• 제어로봇시스템학회논문지
• /
• 제17권12호
• /
• pp.1256-1265
• /
• 2011

Automated parking assist systems are being commercialized and rapidly spread in the market. In order to improve odometry accuracy, we proposed a practical odometry calibration scheme of Car-Like Mobile Robot (CLMR). However, there were some open problems in our prior work. For example, it was not clear whether the kinematic parameters always converged or not using the proposed calibration scheme. In addition, test driving had to be carried out "twice" without detailed explanation. This research aims to provide answers for the addressed questions though the convergence property analysis of the calibration scheme. In this paper, we evaluate on the effect of the kinematic parameter error on the odometry error at the final pose by numerical computation. The evaluation will show that the wheel diameter and tread of the CLMR can be calibrated by iterative test drives. In addition, the region of convergence in the parametric space will be discussed. Presented experimental results clearly showed that the proposed calibration scheme would be useful in practical applications.

• Journal of Mechanical Science and Technology
• /
• 제18권12호
• /
• pp.2209-2215
• /
• 2004

In the present research work, an automated machine vision system and a new algorithm to interpret the inspection data has been developed. In the past, the control of tolerance of front-chassis-module was done manually. In the present work a machine vision system and required algorithm was developed to carryout dimensional evaluation automatically. The present system is used to verify whether the automobile front-chassis-module is within the tolerance limit or not. The directional ability parameters related with front-chassis-module such as camber, caster, toe and king-pin angle are also determined using the present algorithm. The above mentioned parameters are evaluated by the pose of interlinks in the assembly of an automobile front-chassis-module. The location of ball-joint center is important factor to determine these parameters. A method to determine the location of ball-joint center using geometric features is also suggested in this paper. In the present work a 3-D best fitting method is used for determining the relationship between nominal design coordinate system and the corresponding feature coordinate system.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
• /
• pp.411-416
• /
• 2000

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing process, a polishing robot with w degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. This automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, a new sliding mode control algorithm is applied to the robot. The signal compression method is used to identify polishing robot system. to obtain an effect of 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 degrees of freedom motion, a synchronization between the machining center and polishing robot is accomplished by using M code of machining center. And also a trajectory for polishing the curved surface die by 5 axes machining center is divided into data of two types for 3 axes machining center and 2 axes polishing robot. To evaluate polishing performance of the robot. various experiments are carried out.

• 한국멀티미디어학회논문지
• /
• 제19권4호
• /
• pp.747-755
• /
• 2016

Automated guided vehicles have been used for a long time to increase work efficiency in the logistics field, but it is difficult to apply to a variety of logistics sites due to either the restricted movement mechanism or expensive devices. In this paper, we present a flexible software architecture that is hardware-independent for a mobile power cart of the follow mode and implement it using a ROS software platform. Through the SCV analysis for the system functionalities, we design a package to track a user movement and a package to control a new hardware platform. It has an advantage to use a variety of movement algorithms and hardware platforms by applying the strategy pattern and the template method pattern for the design of a software architecture. Through the performance evaluation, we show that the proposed design is maintainable in terms of a software complexity and it detects a user's movement by obtaining a user skeleton information so that it can control a hardware platform to move at a certain distance.

• 대한기계학회논문집A
• /
• 제20권1호
• /
• pp.154-162
• /
• 1996

Ball screws are commonly used in linear motion feeding systems of various machine tools and automated systems. They are known to have relatively little backlash, high precision and efficiency compared to ordinary lead screws. Furthermore, the effectiveness of ball screw has made it the preferred choice of many newly developed high speed precision feeding units. The motivation of this work is to establish the groove edsigh basis of ball screws for the reduction of contact fatigue failure. In most instances, fatigue failure between ball and shaft groove is due to excessive contact pressure. Especially, the excessive load is causative of plastic flow below the contact surface, which can contribute to surface failure. But, in spite of small load, if groove conformity rate is large, contact pressure is increased and internal shear stress reach the yield value of the material. In such a point, the authors deal with design procedure for deciding the permissible conformity rate of a ball screw groove with the computational evaluation of contact pressure and maximum shear stress.

