• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.3
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• pp.72-79
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• 2002

Though the laser cutting process is increasingly used in industry, a process automation and systematic database is still yet to be developed. In this study, as the fundamental step toward the construction of a reliable process expert system, a laser cutting quality monitoring/analysis system is developed based on simulations and experimental results. The relations between laser process parameters and laser cutting surface quality parameters such as kerf geometry, striation, surface roughness and dross formation are characterized and analyzed. A graphical user interface is used to visualize the results.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.763-767
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• 1998

In this paper, we analyzed the characteristics and source of vibration and acoustic noise in SRM drives. The paper study the reduction technique of those by new SRM which has auxiliary field winding. The operating mechanism and vibration and acoustic noise characteristics is examined. This paper suggests the control strategies of auxiliary field winding in order to reduce vibration and acoustic noise.

• Proceedings of the Korean Information Science Society Conference
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• 2001.04b
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• pp.190-192
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• 2001

최근에 ACID를 특징으로 하는 기존의 전통적인 데이터베이스 트랜잭션 모델을 확장함으로서 데이터베이스 트랜잭션 모델의 응용분야를 다양하게 확대시키고자 하는 고급 트랜잭션 모델(Advance Transaction Models)들에 관한 많은 연구가 진행되고 있다. 본 논문에서는 다양한 유형의 트랜잭션들로 구성된 사무업무 프로세스(Business Process)의 처리를 자동화하는데 효과적으로 활용될 수 있는 새로운 유형의 고급 트랜잭션 모델로서 협조 트랜잭션 모델을 정의하고, 본 데이터베이스 협조 트랜잭션 모델에서의 에러 복구 자동화를 구현하기 위한 협조 트랜잭션 의존성 분석 메카니즘을 제안한다.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1137-1147
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• 2004

In this paper, we proposed two types of adaptive control mechanism which is named HIA(Humoral Immune Algorithm) PID and CMIA(Cell-Mediated Immune Algorithm) controller based on biological immune system under engineering point of view. The HIA PID which has real time control scheme is focused on the humoral immunity and the latter which has the self-tuning mechanism is focused on the T-cell regulated immune response. To verify the performance of the proposed controller, some experiments for the control of AGV which is used for the port automation to carry container without human are performed. The experimental results for the control of steering and speed of an AGV system illustrate the effectiveness of the proposed control scheme. Moreover, in that results, proposed controllers have better performance than other conventional PID controller and intelligent control method which is the NN(neural network) PID controller.

• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.6
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• pp.1005-1013
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• 1987

For the factory automation and unmanned machine operation, it is very important to manufacture highly reliable and efficient chip breakers for optimal chip control. In this research, using the CALMA CAD/CAM SYSTEM, the manufacturing process of 3-dimensional chip breakers is established. Using the results of the cutting test of the selected chip breakers with double-step grooves, the chip breaking mechanism is schematically analysed. An expression for the chip breaking relation is derived which considers chip material behavior following LUDWIK's stress-strain curve, chip breaking criterion and the shape of chip breakers. This contains the thickness of chip, the radius of chip curl, and the mechanical properties of chip materials. It is found that the expression agrees very closely with the experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1222-1229
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• 2007

In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.197-203
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• 2005

This paper presents kinematic calibration of parallel manipulators with partial pose measurements using a device that measures a rotation of the end-effector along with its position. The device contains an LVDT, a biaxial inclinometer, and a rotary sensor and facilitates automation of the measurement procedure. The device is designed in a modular fashion and links of different lengths can be used. The additional kinematic parameters required for the measurement device are discussed, kinematic relations are derived, and cost function is established to perform calibration with the proposed device. The study is performed for a six degree-of-freedom(DOF) fully parallel HexaSlide Mechanism(HSM). Experimental results show significant improvement in the accuracy of the HSM.

• Advances in robotics research
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• v.1 no.1
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• pp.21-39
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• 2014

Due to the rapid progress in the field of robotics, it is a high time to concentrate on the development of a robot that can manoeuvre in all type of landscapes, ascend and descend stairs and sloping surfaces autonomously. This paper presents details of a prototype robot which can navigate in very rough terrain, ascend and descend staircase as well as sloping surface and cross ditches. The robot is made up of six differentially steered wheels and some passive mechanism, making it suitable to cross long ditches and landscape undulation. Static stability of the developed robot have been carried out analytically and navigation capability of the robot is observed through simulation in different environment, separately. Description of embedded system of the robot has also been presented and experimental validation has been made along with some details on obstacle avoidance. Finally the limitations of the robot have been explored with their possible reasons.

• Journal of KIISE:Software and Applications
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• v.35 no.12
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• pp.705-715
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• 2008

Today raises its head on the issue of interoperability caused by the complexity of the embedded software and the diverse development environment about SUGV(Small Unmanned Ground Vehicle). So, we propose to adopt the original MDA mechanism for this heterogeneous embedded development. To solve this problem, we apply for developing SUGV with MDA(Model Driven Architecture) using the original UML profile mechanism. Through this method, it can be semi-automatically transformed into TSM(Target specific model) after modeling TIM(Target Independent Model). Then we can also automatically generate the heterogeneous source codes. Therefore it will be reduced the development cycle and effort of the heterogeneous systems. We verify the benefits of our proposed approach and the reliability through analyzing the generated codes.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.421-426
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• 2013

Nowadays in building construction field, workers become aged and avoid dirty, difficult, and dangerous work. Above all, a person who is in charge of beam assembling work in high and narrow space just relies on safety belt. So these workers should be highly trained. This paper deals with a new locomotion robot that can take this in charge, which will be able to provide less labor costs, less time to build a building and safer environments for workers. The geometric features of steel structure in building construction were carefully analyzed and developed a locomotion mechanism optimized to it. The robot was designed to be rugged, strong, and fast rather than having excessive mobility. Feasibility of the developed robot was verified through experiments.