• 한국정밀공학회지
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• 제22권4호
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• pp.92-98
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• 2005

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized teaming control based on adaptive control method. The original motivation of the teaming control field was loaming in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Some techniques will show up in the numerical simulation for vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 추계학술대회 논문집
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• pp.87-92
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• 2003

Generally, in jack up rig design for harsh environment, its leg height is a major factor for achieving a sufficient serviceability & operability in terms of the worst environment and the workable depth. Due to difficulties in constructing such a high-slender leg, inaccessibility of yard fabrication equipment, etc. the construction of Jack up rig fur harsh deep sea has not been common. Method using heavy crawler crane, fabrication tower or extension by the floating crane vessel is still conventional construction but, considering high cost fur mobilizing heavy lift vessel (HLV) or additional marine work for implementing preload / full height test at sea, the ground-base construction is much advantageous. Air skidding method (ASM hereafter) is ground-based construction methodology, newly developed due to such requests. ASM could also be extended to similar engineering fields. This paper presents the operating sequence, design parameters and procedure which were verified through successful operation at the end of May 2002.

• 한국지반공학회논문집
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• 제15권6호
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• pp.251-262
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• 1999

쉴드터널에서 사용이 증가되고 있는 사다리꼴 세그먼트는 연결봉과 연결쐐기를 사용하여 세그먼트를 조립함으로서 터널라이닝을 형성하게 된다. 이 경우 사다리꼴 세그먼트의 테이퍼 각도를 크게 할수록 조립시공이 용이하고, 또한 지수재의 밀림현상을 줄일 수 있지만 반면 연결부의 구조적 안정성은 감소하게 된다. 본 논문에서는 단면형상이 불규칙한 세그먼트와 여러가지 부속재가 3차원적으로 연결되는 쉴드터널에 대해 현장의 시공과정을 모사하여 3차원 해석을 수행하였으며, 사다리꼴 세그먼트의 테이퍼 각도변화$(0^{\citc$\mid$,\; 10${\circ},\; 20^{\circ})$에 따른 연결부의 작용력을 구하여 연결부에 대한 마찰저항력 시험결과와 비교, 분석함으로서 연결부에 대한 개선방안을 모색하였다.

• 디지털산업정보학회논문지
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• 제10권2호
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• pp.13-20
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• 2014

In this paper, we implemented the object scanning with nxtOSEK which is an open source platform. nxtOSEK consists of device driver of leJOS NXJ C/Assembly source code, TOPPERS/ATK(Automotive real time Kernel) and TOPPERS/JSP Real-Time Operating System source code that includes ARM7 specific porting part, and glue code make them work together. nxtOSEK can provide ANSI C by using GCC tool chain and C API and apply for real-time multi tasking features. We experimented the 3D scanning with ultra sonic and laser sensor which are made directly by laser module diode and experimented the measurement of scanning the object by knowing x, y, and z coordinates for every points that it scans. In this paper, the laser module is the dimension of $6{\times}10[mm]$ requiring 5volts/5[mW], and used the laser light of wavelength in the 650[nm] range. For detecting the object, we used the beacon detection algorithm and as the laser light swept the objects, the photodiode monitored the ambient light at interval of 10[ms] which is called a real time. We communicated the 3D scanning platform via bluetooth protocol with host platform and the results are displayed via DPlot graphic tool. And therefore we enhanced the functionality of the 3D scanner for identifying the image scanning with laser sensor modules compared to ultra sonic sensor.

• 한국정밀공학회지
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• 제21권1호
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• pp.101-108
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• 한국정밀공학회지
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• 제28권9호
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• pp.1094-1102
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• 2011

Recent trends for the miniaturization and weight reduction of portable electronic parts is the use of subminiature components. Assembly of the miniaturized components requires subminiature screws of which pitch sizes are in a micrometer scale. To produce such a subminiature screw with high precision threads, not only a precision forming technology but also high-precision measurement technique is required. In the present work, a vision inspection system is developed to measure the thread profile of a subminiature screw. Optical simulation based on a ray tracing method is used to design and analyze the optical system of the vision inspection apparatus. Through this simulation, optical performance of the developed vision inspection system is optimized. The image processing algorithm for the precision screw inspection is also discussed.

