• CDE review
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• v.11 no.2
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• pp.15-22
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• 2005

Presented in the paper is an approach to developing an intelligent mold shop as a means to overcome the difficulties faced by mold-makers due to skill shortages and increased global competition. A machine shop where as much as of the human skills are replaced by a set of intelligent systems is called an intelligent machine shop, and an intelligent mold-making machine shop is called an intelligent mold shop(MS). By analyzing the contents of operator's skill. three intelligent S/W stations have been designed: Technical Data Processing(TDP) Station, Loading Schedule Station, and Real-time Monitoring Station. A detailed architecture of the TDP station is described, and measures of effectiveness of IMS are elaborated.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1285-1288
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• 1997

The basic technology of virtual reality can be described as the cognition of the condition change in virtual world by stimulating the visual, auditory, kinesthetic and tactile sensation. Among these, the kinesthetic and tactile sensation is one of the most important things to recognize the interaction. In this paper, it is addressed the haptic device which help the human feel the sense of the operator, and is designed in modular type to expand for five fingers later. the haptic device is driven by tendon and ultrasonic motors located in the wrist part. Each joint is actuated by coupled tendons and adopts more actrator by one than the number of the joints, called 'N+1 type'. The haptic device adopts metamorphic 4-bar linkage structure and the length of linkages, shape and the location of joint displacement sensor are optimized through the analysis.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.516-519
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• 1997

In this paper, the control of the temperature for the vehicle air conditioner is implemented with the fuzzy controller using a micro controller. The linguistic control rules of the fuzzy controller are separated into two out variables(multi input multi output ; MIMO) : one is those for the blower motor, and the other is those for air mix door. The error in fuzzy controller, the input variable is defined as difference between the reference temperature and the actual temperature in the cabin room. The fuzzy control rules are established from the human operator experience, and based engineering knowledge about the process. The method of the center of gravity is utilized for the defuzzification.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1541-1544
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• 1997

The rehailitation robot, one of the service robot, is the important area in the service automation. In the paper, we describe the overall configuration of KARES(KAIST Rehabilitation Engineering System), which is an intellingent rehabilitaion robotic system designed to assist the independent livelihood of the handicapped and the eldrly. KARES consists of the 6 degree of freedom robot arm mounted on a wheelchair, the controller ofr the arm, sensors to perceive environment, and user interface. Basic desired hobs in KARES are gripping the target object and moving it to the user's face for eating, drinking, or cooperation work wiht the mouth. Currently, the manual operation of the arm is available for gripping to target objects. The autonomous functionality will be ginven for the facilities of the human operator.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.757-763
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• 2002

A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force from it. A control algorithm of haptic interface has been studied to improve the robustness and stability to uncertain dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model fur a 6 DOF haptic device was proposed to from a real time control system, which does not include nonlinear components. LQC/LTR scheme was adopted in this paper for the compensation of un-modeled dynamics. The recovery of the farce from the remote robot at the haptic interface was demonstrated through the experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1131-1135
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• 2004

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. However, the force feedback using active actuators such as motors can make the system active and sometimes unstable. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic device. A brake can generate a torque only against its rotation, but it is intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with both motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. For various haptic effects, contact with the virtual wall and representation of friction effect are extensively investigated in this paper. It is shown that the hybrid haptic system is more suited to some applications than the motor-based active haptic system.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.681-690
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• 2007

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2911-2914
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• 2003

Conventionally, biological manipulations have been performed manually with long training and pretty low success rates. To overcome this problem, a novel biological manipulation system has been developed to manipulate biological cells without any interference of a human operator, In this paper, we demonstrate a development of tole-autonomous Cell Manipulation System (CMS) using an image processing at a remote site. The CMS consists of two manipulators, a plane stage, and an optical microscope. We developed deformable template-model-matching algorithm for micro objects and pattern matching algorithm of end effect for these manipulators in order to control manipulators and the stage. Through manipulation of biological cells using these algorithms, the performance of the CMS is verified experimentally.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.10
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• pp.1294-1304
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• 1995

In this paper, a method has been proposed for the fully automatic detection of left ventricular endocardial boundary in B-mode short axis echocardiography without manual intervention by human operator. The proposed method makes use of the weighted model that approximates to endocardium and incomplete edge information for echocardiography. Therefore, this method is more effective than boundary detection by only edge information. The implementation of this method is as follows. First, the proposed algorithms are used in order to detect the approximate boundary, then a weighted model with the approximate boundary is constructed. Finally, the cavity center of the left ventricle performing the Hough transform with the weighted model and edge image can be found automatically, and then the endocardial boundary using detected center, original image, weighted model, and edge image can be detected. validations of this method with experimental results on echo image of dog's heart and clinical echocardiography is verified.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.1 s.173
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• pp.196-205
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• 2000

Computed Tomography (CT), Nuclear Magnetic Resonance Imaging (MR1) and some ultrasound techniques make it possible to obtain cross sections of human body or mechanical parts. In CAD system, a series of sectional surfaces can also be obtained from solid models of 3D objects. In this paper we introduce a tetrahedral meshing algorithm from these series of general sections using basic operators. In this scheme. general sections of three-dimensional object are triangulated first and side surfaces between two sections are triangulated by the use of tiling process. Finally tetrahedral meshing process is performed on each layer of 3D objects, which is composed of two general sections and one side surface.