• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.500-503
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• 2003

The navigation problem of robot is one of the main themes to deal with conficts or interferences between obstacles and the robot itself In this case, while the robot avoids obstacles on the space, the passage route should be determined efficiently. In order to solve problems above, we have come up with the distance field space medel (DFM) and then, under known environment, we have presented the distance field A algorithm for passage route path search. In this research, the method of performing the 3-dimensional passage route path search of robot under unknown environment is proposed. It is shown that the authors can build the distance search model the does not need space division by taking into account of sensor information to a distance field space model, and constructing this information as virtual obstacle information.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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• pp.301-305
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• 2001

Conventionally, robot control algorithms are divided into two stages, namely, path or trajectory planning and path tracking(or path control). This division has been adopted mainly as a means of alleviating difficulties in dealing with complex, complex, coupled manipulator dynamics. The minimum-time manipulator control problem is solved for the case when the path is specified and the actuator torque limitations are known. In path planning, DP is applied to applied to find the shortest path form initial position to final position with the assumptions that there is no obstacle and that each path is straight line. In path control, the phase plane technique is applied to the minimum-time control with the assumptions that the bound on each actuator torque is a function of joint position and velocity or constant. This algorithm can be used for any manipulator that has rigid link, known dynamics equations of motion, and joint angles that can be determined at a given position on the path.

• 대한기계학회논문집B
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• 제32권1호
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• pp.23-29
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• 2008

Two high resolution compressive schemes, CICSAM(Ubbink, 1997) and HRIC(Muzaferija & Peric, 1999), in interface capturing method are reviewed briefly with respect to the extended forms suitable for unstructured meshes. And then those are applied to three typical test cases of translation test, shearing flow test and collapsing water problem with an obstacle. It is accomplished by implementing the high resolution schemes in the in-house CFD code(PowerCFD) for computing 3-D flow with an unstructured cell-centered method, which is based on the finite-volume technique and fully conservative. The calculated results show that CICSAM is better than HRIC with respect to accuracy and robustness, although either scheme can be used as a good choice for free surface or two-phase flow simulation.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2011년도 한국컴퓨터종합학술대회논문집 Vol.38 No.1(A)
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• pp.352-354
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• 2011

The performance of multihop cognitive radio networks (CRN) can be improved significantly by using multiple channels in spectrum underlay fashion. However, interference due to the sharing of common radio channel and congestion due to the contention among those flows that share the same links become an obstacle to meet this challenge. How to control efficiently congestion and allocate power optimally to obtain a high end-to-end throughput is a key objective in this work. We reexamined the Network Utility Maximum (NUM) problem with a new primary outage constraint and proposed a novel resource allocation strategy to solve it effectively and efficiently.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 A
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• pp.370-371
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• 2006

The electric demand increase, financial need for new power plant constructions and environmental problem have led to search for more efficient energy Production and energy conservation technology. To minimize the construction of power plants and reduce total power consumption include installation of inverters to motors used for pumps and fans. However, the high price of inverters is the biggest obstacle to their wide use. Accordingly, to maximize the effect of energy saving by the expanded use of inverters, governmental economic support as ell as the analysis of energy saving effect. his paper presents he present state analysis of inverter DSM program and propose he improvement for activation of inverter DSM program.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 A
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• pp.242-243
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• 2006

The compatibility between different automation devices hasn't been difficult any longer while the new standard IEC61850 is imposed which provides efficient implementation on both embedded and non-embedded system. While implementing the substation automation, different devices from different company may be an obstacle to system designing. However, with the help of IEC61850 this problem can be neglected. In this paper the newest development of the demo system based on IEC61850 will be introduced.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
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• pp.261-265
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• 2005

In this paper, we constructed the infrastructure with wireless LAN and Access Point in the indoor environment and implemented the teleoperation. Wireless LAN based teleoperation system is irregular communication delay according to environment condition and occurrence possibility of blackout is very high. In this paper, In case these problem happened, we measured communication delay time by real time, and did mobile robot to control harmoniously through vision and force reflection information. Also, we present obstacle-avoidance mode that mobile robot can travel without collision using direction information in case communication delay time is large. We proved usefulness of presented algorithm through teleoperation experiment to apply presented algorithm.

• 한국반도체및디스플레이장비학회:학술대회논문집
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• 한국반도체및디스플레이장비학회 2007년도 춘계학술대회
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• pp.139-143
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• 2007

The need for technological developments of lithography equipment is urgent for the stable production in response to the rapid growth of the recent display industry. As an example, the products currently in the market face alteration problems resulting from excessive weight of the mask holder part. This is one of obstacle for the automation of the equipment. In response, the mask holder part problem has been minimized through FEM and design of experiments in order to optimize the situation with minimized Deflection and reduced mass for satisfactory replacement of the mask holder part.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2337-2341
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• 2005

This paper presents the target detection method using Support Vector Machines(SVMs) and the navigation system using behavior-based fuzzy controller. SVM is a machine-learning method based on the principle of structural risk minimization, which performs well when applied to data outside the training set. We formulate detection of target objects as a supervised-learning problem and apply SVM to detect at each location in the image whether a target object is present or not. The behavior-based fuzzy controller is implemented as an individual priority behavior: the highest level behavior is target-seeking, the middle level behavior is obstacle-avoidance, the lowest level is an emergency behavior. We have implemented and tested the proposed method in our mobile robot "Pioneer2-AT". Comparing with a neural-network based detection method, a SVM illustrate the excellence of the proposed method.

• 한국결정성장학회지
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• 제23권3호
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• pp.119-123
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• 2013

Most of the world's solar cells in photovoltaic industry are currently fabricated using crystalline silicon. Czochralski-grown silicon crystals are more expensive than multicrystalline silicon crystals. The future of solar-grade Czochralski-grown silicon crystals crucially depends on whether it is usable for the mass-production of high-efficiency solar cells or not. It is generally believed that the main obstacle for making solar-grade Czochralski-grown silicon crystals a perfect high-efficiency solar cell material is presently light-induced degradation problem. In this work, the substitution of boron with gallium in p-type silicon single crystal is studied as an alternative to reduce the extent of lifetime degradation. The diamond-wire sawing technology is employed to slice the silicon ingot. In this paper, the quality of the diamond wire-sawn gallium-doped silicon wafers is studied from the chemical, electrical and structural points of view. It is found that the characteristic of gallium-doped silicon wafers including texturing behavior and surface metallic impurities are same as that of conventional boron-doped Czochralski crystals.