• Journal of Communications and Networks
• /
• 제7권2호
• /
• pp.104-114
• /
• 2005

This work presents a concept and the related analysis of the traffic performance for a wireless broadband system based on fixed relay stations acting as wireless bridges. The analysis focuses on the important performance indicators end-to-end throughput and delay, taking into account the effects of an automated repeat request protocol. An extension to a MAC frame based access protocol like IEEE 802.11e, 802.15.3, 802.16a, and HIPERLAN2 is outlined and taken as basis for the calculations. The system is intended for both dense populated areas as an overlay to cellular radio systems and to provide wide-area broad-band coverage. The two possible deployment scenarios for both dense urban and wide-area environments are introduced. Analytical and validating simulation results are shown, proving the suitability of the proposed concept for both of the mentioned scenarios. It is established that the fixed relaying concept is well suited to substantially contribute to provide high capacity cellular broad-band radio coverage in next generation (NG) cellular wireless broadband systems.

• 제어로봇시스템학회논문지
• /
• 제7권4호
• /
• pp.326-333
• /
• 2001

This paper focuses on a method to connect mobile devices such as mobile robot. Automated Guided Vehicle (AGV) and Unmanned Container Transporter(UCT) to a fieldbus. In this paper, the IEEE 802.11 wireless LAN is used to extend a Profibus network for the mobile devices. In order to integrate these two networks, a gateway is developed using two threads and an internal buffer. Furthermore, a polling algorithm is applied at the gateway in order to satisfy real-time requirements on data communication, Finally, the performance measures such as data latency and throughput are experimentally evaluated on a wirelessly-extended Profibus network. The results shows the feasibility of the wireless extension of Profilbus for various mobile device.

• 한국정밀공학회지
• /
• 제9권4호
• /
• pp.22-35
• /
• 1992

In highly automated machining centers, intelligent sensor fddeback systems are indispensable on order to monitor their operations, to ensure efficient metal removal, and to initate remedial action in the event of accident. In this study, an on-line tool wear detection system for thrning operations is developed, and experimentally evaluated. The system employs multiple sensors and the signals from these sensors are processed using a multichannel autoegressive (AR) series model. The resulting output from the signal processing block is then fed to a previously tranied artificial neural network (multiayered perceptron) to make a final decision on the state of the cutting tool. To learn the necessary input/output mapping for tool wear detection, the weithts and thresholds of the network are adjusted according to the back propagation (BP) method during off-line training. The results of experimental evaluation show that the system works well over a wide range of cutting conditions, and the ability of the system to detect tool wear is improved due to the generalization, fault-tolearant and self-ofganizing properties of the neural network.

• 한국임상수의학회지
• /
• 제27권4호
• /
• pp.392-396
• /
• 2010

Blood glucose curves in the management for diabetic patients have several limitations including intermittent assessment of blood glucose concentration, hospitalization, patient restraint, and repeated phlebotomy. The aim of this study was to apply and evaluate a wireless continuous glucose monitoring system (CGMS) in healthy dogs. Subcutaneous interstitial glucose concentrations in 7 dogs were continuously monitored and recorded by wireless CGMS. During induced hyperglycemia, the interstitial glucose concentrations were compared with whole blood glucose concentrations measured by glucometer and serum glucose concentrations measured by automated chemistry analyzer, respectively. There were no significant differences among interstitial, whole blood and serum glucose concentrations. The interstitial glucose concentrations had a good correlation to serum glucose concentrations. The real-time wireless CGMS is a valuable tool for monitoring system of glucose concentrations in dogs. Use of the CGMS for diabetic patients will provide accurate information over traditional blood glucose curves.

• Journal of Communications and Networks
• /
• 제13권6호
• /
• pp.567-582
• /
• 2011

The growing popularity of the Internet has caused the size and complexity of communications and computing systems to greatly increase in recent years. To alleviate this increased management complexity, novel autonomic management architectures have emerged, in which many automated components manage the network's resources in a distributed fashion. However, in order to achieve effective collaboration between these management components, they need to be able to efficiently exchange information in a timely fashion. In this article, we propose a context dissemination framework that addresses this problem. To achieve scalability, the management components are structured in a hierarchy. The framework facilitates the aggregation and translation of information as it is propagated through the hierarchy. Additionally, by way of semantics, context is filtered based on meaning and is disseminated intelligently according to dynamically changing context requirements. This significantly reduces the exchange of superfluous context and thus further increases scalability. The large size of modern federated cloud computing infrastructures, makes the presented context dissemination framework ideally suited to improve their management efficiency and scalability. The specific context requirements for the management of a cloud data center are identified, and our context dissemination approach is applied to it. Additionally, an extensive evaluation of the framework in a large-scale cloud data center scenario was performed in order to characterize the benefits of our approach, in terms of scalability and reasoning time.