• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1609-1613
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• 2003

This research focused on the development of automatically exclusive production equipment of corrupad as changing manual system into automatic system to increase the output. Therefore the minimization of the problem of the rewinding mechanism with eccentric cantilever structure is key to the achievement of the high performance for automation production. Proto-type corrupad rewinding machine is manufactured after considering the effect of the rotational vibration and natural frequency of the structure of machine by using 3D design packages such as ADAMS and I-deas. For evaluating the performance of the proto-type machine, simulations of dynamic and static characteristics using 3D design packages, a series of modal tests by accelerometer and measurements of dynamic behavior by high-speed camera for rewinding part, were carried out. As a result, the proto-type machine was not affected with the rotational vibration. Whirling error of eccentric cantilever structure in driving is small. Therefore the machine developed is most suitable to produce corrupad automatically. However reinforcement of the structure in axial direction is required due to so vibration in that direction.

• 한국정밀공학회지
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• 제32권3호
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• pp.263-268
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• 2015

This paper describes lost motion analysis for a novel 6-DOF ultra-precision positioning stage. In the case of flexure hinge based precision positioning stage, lost motion is generated when the displacement of actuator is not delivered completely to the end-effector because of the elasticity of flexure hinge. Consequently, it is need to compute amount of lost motion to compensate the motion or to decide appropriate control method for precision positioning. Lost motion analysis for the vertical actuation unit is presented. The analysis results are presented in two ways: analytic and numerical analyses. It is found that they closely coincide with each other by 1% error. In finite element analysis result, the amount of lost motion is turned out to be about 3%. Although, the amount is not so large, it is necessary procedure to check the lost motion to establish the control method.

• 한국공작기계학회논문집
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• 제17권6호
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• pp.43-48
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• 2008

This study includes contents on an effective designing of the outer-wall piece removing equipment of a hull, by applying TRIZ. To remove the piece, gas torch was used. However, the heat source must be shut down since the heat source of gas torch has a bad influence on this system. This is why TRIZ and Brainstorming were used, to solve this problem. First, we analyzed the system using TRIZ, and then presented the direction a solution is expected to follow. And the most suitable scheme was derived from brainstorming which had been conducted based on the direction of a solution. Lastly we conducted an equipment modeling based on the most suitable scheme we made before, and carried out the heat analysis to inspect its effect by comparing pre-existing mechanism with most suited scheme.

• 한국공작기계학회논문집
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• 제17권6호
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• pp.71-76
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• 2008

The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.

• Advances in Computational Design
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• 제3권1호
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• pp.35-47
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• 2018

Design of settlement space is a complicated process while reasonable spatial layout bears great significance on the development and resource allocation of a settlement. The study proposes a weighted L-system generation algorithm based on CA (Cellular Automation) model which tags the spatial attributes of cells through changes in their state during the evolution of CA and thus identifies the spatial growth mode of a settlement. The entrance area of the Caidian Botanical and Animal Garden is used a case study for the model. A design method is proposed which starts from the internal logics of spatial generation, explores possibility of spatial rules and realizes the quantitative analysis and dynamic control of the design process. Taking a top-down approach, the design method takes into account the site information, studies the spatial generation mechanism of settlements and further presents a engine for the generation of multiple layout proposals based on different rules. A optimal solution is acquired using GA (Genetic Algorithm) which generates a settlement spatial layout carrying site information and dynamically linked to the surround environment. The study aims to propose a design method to optimize the spatial layout of the complex settlement system based on parametric generation.

