• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1853-1858
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• 2004

This paper presents the development of a full order sliding mode controller for tracking problem of a class of uncertain dynamical system, in particular, the direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust fullorder sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.803-807
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• 2003

Tele-operation and remote monitoring techniques are essential and important technologies for performing the inspection and repair tasks effectively in nuclear power plants. This paper presents the application of a mobile robot for the remote monitoring and inspection of the Calandria faces, where human access is limited because of the high-level radioactive environments during full power operation. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, can be extended up to 8 m vertically. This robot was also equipped a visible CCD/thermal infrared inspection head module and a stereo camera module for the enhancement of visual inspection.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2677-2680
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• 2003

This paper describes the implementation of a 4 channel embedded DVR system. It receives analog video from CCD cameras and converts to 640${\times}$480 CCIR-656 digital video by 30 frames/sec. These digital images are compressed to the wevelet transformed image using hardware codec which is capable of 350:1 real-time compression and decompression. The DVR is working on linux and it implemented on an embedded system which is based on StrongARM processor. For the interface between processor system module and image processing module, GPIO and memory control module are used, device drivers are developed. Linux kernel source is customized. This paper provides techniques of embedded system development and embedded linux porting.

• Proceedings of The KACE
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• 2017.08a
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• pp.197-199
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• 2017

재난 상황이나 우주 공간과 같은 환경에서는 인간이 직접 작업을 수행하기가 매우 어렵다. 따라서 이러한 환경에서 인명 구조나 탐사 등을 진행할 때에는 원격으로 제어가능한 로봇을 활용하는 것이 효과적이다. 특히 이 로봇이 인간의 움직임을 실시간으로 모방한다면 직관적이고 순발력 있는 제어가 가능해진다. 본 연구에서는 키넥트 센서를 이용해 인간의 움직임을 인식하고 이 움직임을 모방하는 로봇핸드와 로봇암을 구현하였다. 하드웨어는 TETRIX와 EV3 플랫폼을 이용하여 설계하였고, 소프트웨어는 C# 기반의 KINECT for Windows SDK와 Visual Studio 2015로 구현하였다. 본 연구에서 구현한 시스템은 재난 현장에서의 인명 구조, 복구 상황에서와 우주 공간에서의 탐사 상황에서 유용하게 사용될 수 있을 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.446-450
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• 1993

In this paper we propose an arc welding robot system, where two robots works coordinately and employ the vision sensor. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. The vision sensor consists of two laser slit-ray projectors and one CCD TV camera, and is mounted on the top of one robot. The vision sensor detects the 3-dimensional shape of the groove on the target work which needs to be weld. And two robots are moved coordinately to trace the grooves with accuracy. In order to realize fast image processing, totally five sets of high-speed parallel processing units (Transputer) are employed. The teaching tasks of the coordinated motions are simplified considerably due to this vision sensor. Experimental results reveal the applicability of our system.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.3
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• pp.8-14
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• 2007

The geometry in the weight reduction design is very required to be started from the conceptual design with low cost, high performance and quality. In this point, a topological shape fur optimization concerned with conceptual design of structure is important. The method used in this paper combines three optimization techniques, where the shape and physical dimensions of the structure and material distribution are hierachically optimized, with the maximum rigidity of structure and lightweight. As the applications, the technology of weight reduction design is applied on designs of aluminum control arm and inner panel of hood.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.12
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• pp.148-161
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• 1998

We investigate a design methodology for master arm which is employed in remote-site control. Though counter-balancing has been employed for the purpose of lessening the actuator loads, it results in the increase of dynamic load at the task position. Therefore, there exists a trade-off between counter-balancing and dynamic performance. The concept of a composite index is introduced to simultaneously consider those two effects in the design of master arms. Several alternative designs of master arms are suggested.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.233-238
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• 2001

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link represented to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M to model complex shaped links systematically and by eleminating elastic mode of higher order that does not largely affect option to reduce the number of elastic degree of freedom. Finally presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control.

• The Journal of Korean Physical Therapy
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• v.17 no.4
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• pp.493-504
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• 2005

The purpose of this study is to determine the effect of constraint-induced movement therapy on the involved hand function and ADL in stroke patients. Five subjects with fixing unaffected arms by CIMT were assigned to the experimental patient group and the other five patients to control group without fixing unaffected arms. The function of hand for both groups were evaluated by using Jebsen-Taylor hand function test and ADL for both groups were evaluated by FIM(Functional Independence Measure) before and after task practice. In conclusion, results of this study showed that improved hand function and ADL by CIMT in stroke patients. We concluded that CIMT can improved the involved hand function and ADL in stroke patients.

• Annual Conference of KIPS
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• 2017.04a
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• pp.395-398
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• 2017

최근 국내외에서 창의인재 양성을 위한 컴퓨터과학 교육을 강화하고 있다. 현재 대부분의 프로그래밍 언어는 국내 초보자들이 배우기에 여러 가지 진입 장벽이 존재한다. 그 중 대표적인 이유는 쉽게 흥미를 갖지 못한다는 것이다. micro:bit는 소프트웨어 교육을 위해 영국에서 2015년 개발한 ARM 기반의 임베디드 시스템이다. 내장된 LED 출력 등 다양한 기능과 개발 방식을 지원하여 프로그래밍을 배우는 초보자들의 흥미를 유발시키기 충분하다. 하지만 영어와 숫자만 LED에 출력되며 개발도구에서 한글 메뉴를 지원하지 않아서 국내 학생들이 사용하기에 매우 불편하다. 본 논문에서는 이를 해소하기 위해 micro:bit의 한글 LED 출력과 한글 프로그래밍 환경을 구성하였다. 테스트 결과 정상적으로 한글 프로그래밍 환경이 동작하며 한글 LED 출력이 수행됨을 확인하였다.