• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.144-148
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• 1989

We solve the inverse kinematics problems in robotics by employing a neural network. In the practical situation. it is not easy to obtain the exact inverse kinematics solution, since there are many unforeseen errors such as the shift of a robot base the link's bending, et c. Hence difficulties follow in the trajectory planning. With the neural network, it is possible to train the robot motion so that the robot follows the desired trajectory without errors even under the situation where the unexpected errors are involved. In this work, Back-Propagation rule is used as a learning method.

• 한국운동역학회지
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• 제16권4호
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• pp.95-103
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• 2006

The purpose of this study was to review the relevant literature about coaching and thereupon, survey the coaching methods used for golf lesson to reinterpret them and thereby, describe in view of kinetics the swing errors committed frequently by amateur golfers and suggest more scientific golf coaching methods. For this purpose, kinetic elements were divided into accuracy and power ones and therewith, the variables affecting such elements were identified. For this study, a total of 60 amateur golfer were sampled, and their swing forms were photographed with two high-speed digital cameras, and the resultant images were analyzed to determine the errors of each form kinetically, which would be analyzed again with the program V1-5000. The kinetic elements could be identified as accuracy, power and accuracy & power. Thus, setup and trajectory were classified into accuracy elements, while differences of inter-joint angles, cocking and delayed hitting. Lastly, timing and axial movement were classified into accuracy & power elements. Three errors were identified in association with setup. The errors related with trajectory elements accounted for most (6) of the 20 errors. Three errors were determined for inter-joint angle differences, and one error was associated with cocking and delayed hitting. Lastly, one error was classified into timing error, while five errors were associated with axial movement. Finally, as a result of arranging the errors into a cross table, it was found that the errors were associated with each other between take-back and back-swing, take-back and follow-through, back-swing and back-swing top, and between back-swing and down-swing. Namely, an error would lead to other error repeatedly. So, it is more effective to identify all the errors for every form and correct them comprehensively rather than single out the errors and correct them one by one.

• 한국산업융합학회 논문집
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• 제24권3호
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• pp.301-306
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• 2021

In this paper, we propose a modified back-stepping control method in view of the dynamic model of mobile manipulator has the nonholonomic constraints, these constraints should be considered to design a tracking controller for the mobile manipulator. The conventional back-stepping controller includes the dynamics and kinematics of the mobile robot systems. and the modified adaptive back0stepping method is applied to constructing the controller. The proposed controller can realize the tracking trajectory of the reference path. The efficiency and robustness of this control method is demonstrated by the simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1989년도 하계종합학술대회 논문집
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• pp.679-684
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• 1989

In this paper, we describe the PTP notion of robot manipulators by neural networks. The PTP motion requires the inverse kinematic redline and the joint trajectory generation algorithm. We use the multi-layered Perceptron neural networks and the Error Back Propagation(EBP) learning rule for inverse kinematic problems. Varying the number of hidden layers and the neurons of each hidden layer, we investigate the performance of the neural networks. Increasing the number of learning sweeps, we also discuss the performance of the neural networks. We propose a method for solving the inverse kinematic problems by adding the error compensation neural networks(ECNN). And, we implement the neural networks proposed by Grossberg et al. for automatic trajectory generation and discuss the problems in detail. Applying the neural networks to the current trajectory generation problems, we can refute the computation time for trajectory generation.

• 한국대기환경학회지
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• 제22권2호
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• pp.179-189
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• 2006

Ambient gas phase mercury concentrations including elemental mercury ($Hg^0$) were measured at the Potsdam, Stockton, and Sterling sites in NY from 2000 to 2003. Also, concentrations of ambient reactive gaseous mercury (RGM; $Hg^{2+}$) were measured at the Potsdam site during one year. The contribution of RGM($4.2{\pm}6.4pg/m^3$) was about $0.2{\sim}3%$ of the total gas phase mercury concentration measured (TGM: $1.84{\pm}1.24,\;1.83{\pm}0.32,\;3.02{\pm}2.14ng/m^3$ in Potsdam. Stockton, and Sterling, respectively) at the receptor sites. Potential Source Contribution Function (PSCF), a hybrid receptor modeling incorporating backward trajectories was performed to identify source areas of TGM. Using PSCF, southern New York, North Carolina, and eastern Massachusetts were identified as important source areas in the United States, while the copper smelters and waste incinerators located in eastern Quebec and Ontario were determined to be significant sources in Canada. The Atlantic Ocean was suggested to be a possible mercury source. PSCF incorporating back-dispersion and deposition was applied for RGM , as well as PSCF based on 2-days back-trajectories. Two different approaches yielded considerably different results, primarily due to the consideration of dispersion rather than deposition. Using back-trajectory based PSCF, eastern Ohio, southern New York, and southern Pennsylvania where large coal -fired power plants area located were identified as the large sources in US. Metallurgical industry located in eastern Quebec was resolved as well. From the result of back-dispersion and deposition based PSCF, Pennsylvania, mining facilities around Lake Superior, Toronto, Boston, MA, Quebec, and coal power plants in NY were identified to be the significant source areas for Potsdam site.

