. ODIN III software architecture offers an ideal environment where various studies for advanced URV technology can be conducted. This paper describes software architecture of ODIN III and presents initial experimental results of fine motion control on ODIN III.

• International journal of advanced smart convergence
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• 제8권4호
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• pp.9-15
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• 2019

The government has defined domestic violence as one of the four major social evils and tried to prepare laws and systems to prevent it. Nevertheless, domestic violence has emerged as a serious social issue, and compare to the number of domestic violence cases that are constantly increasing, the report rate of domestic violence is significantly lower. This suggests the need to improve citizens' perception of domestic violence as the issue to solve it together in society, not as a private matter at home. Most of existing contents for preventing domestic violence and improving awareness are simple viewing forms of video contents, which have little effect on recognition. We aim to confirm the possibility of improving social awareness about domestic violence by producing Virtual Reality (VR) contents that have great features of user's immersion and empathy. In this VR content, the user can interact with various objects in the virtual reality of domestic violence and directly or indirectly experience the victim's position. Users who view the violent environment from the victim's point of view can have a subjective empathy for the problem, which is expected to induce more active awareness about domestic violence.

• 한국재료학회:학술대회논문집
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• 한국재료학회 2009년도 추계학술발표대회
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• pp.18.2-18.2
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• 2009

Ceramics have some properties that are unmatched by other kind of materials like metals or polymers. The ability of high thermal and chemical resistance and in case of being superior in specific mechanical properties makes the ceramic materials suitable for arange of applications. The microstructure and morphology of a material arguably permit the use of many advanced application otherwise difficult to achieve.Porous structures have some important applications in biomedical and environmental field. For human hard tissue reconstruction and augmentation procedure suitable biomaterials are used with a desirable porosity. A range of porous bioceramics were fabricated with tailored design to meet the demand of specific applications. Channeled and interconnected porosity was introduced in alumina, zirconia, and hydroxyapatite or tri calcium phosphate ceramics by different methods like multi-pass extrusion process, bubble formation in viscous slurry,slurry dripping in immiscible liquid, sponge replica method etc. The detailed microstructural and morphological investigations were carried out to establish the unique features of each method and the developed systems. For environmental filters the porous structures were also very important. We investigated a range of channeled and randomly porous silicon based ceramic composites to enhance the material stability and filtration efficiency by taking advantage of the material chemistry of the element. Detailed microstructural and mechanical characterizations were carried out for the fabricated porous filtration systems.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.387-392
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• 2002

This paper presents a new scheme of neural network controller to improve the robustuous of robot manipulator using digital signal processors. Digital signal processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. During past decade it was proposed the well-established theorys for the adaptive control of linear systems, but there exists relatively little general theory for the adaptive control of nonlinear systems. Perforating of the proposed controller is illustrated. This paper describes a new approach to the design of adaptive controller and implementation of real-time control for assembling robotic manipulator using digital signal processor. Digital signal processors used in implementing real time adaptive control algorithm are TMS320C50 series made in TI'Co..

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2005년도 춘계학술대회
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• pp.403-407
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• 2005

Objective of the research is to demonstrate solar thermal space and ground heating system which is integrated to a greenhouse culture facility for reducing heating cost, increasing the value of product by environment control, and developing advanced culture technology by deploying solar thermal system. Field test for the demonstration was carried out in horticulture complex in Jeju Island. Medium scale solar hot water system was installed in a ground heating culture facility. Reliability and economic aspect of the system which was operated complementary with thermal storage and solar hot water generation were analyzed by investigating collector efficiency, operation performance, and control features. Short term day test on element performance and Long term test of the whole system were carried out. Optimum operating condition and its characteristics were closely investigated by changing the control condition based on the temperature difference which is the most important operating parameter. For establishing more reliable and optimal design data regarding system scale and operation condition, continuous operation and monitoring on the system need to be further carried out. However, it is expected that, in high-insolation areas where large-scale ground storage is adaptable, solar system demonstrated in the research could be economically competitive and promisingly disseminate over various application areas.

• 한국항행학회논문지
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• 제14권4호
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• pp.512-520
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• 2010

유비쿼터스와 모바일의 광범위한 응용과 더불어 통신 보안은 최근 중요한 관심사가 되고 있다. 따라서 각각의 보안 요소마다 다양한 기법 및 응용에 대한 연구와 시스템적 응용에 대한 연구가 활발히 이루어지고 있다. 본 논문에서는 음성의 특징을 이용한 모바일 OTP의 일회용 암호키를 생성하는 방법을 제안한다. 본 연구는 강력한 개인 인증에 사용되는 바이오매트릭스의 음성 정보를 이용하여 가변적이고 안전한 일회용 암호 키를 생성하였으며, 또한 제안 기법에 대한 덴드로그램(dendrogram)을 이용한 음성 특징점에 의한 준동형적(homomorphic) 가변성 그리고 음성 특징점의 분포를 시뮬레이션 하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제39권2호
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• pp.143-151
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• 2015

Recently, tidal current energy conversion is a promising way to harness the power of tides in order to meet the growing demands of energy utilization. A new concept of tidal current energy conversion device, named Vane Tidal Turbine (VTT), is introduced in this study. VTT has several special features that are potentially more advantageous than the conventional tidal turbines, such as propeller type tidal turbines. The purpose of this study on VTT is to analyze the possibility of extracting the hydrokinetic energy of tidal current and converting it into electricity, and evaluate the performance of turbines for various numbers of blades (six, eight and twelve) using Computational Fluid Dynamics (CFD). At various tip-speed ratios (TSR), the six-bladed turbine obtains the highest power and torque coefficients, power efficiency is up to 28% at TSR = 1.89. Otherwise, the twelve blade design captures the smallest portion of available tidal current energy at all TSRs. However, by adding more blades, torque extracted from the rotor shaft of twelve-bladed turbine is more uniform due to the less interrupted generation of force for a period of time (one revolution).

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 추계학술대회(한국공작기계학회)
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• pp.134-139
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• 2001

This paper presents a new scheme of neural network controller to improve the robustuous of robot manipulator using digital signal processors. Digital signal processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. During past decade it was proposed the well-established theorys for the adaptive control of linear systems, but there exists relatively little general theory for the adaptive control of nonlinear systems. Perforating of the proposed controller is illustrated. This paper describes a new approach to the design of adaptive controller and implementation of real-time control for assembling robotic manipulator using digital signal processor. Digital signal processors used in implementing real time adaptive control algorithm are TMS320C50 series made in TI'Co..