• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1916-1917
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• 2011

A development of a new moving obstacle avoidance algorithm using a delay-time Compensation for a network-based autonomous mobile robot is proposed in this paper. The moving obstacle avoidance algorithm is based on a Kalman filter through moving obstacle estimation and a Bezier curve for path generation. And, the network-based mobile robot, that is a unified system composed of distributed environmental sensors, mobile actuators, and controller, is compensated by a network delay compensation algorithm for degradation performance by network delay. The network delay compensation method by a sensor fusion using the Kalman filter is proposed for the localization of the robot to compensate both the delay of readings of an odometry and the delay of reading of environmental sensors. Through some simulation tests, the performance enhancement of the proposed algorithm in the viewpoint of efficient path generation and accurate goal point is shown here.

• 한국생산제조학회지
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• 제9권4호
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• pp.75-84
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• 2000

The main goal of our research is to compensate the milled surface errors induced by the tool deflection effects, which occur during the milling process. First, we predict cutting forces and tool deflection amount. Based on predicted deflection effects, we model milled surface shapes. We present a compensation methodology , which can generate a new tool trajectory, which is determined so as to compensate the milled surface errors. By considering manufacturing tolerance, tool path compensation is generalized. To validate the approaches proposed in this paper, we treat an illustrative example of profile milling process by using flat end mill. Simulation and experimental results are shown.

• 대한기계학회논문집
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• 제14권6호
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• pp.1542-1551
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• 1990

본 연구에서는 직경오차를 최종 다듬질 가공 직전에 선반의 주축 정지 상태에 서 공구대에 부착시킨 전기마이크로미터로 측정하는 방법을 이용하여, 어떠한 공작물 형상에 대해서도 오차 측정경로를 NC 프로그램으로 자동 생성하고 이를 이용하여 직경 오차를 측정, 보정하는 알고리즘을 제안함과 동시에 수정된 최종 다듬질 가공용 NC프 로그램을 자동적으로 생성하는 시스템을 개발하고자 한다.

• 한국정밀공학회지
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• 제14권11호
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• pp.84-92
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• 1997

The purpose of this study is to develop a geometric error model and path compensation algorithm for rotating axes of the 5-axis machine tools, by a method to calibrate a rotary table using one master ball and three LVDTs. It was developed a new methodology to measure 3 translation errors of the rotary table and with a compensation procedure for setup errors of the master ball. The method is experimentally verified using a ball-table and on-machine inspection method. The results showed that the geometric error models with the path compensation strategy can be practically used as a means for improving the accuracy of the machine tools with rotary table.

• 한국정밀공학회지
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• 제21권4호
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• pp.95-102
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• 2004

It is necessary to improve the exactness and adaptation of the working environment in the intelligent robot system. The vision sensor have been studied for this reason fur a long time. However, it is very difficult to perform the camera and robot calibrations because the three dimensional reconstruction and many processes are required for the real usages. This paper suggests the image based visual servoing to solve the problem of old calibration technique and supports OLP(Off-Line-Programming) path compensation. Virtual camera can be modeled from the real factors and virtual images obtained from virtual camera gives more easy perception process. Also, Initial path generated from OLP could be compensated by the pixel level acquired from the real and virtual, respectively. Consequently, the proposed visually assisted OLP teaching remove the calibration and reconstruction process in real working space. With a virtual simulation, the better performance is observed and the robot path error is calibrated by the image differences.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.79-84
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• 1992

Path planning is an important task for optimal motion of a robot in structured or unstructured environment. The goal of this paper is to plan the optimal collision-free path in 3D, when a robot is navigated to pick up some tools or to repair some parts from various locations. To accomplish the goal, the Path Coordinator is proposed to have the capabilities of an obstacle avoidance strategy and a traveling salesman problem strategy (TSP). The obstacle avoidance strategy is to plan the shortest collision-free path between each pair of n locations in 2D or in 3D. The TSP strategy is to compute a minimal system cost of a tour that is defined as a closed path navigating each location exactly once. The TSP strategy can be implemented by the Hopfield Network. The obstacle avoidance strategy in 2D can be implemented by the VGraph Algorithm. However, the VGraph Algorithm is not useful in 3D, because it can't compute the global optimality in 3D. Thus, the Path Coordinator is used to solve this problem, having the capabilities of selecting the optimal edges by the modified Genetic Algorithm and computing the optimal nodes along the optimal edges by the Recursive Compensation Algorithm.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.376-381
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• 2001

This paper presents a methodology of machining error compensation by using Artificial Neural Network(ANN) model based on the inspection database of On-Machine-Measurement(OMM) system. First, the geometric errors of the machining center and the probing errors are significantly reduced through compensation processes. Then, we acquire machining error distributions from a specimen workpiece. In order to efficiently analyze the machining errors, we define two characteristic machining error parameters. These can be modeled by using an ANN model, which allows us to determine the machining errors in the domain of considered cutting conditions. Based on this ANN model, we try to correct the tool path in order to effectively reduce the errors by using an iterative algorithm. The iterative algorithm allows us to integrate changes of the cutting conditions according to the corrected tool path. Experimentation is carried out in order to validate the approaches proposed in this paper.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 추계학술대회 논문집
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• pp.34-38
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• 1992

Geometry based CAD/CAM system is hard to achieve "net shape machining" For a net shape machining, the machining errors should be compensated by off-line CAD/CAM system followed by on-line control system. In this paper, we investigate an off-line compensation scheme for the machining errors due to tool deflection in contouring operation. The significance of the deflection errors is first shown, and a compensation is sought via modifying the nominal tool path. In modification, tool deflection amount is iteratively compensated until the deflection amount is iteratively compensated until the deflected path results in the desired contour within a tolerance. The path modification algorithm has been tested via computer simulation. The developed algorithm can be used as a postprocessor for the current CAD/CAM system based on geometric modeling as a means for enhancing the machining accuracy.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.866-869
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• 2000

The finishing process for die is an important process because it has influence on final quality of products. And it is difficult to automatize finishing process so that the process has depended on expert's skill until now. However, recently a study on development of die automatic finishing machine has been progressed, and actually this machine is applied to fabrication of die. But die automatic finishing machine has the problems such as low supply rate and high machine price. In this paper 3-axis machine was applied to the die finishing. And to improve form accuracy of die finishing path was regenerated. The finishing path considered tilting of finishing tool. and variation of machining force with contacting point between finishing and workpiece.

• 한국정보통신학회논문지
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• 제25권1호
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• pp.50-55
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• 2021

다중경로 시스템은 유선망, LTE망, 위성망 등 다양한 망을 동시에 활용하여 데이터를 전송하는 시스템으로, 통신망의 전송속도, 신뢰도, 보안성 등을 높이기 위해 제안되었다. 본 논문에서는 이 시스템에서 각 망의 지연시간을 보상으로 하는 강화학습 기반 경로 선택 방안을 제안하고자 한다. 기존의 강화학습 모델과는 다르게, deep Q 학습을 이용하여 망의 변화하는 환경에 즉각적으로 대응하도록 알고리즘을 설계하였다. 네트워크 환경에서는 보상 정보를 일정 지연시간이 지나야 얻을 수 있으므로 이를 보정하는 방안 또한 함께 제안하였다. 성능을 평가하기 위해, 분산 데이터베이스와 텐서플로우 모듈 등을 포함한 테스트베드 학습 서버를 개발하였다. 시뮬레이션 결과, 제안 알고리즘이 RTT 감소 측면에서 최저 지연시간을 선택하는 방안보다 20% 가량 좋은 성능을 가지는 것을 확인하였다.