• Proceedings of the Korean Institute of Building Construction Conference
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• 2011.11a
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• pp.61-62
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• 2011

Construction plans for large construction projects are problems such as Incompatibility of information, omissions due to technical limitations of 2D CAD. In addition to, Plan established for the validation such as process, cost and construction technology plan is difficult. By occurring Frequent changes in the course of business, Inefficiency of management has occurred. In the construction process, there is occurred costs and construction delays due to reconstruction or communication error. In this study, It was deemed BIM will complement Existing 2D CAD problem. And, BIM case studies in the construction phase of domestic construction were analyzed, How to apply BIM in the construction phase investigated.

• Journal of the Korean Ceramic Society
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• v.45 no.10
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• pp.600-604
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• 2008

Although titanium-ceramic systems have gained substantial interests in dental prosthetic field, bonding problem between porcelain and titanium has not been solved. Main obstacle in titanium-porcelain bonding is excessive oxidation of titanium during porcelain firing. The effects of several coating materials on the bonding strength of titanium-porcelain system were investigated in this study. RF sputtering and electroplating of platinum significantly increased the bonding strength of porcelain-titanium specimen. However, coatings of Ni-Au, Ir, and ceramics(zirconia and hydroxyapatite) did not showed a significant effect on bonding strength. Platinum might be a promising material for the protective layer of excessive oxidation of titanium during porcelain firing, resulting in increase in the bonding strength.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.50.6-50
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• 2002

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a teleoperated mobile robot equipped with camera, the teleoperated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approachin...

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.6 no.4
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• pp.57-64
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• 2007

In the recent years, development of machine tool with high speed feeding system have brought a rapid increase in productivity. Practically, thermal deformation problem due to high speed is, however, become a large obstacle to realize high precision machining. In this study, therefore, the construction of automatic error compensation system to control thermal deformation in high speed feeding system with real time is proposed. To attain this purpose, high speed feeding system with feeding speed 60mm/min is developed and experimental equation for relationship between thermal deformation and temperature of ball screw shaft using multiple regression analysis is established. Furthermore, in order to analyze thermal deformation error, compensation coefficient is determined and thermal deformation experiments is carried out. From obtained results, it is confirmed that automatic error compensation system constructed in this study is able to control thermal deformation error within $15{\sim}20{\mu}m$.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.624-630
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• 2007

The dynamic window approach(DWA) is a well known technique for reactive collision avoidance. It shows safe and efficient performance in real-world experiments. However, a robot can get stuck in local minima because no information about the connectivity of the free space is used to determine the motion. The global DWA can solve this problem of local minima by adding a navigation function. Even with the global DWA, it is still difficult for a robot to execute an abrupt change in its direction, for example, entering from the corridor to a doorway. This paper proposes a modified global DWA using the included angles of waypoints extracted from an optimal path. This scheme enables the robot to decelerate in advance before turning into the doorway. Therefore the robot can reach the goal position more safely and efficiently at high speeds.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.5
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• pp.489-495
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• 2008

This paper offers a practical control scheme for driving mode transformation of a rescue robot already developed. The rescue robot, VSTR(Variable Single-Tracked Robot), has two driving modes, so can traverse untidy terrain and overcome obstacles such as stairs easily by use of timely driving mode transformation. Classical PI control scheme was used firstly for driving mode transformation, but stationary phenomenon, which might have a bad effect on the performance in real situation, came into existence. Therefore, we suggest a new controller, PI-based feedforward controller, which should be a good alternative for the problem, and compare it with other nonlinear control scheme.

• Progress in Superconductivity
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• v.1 no.2
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• pp.105-109
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• 2000

We have designed and fabricated a single-flux-quantum(SFQ) four-stage shift register using YBCO bicrystal Josephson junctions, and tested its operations using a digital measurement set-up. The circuit consists of 4 shift register stages and a read SQUID placed next to each side of the shift register. Each SQUID was inductively coupled to the nearby shift register stage. The major obstacle in testing the circuits was the interference between the two read SQUIDs, and we could get over the problem by determining the correct operation points of the SQUID from the simultaneously measured modulation curves. Loaded data ('1' or '0') were successfully shifted from a stage to the next by a controlled current pulse injected to the bias lines located between the stages, and the corresponding correct data shifts were observed with the two read SQUIDs.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.406-412
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• 1996

Optimal trajectory for a robot manipulator minimizing actuator torques or energy consumption in a fixed traveling time is obtained in the presence of obstacles. All joint displacements are represented in finite terms of Fourier cosine series and the coefficients of the series are obtained optimally by nonlinear programming. Thus, the geometric path need not be prespecified and the full dynamic model is employed. To avoid the obstacles, the concept of penalty area is newly introduced and this penalty area is included in the performance index with an appropriate weighting coefficient. This optimal trajectory will be useful as a geometric path in the minimum-time trajectory planning problem.

• Transactions of the Korean Society of Automotive Engineers
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• v.15 no.3
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• pp.1-9
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• 2007

A major concern for Autonomous Military Robot in the rough terrain is the problem of moving robot from an initial configuration to goal configuration. In this paper, We generate a local path to looking for the best route to move an goal configuration while avoiding known obstacle from world model, not violating the mobility constraints of robot. Trough a Simulator for Unmanned Autonomous Vehicle, We can simulate a traversability of unmanned autonomous vehicle based on steering, acceleration, braking command obtained from local path planning.

• Proceedings of the KIEE Conference
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• 2001.07a
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• pp.521-523
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• 2001

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 well as the analysis of energy saving effect. This paper presents the cost-effectiveness analysis for DSM program evaluation and case study to analyze inverter DSM program.