• 한국멀티미디어학회논문지
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• 제8권12호
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• pp.1658-1668
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• 2005

This paper presents the bytecode-to-SIL translator which enables the execution of the java program in EVM(Embedded Virtual Machine) environment without JVM(java Virtual Machine), translating bytecodes produced by compiling java programs into SIL(Standard Intermediate Language) codes. EVM, what we are now developing, is a virtual machine solution that can download and execute dynamic application programs written in sequential languages like C language as well as object oriented languages such as C#, Java, etc. EVM is a virtual machine mounted on embedded systems such as mobile device, set-top box, or digital TV, and converts the application program into SIL, an assembly language symbolic form, and execute it. SIL is a virtual machine code for embedded systems, based on the analysis of existing virtual machine codes such as bytecode, MSIL, etc. SIL has such features as to accommodate various programming languages, and in particularly has an operation code set to accept both object-oriented languages and sequential languages. After compiling, a program written in java language is converted to bytecode, and also executed by JVM platform but not in other platform such as .NET, EVM platform. For this reason, we designed and implemented the bytecode-to-SIL translator system for programs written in java language to be executed in the EVM platform without JVM. This work improves the execution speed of programs, enhances the productivity, and provides an environment for programmers to execute application programs at various platforms.

• 한국산학기술학회논문지
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• 제4권3호
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• pp.183-188
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• 2003

본 연구는 Connector Mold의 Termina (리브)에 가스 모임으로 인한 미성형 및 웰드라인이 생성되어 이를 방지하기 위해 과다한 사출압력, 금형온도 및 수지온도를 높이므로 Burr둥의 불량현상이 발생하게된다. 따라서 연구에서는 진공성형시스템을 응용한 Connector Mold를 개발하기 위하여 사출성형의 중요한 인자가 되는 용융수지온도, 금형온도, 냉각조건을 최적 조건에서 진공압을 체계적으로 제어함으로 각 캐비티의 깊은 글 부분의 미충전 부분을 진공화 하여 충전불량을 해소하면서, 싸이클 시간을 단축시킬 수 있는 진공시스템을 연구개발 성형가공에 적용함으로 우수한 제품과 생산성 향상의 효과를 얻을 수 있다.

• Advances in Computational Design
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• 제1권1호
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• pp.105-117
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• 2016

The objective of this work is to study the restraining effect in fire resistance of framed structures and to evaluate the global response of reinforced concrete frames when exposed to fire based on advanced finite element method. To study the response a single portal frame is analyzed. The effect of floor slab on this frame is studied by modeling a beam-column-slab assembly. The evolution of temperature distribution, internal stresses and deformations of the frame subjected to ISO 834 standard fire curve for both the frames are studied. The thermal and structural responses are evaluated and a comparison of results of individual members and entire structure is done. From the study it can be seen that restraining forces has significant influence on both stresses and deflection and overall response of the structure when compared to individual structural member. Among the various structural elements, columns are the critical members in fire and failure of column causes the failure of entire structure. The fire rating of various structural elements of the frame is determined by various failure criteria and is compared with IS456 2000 tabulated fire rating.

• 시스템엔지니어링학술지
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• 제10권1호
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• pp.33-41
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• 2014

New design concept of Reactor Coolant System (RCS) including a reactor assembly for the SMR is introduced in this work. An exploration of new type of reactor that is advanced from proposed SMRs is performed by using systems engineering approach. In this point of view project structured on three main phases; needs analysis (NA), concept exploration (CE), and concept definition (CD). Main objectives as an output of the CE stage are a small size, low cost, shortening the schedule, and enhancing safety. The SMRs usually have a small size requirement. In order to meet the size requirement and to achieve a productivity, in other words, easiness to manufacture, this paper suggests an integrated PWR design concept through researching predecessors. Although the integrated PWR concept provides many advantages, it has disadvantages that composite of maintenance and a low availability problem. Therefore, this paper comes up with a run-to-fail design concept based on modular design to address the maintenance problem and to maximize the availability of SMRs as well as to be compatible with the overall-SMRs including Barge Mounted(BM)type.