• International Journal of Control, Automation, and Systems
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• 제1권4호
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• pp.474-483
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• 2003

Belt drives provide freedom to position the motor relative to the load and this phenomenon enables reduction of the robot arm inertia. It also facilitates quick response when employed in robotics. Unfortunately, the flexible dynamics deteriorates the positioning accuracy. Therefore, there exists a trade-off between the simplicity of the control strategy to reject time varying disturbance caused by flexibility of the belt and precision in performance. Resonance of the system further leads to vibrations and poor accuracy in positioning. In this paper, accurate positioning of a belt driven mechanism using a feed-forward compensator under maximum acceleration and velocity constraints is proposed. The proposed method plans the desired trajectory and modifies it to compensate delay dynamics and vibration. Being an offline method, the proposed method could be easily and effectively adopted to the existing systems without any modification of the hardware setup. The effectiveness of the proposed method was proven by experiments carried out with an actual belt driven system. The accuracy of the simulation study based on numerical methods was also verified with the analytical solutions derived.

• 연구논문집
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• 통권25호
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• pp.91-98
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• 1995

Recently, improving the energy efficiency of a pneumatic system and reducing the consumption of compressed air were a concern of scholars at domestic and abroad. The using fields of a pneumatic system are widely used in factory automation of manufacturing line, chemical factories with explosiveness danger and petroleum industries etc. In particular, pneumatic cylinder is applied to feeding work of workpiece. jig tools and press mechanism, reciprocation and rotary motion with rack and pinion. In this study, the experimental apparatus consisted to pneumatic cylinder, dual supply pressure regulator and solenoid valve. The dual supply pressure regulator connected to outlet port of solenoid valve. The supply pressure($4.5kg_f/cm^2$) of compressed air goes into the rodless chamber 1 to drive the piston rod forward which is named working stage. The supply pressure ($2kg_f/cm^2$) of compressed air goes into the rod chamber 2 to drive the piston rod backward which is named no-working stage. Accordingly, the research results of this study can be obtained to Energy-Saving Effects of the compressed air about 35%.

• 한국정보과학회논문지:소프트웨어및응용
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• 제34권8호
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• pp.708-720
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• 2007

메모리 접근연산으로부터 발생되는 프로그램 오류는 C언어로 작성된 테스트 대상 프로그램에서 가장 빈번하게 발생하는 오류이다[1,2]. 기존연구를 통해 이런 문제점을 해결하기 위한 다양한 메모리 오류 자동검출 방법들이 제안되었다. 하지만 기존의 오류검출방법은 테스트 대상 프로그램에 가해지는 부가적인 오버헤드가 매우 크거나 검출할 수 있는 메모리 접근오류의 종류가 제한적이다. 또한 메모리 할당함수의 내부구현에 의존성을 갖고 있기 때문에 플랫폼 간 이식성(portability)이 떨어지는 단점을 갖고 있다. 본 연구에서는 이러한 문제점을 해결하기 위해 새로운 메모리 접근오류 검출기법을 제안하고 테스트 자동화 도구를 설계하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.327-328
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• 2006

Recently, as the infocomindustry is developed, the semiconductor industry as well as the optical industry such as the optical communication and the optical instrument is developed rapidly. The transmission, storage and processing of information has been reaching an limit because amounts of information increase rapidly. The more quickly the optical communication is developed, the more sharply the demand of optical elements increase. The transport and inspection process is time consuming and the error rate is high, because this process are not automated in case of an optical lens. In this paper, the pick-up system that can hold optical elements and be transferred by the ultrasonic transport system is developed. The inspection system that distinguishes between the existence and the nonexistence of a defect is connected easily to pick-up system. The pick-up system separates the optical glass lens by results of the inspection. The automation program is developed by visual c++ programming.

• International Journal of Control, Automation, and Systems
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• 제6권5호
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• pp.731-739
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• 2008

The docking and recharging system for a mobile robot must guarantee the ability to perform its tasks continuously without human intervention. This paper proposes two docking mechanisms with localization error-compensation capability for an auto recharging system. The mechanisms use friction forces or magnetic forces between the docking parts of the robot and those of the docking station. It is a structure to improve the allowance ranges of lateral and directional docking offsets, in which the robot is able to dock into the docking station. In this paper, auto-recharging system and the features of the proposed mechanisms are verified with experimental results using simple homing method.