• Journal of the Korea Institute of Military Science and Technology
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• v.8 no.2 s.21
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• pp.30-37
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• 2005

In this paper, we propose how to design a fire control system main control board for individual combat weapons using a small and low power processor. To design an electric board of small weapon systems, Size and power consumption are very important factors. We solved the problem using selection of an adaptive processor, introduction of MicroChipPackaging method, and separate design of a main board Also we applied these methods to make the fire control system for small arms.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.69-77
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• 1991

A collision-free trajectory planning algorithm using an iterative learning concept is proposed for dual robot arms in a 3-D common workspace to accurately follow their specified paths with constant velocities. Specifically, a collision-free trajectory minimizing the trajectory error is obtained first by employing the linear programming technique. Then the total operating time is iteratively adjusted based on the maximum trajectory error of the previous iteration so that the collision-free trajectory has no deviation from the specified path and also that the operating time is near-minimal. To show the validity of the proposed algorithm, a numerical example is presented based on two planar robots.

• Journal of Oriental Neuropsychiatry
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• v.11 no.2
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• pp.53-62
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• 2000

Background : The aim of this study was to evaluate the effect of Punsimgieumgamibang on insomnia and anxiety. which is widely used in mental diseases. Method : We admitted Punsimgieumgamibang into rats which illumination of the sleeping periodhas been reversed, and measured its activity rate during the sleeping period. Also we studied the effect of Punsimgieumgamibang on anxiety using analyses of Punsimgieumgamibang on anxiety using analyses of behavior of rats submitted to the elevated plus-maze test.Result : 1) The sleeping ratio of the Pusimgieumgamibang group was higher than the control group on the whole, and the difference of the groups in the third time block was significant statistically. 2) We could not find any statistical information in all of the 4 anxiety related behavior of the elevated plus-maze experiment. and there was a tendency to a higher measurement in the Punsimgieumgamibang group animals in the total arms visitation in the elevated plus-maze, open arms visitation, and the amount of time of stay in arms. Conclusion : It is suggested that Pusimgieumgamibang has effects on insomnia.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.681-690
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• 2007

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.898-904
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• 1987

A new control algorithm using the VSS theory is developed for accurate trajectory control of robot manipulators. This paper focuses on the implementation of VSS controller with smoothing laws in the design of effective tracking control for robotic arms. The VSS controller for multi-linkage robot arm is realized using balance condition and its simplification which possesses powerful smoothing capability to reduce or even remove undesirable chattering and meanwhile keep the robust characteristic to reject system uncertainties. The design principle of selecting different smoothing methods, which aims at achieving trade-off between smoothing and robust behaviors while considering the actual system constraints, is also given and further confirmed through experimental results.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1995.03a
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• pp.131-144
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• 1995

This paper presetns modifications of a hydraulic shovel to robotize, and we derive a dynamic model of the hydraulic shovel arms,and hydraulic analysis are discussed . Then , our purpose is making to imitate a target railroad line of the grinder position by the PID control. Moreover, to determine the gains of the PId controller, we referenced the Ziegler and Nichols' method. In this paper, we demonstrated that the PID control is available for system. These results indicated the possibility of practical use fo the deburring robot with the hydraulic shovel.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.549-549
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• 2000

In the previous work, we dealt with a traffic analysis of network-based control system and its architecture using the CAN protocol. It is difficult to determine an optimal network architecture for a specific system. In this paper, we propose the architecture of network-based control system applicable to a specific AGV system with manipulator arms. We define the fixed number of periodic messages to be occurred in this system. In the proposed system architecture, we analyse its traffic for the real-time communication of all messages, determine the optimal sampling period of an analog sensor to be satisfied with the required specification and the number of possible sensors to be added through simulation.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.169-175
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• 2016

There are many researches to develop robots that improve its mobility and task planning to adapt in various uneven environments. In this paper, we propose the design method and task planning of quadruped robot which can have top-bottom docking structure. The proposed quadruped robot is designed to adjust leg length using linear actuators and perform top-bottom docking and undocking using octagonal cone shaped docking module. Also, to stable walking and information gathering in the various environments, a geomagnetic sensor, PSD sensor, LRF sensor and camera. We propose an obstacle avoidance method and the topbottom docking algorithm of the two quadruped robots using linear actuator. The robot can overcome obstacles using adjusting leg length and activate the top-bottom docking function. The top-bottom docking robots of two quadruped robot can walk 4 legged walking and 6 legged walking, and use 4 arms or 2 arms the upper. We verified that the docking robots can carry objects using 4 leg of the upper robot.

• Korean Security Journal
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• no.6
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• pp.327-340
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• 2003

As a countermeasure under accidental occurrence situation, First, as application form of martial arts, A security guard foster ability that can protect a target person of guard and own body under accidental occurrence situation through incessant martial arts practice. To achieve this purpose, incessant training mental power and physical strength reinforcement should be kept on to prevent, therefore make a safety control function for such as weapon, small arms, explosive, vehicles terror etc. happened under accidental occurrence situation. Second, according to the contents of training based on the classification category of martial arts for security guard under accidental situation, a security guard must keep safety distance necessarily lest a target person of gurad should be attacked by attacker, therefore, intercept an attack opportunity if a safety distance between a target person of guard and attacker is not kept. Third, It is to practice confrontation techniques based on the type of attack. A security guard must develp situation disposal ability that can cope properly with the attack using empty hands, murderous weapon, small arms, explosive by case or individual or mass of threat that impose danger and injury in a target person's body of guard.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.9-19
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• 2012

This paper proposes a performance index for the multiple shape object handling of dual arm manipulator to determine whether a robot is good or not. When the dual-arm manipulator grasps a fixed object and is posed, the dual-arm manipulator should procure a space to freely control the manipulator. As a performance evaluation parameter, each joint torque from current sensor signal is utilized. From the current information, torque and energy for each joint are estimated. In this paper an performance index for an unstructured object is defined by an energy-cost function, and stability analysis for each motion is derived by the maximum force to the object. The maximum force to the object is computed by the inertia of object and acceleration information of end-effector. The acceleration data are derived by the double derivation of each encoder signal. Manipulability measure which implies how efficiently the dual-arm manipulator can move with the grasped object, can be represented by the intersection of the two manipulability ellipsoids for the left and right arms. Effectiveness of the proposed algorithm has been verified through the practical simulations and real experiments.