• 한국환경과학회지
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• 제22권8호
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• pp.1043-1052
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• 2013

This study was conducted to investigate the correlations between the $PM_{10}$ concentration trend and meteorological elements in the Gimhae region and analyze the transportation routes of air pollutants through back-trajectory analysis. Among the air quality measuring stations in the Gimhae regions, the $PM_{10}$ concentration of the Sambangdong station was higher than that of the Dongsangdong station. Also, an examination of the relationships between $PM_{10}$ concentration and meteorological elements showed that the greater the number of yellow dust occurrence days was and the lower the temperature and precipitation were, the higher the $PM_{10}$ concentration appeared. Furthermore, a cluster analysis through the HYSPLIT model showed that there were 4 clusters of trajectories that flowed into the Gimhae region and most of them originated in China. The meteorological characteristics of the four clusters were analyzed and they were similar to those of the air masses that influence South Korea. These analyses found that meteorological conditions affect the $PM_{10}$ concentration.

• 대기
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• 제17권4호
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• pp.407-420
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• 2007

Optical characteristics of aerosols in Seoul are investigated from the measurements of sky radiance by Skyradiometer at Yonsei University from December 2005 to November 2006. Aerosol optical depth (AOD) shows a maximum in June due to weak ventilation and particle growth by aging process and hygroscopic effect. Single scattering albedo (SSA) and Angstrom Exponent (AE) show the lowest value in spring due to the Asian dust. It is clear that coarse mode is dominant in spring and fine mode is dominant in summer from the volume size distribution measured in this study. The explanations on the changes of aerosol loadings are provided through the correlation between AOD and AE, while the pattern of wavelength dependency related to particle size is shown through the correlation between SSA and AE. Backward trajectory analysis by HYSPLIT provides information about origin of aerosol, which allows us to classify the case according to the source region and the path distance. Although the direction of backward trajectory traces back mostly to west, coarse mode particle is dominant in the case of long pathway and fine mode particle is dominant in the case of short pathway. This discrepancy is caused by the regional difference of emitted particles.

• 한국항행학회논문지
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• 제16권4호
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• pp.586-592
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• 2012

비선형 시스템을 제어하는 효과적인 방법으로 신경망과 연동된 퍼지구조를 적용한 ANFIS 제어기를 이용되고 있다. 전통적인 ANFIS에서는 다차원의 입력에도 불구하고 단일출력에 대한 공정을 모델링하고 제어 하는데 사용된다. 멤버쉽 함수의 파라미터는 최소자승예측과 역전파 알고리즘을 이용하여 조정된다. 이동로봇의 경우에는 좌측과 우측의 바퀴를 각각 구동할 필요가 있다. 본 논문에서는 이동로봇의 궤적을 추적하기 위하여 2-입력 2-출력을 가진 ANFIS제어기를 적용한 제어시스템 구조를 제안하였다. 시뮬레이션을 통하여 제안된 구조가 이동로봇에 대한 가능한 제어기임을 확인할 수 있었다.

• 한국정밀공학회지
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• 제30권1호
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• pp.96-104
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• 2013

Study of human-robot Interaction gets more and more attention to expand the robot application for tasks difficult by robot alone. Developed countries are preparing for a new market by introducing the concept of 'Co-Robot' model of human-robot Interaction. Our research of direct teaching is a way to instruct robot's trajectory by human's handling of its end device. This method is more intuitive than other existing methods. The benefit of this approach includes easy and fast teaching even by non-professional workers. And it can enhance utilization of robots in small and medium-sized enterprises for small quantity batch production. In this study, we developed the algorithms for creating accurate trajectory from repeated inaccurate direct teaching and GUI for the direct teaching. We also propose the basic framework for direct teaching.

• 한국대기환경학회지
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• 제20권1호
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• pp.119-128
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• 2004

The nitrate concentrations in PM$_{2.5}$ and TSP measured at Gosan, Jeju Island, Korea, between March 1998 and February 2002, are discussed. Especially, the characteristics of high nitrate concentration days were analyzed. High nitrate concentration cases in PM$_{2.5}$ were highly correlated with anthropogenic species such as NH$_4$$^{[-10]}$ , and high nitrate concentration cases in TSP were highly correlated with crustal species such as nss-Ca$^{2+}$ and nss -Mg$^{2+}$ Backward trajectory analysis results show the cases of high correlation between nitrate and anthropogenic species occurred when the air parcels moved from China, and the cases of high correlation between nitrate and crustal species occurred when the air parcels moved from Mongolia. Also, high nitrate concentration cases occurred most often in spring (65%) when the air parcels moved from Mongolia and China.ina.