• Journal of Welding and Joining
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• v.8 no.2
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• pp.58-69
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• 1990

In conventional arc welding, position error of the weld torch with respect to the weld seam and variation of groove dimension are induced by inaccurate fitup and fixturing. In this study, a vision system has been developed to recognize and compensate the position error and dimensional inaccuracy. The system uses a structured laser light illuminated on the weld groove and perceived by a C.C.D camera. A new algorithm to detect the edge of the reflected laser light is introduced for real time processing. The developed system was applied to arbitarary weld paths with various types of joint in arc welding process. The experimental results show that the proposed system can detect the weld groove parameters within good accuracy and yield good tracking performance.

• Journal of Korea Game Society
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• v.10 no.6
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• pp.47-55
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• 2010

In this research, a chair type game controller has been developed. We implement pressure sensors on a chair so that user's whole body movements can be signalized. The signals linked to a game system. This process occurs a meaningful exercise effect. Because users can play exergame setting on the chair type game controller, it is reduces risk of physical injury such as falling down and the Joint pressure compared existing exergame controllers. Based on the advantages of seating, elderly and obese can be provided appropriate exergame.

• Journal of Navigation and Port Research
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• v.35 no.10
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• pp.847-853
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• 2011

The purpose of this study is to develope a series of business models for promotion of value added logistics activities of lumber hinterland in Incheon Northport. A set of policies to create value added developed are an import market diversification model using Incheon Northport, a model by building integration processing center by pallet facility, a model by joint logistics center, an export-oriented Pre-cut material development model and an export processing value added model.

• IEIE Transactions on Smart Processing and Computing
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• v.5 no.2
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• pp.85-93
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• 2016

The existence of correlation characteristics brings significant potential advantages to the development of efficient routing protocols in wireless sensor networks. This research proposes a new simple method of clustering sensor nodes into correlation groups in multiple-correlation areas. At first, the evaluation of joint entropy for multiple-sensed data is considered. Based on the evaluation, the definition of correlation region, based on entropy theory, is proposed. Following that, a correlation clustering scheme with less computation is developed. The results are validated with a real data set.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.178.2-178
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• 2001

Today, many electronic devices and ECUs (Electronic Control Units) are used in the automotive body control systems. It becomes more common that these devices exchange data with others through an in-vehicle network. Automobile manufacturers concentrate their efforts on development of body control systems based on networks in order to save cost and to increase flexibility and safety. OSEK/VDX has been founded as a joint project in German and French automotive industry aiming at an industry standard for an open-ended architecture for distributed control units in vehicles OSEK/VDX consists of Communication (specification of data exchange within and between control units), Network Management specification of Configuration determination and monitoring and Operating System (specification of realtime executive for ECU software ...

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.1
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• pp.16-20
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• 1999

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.6-105
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• 2002

Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.504-510
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• 1991

SAMSUNG Electronics has developed a SCAR.A robot system, SM3, which is applicable to several assembly, inspection, and adjustment tasks. This robot system drives by AC servo motors has attained a .theta.1 and .theta.2 axis maximum composite speed of 5.4 m/sec, a repeatability of .+-.05 mm, and a cycle time of 1.2 sea. The robot controller based on three 8086 and one 8087 processors consists of the main controller, the joint position controller, and the motor controller. The robot controller has plentiful self-diagnosis and control capabilities, and can be interfaced to other external device. The robot language FARAL Is designed such that every task is easily programmed. In this paper, the main features of the body, controller, and FARAL of SM3 will be described. In particular, the control method designed for a stable and fast robot motion will be explained. Finally, the future development will be addressed.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.16-20
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• 1988

This paper presents a new algorithm for solving the inverse kinematics in real-time applications. The end-tip movement of each link can be resolved into the basic resolution unit, .DELTA.l, which depends on link length, reduction ratio and resolution of the incremental encoder attached to the joint. When x- and y-axis projection of the end-tip movement are expressed in .DELTA.l unit, projectional increments .DELTA.x and .DELTA.y become -1, 0 or I by truncation. By using the incremental computation with these ternary value and some simple logic rules, a coordinate transformation can be realized. Through this approach, it should be noted that the floating-point arithmetic and the manipulation of trigonometric functions are completely eliminated. This paper demonstrates the proposed method in a parallelogram linkage type, two-link arm.

• Tuberculosis and Respiratory Diseases
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• v.79 no.1
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• pp.1-4
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• 2016

Tuberculosis (TB) remains a major public health problem in South Korea. The Joint Committee for the Development of Korean Guidelines for Tuberculosis published the Korean Guidelines for Tuberculosis in 2011 to provide evidence-based practical recommendations to health care workers caring for patients with TB in South Korea. After reviewing recent national and international scientific data on TB, the committee updated the Korean guidelines for TB in 2014. This article presents some practical issues related to the 2014 updated guidelines: namely use of the Mycobacterium tuberculosis-polymerase chain reaction assay and the Xpert MTB/RIF assay in the diagnosis of TB, as well as medical treatment for patients with multidrug-resistant TB.