• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.893-900
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• 1994

In this study, workspace analysis has been performed for a Clemens Coupling type parallel robotic wrist with four degrees of freedom such as three angular degrees of freedom and 1 plunge motion. Because of plunge motion, this mechanism has no singular point that the general roll-pitch-roll mechanisms have. Also, proposed mechanism performs larger load, faster motion, with less weight and has better structural characteristics such as higher stiffness and strength to weight ratio compared with serial type mechanisms. As a basic step for position control, the closed form solution of forward and inverse kinematics are proposed and workspace is analyzed and plotted by applying triangle tracer method for workspace boundary tracing.

• 대한기계학회논문집A
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• 제26권1호
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• pp.67-73
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• 2002

The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers have been considered robustness fur only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness fur the variation of frequency and damping ratio.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.353-362
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• 2008

Operation data and fault data are recorded at the TCMS(Train Control and Monitoring System) of train are very important record for repairs and inspection of train. there are two ways to transfer the data today. one is using memory card and the other is using wireless communications. This paper is proposed about TCMS wireless depot analytical equipment that transfers data recorded in train to depot equipment via wireless method. The TCMS wireless depot equipment configuration is an AP(Access Point) and a central server PC at depot equipment. This method has the advantage of decrease of personnel expenses, collection time and convenience of staffs. This paper is verified about the utility of use, efficient establishment position of an AP at depot, the safety of data receiving, the exactitude of data and the shortening of transmission time. and this equipment is now operating at shin-jeong depot of SeoulMetro.

• Journal of Welding and Joining
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• 제18권6호
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• pp.55-61
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• 2000

Dynamic monitoring of weld pool formation and seam deviations using infrared vision is described in this paper. Isothermal contours representing heat dissipation characteristics during the process of arc welding were analysed and processed using imaging techniques. Maximum bead width and penetration were recorded and the geometric position in relation to the welding seam was measured at each sampling point. Deviations from the desired bead geometry and welding path were sensed and their thermographic representations were digitised and welding path were sensed and their thermographic representations were digitised and subsequently identified. Evidence suggested that infrared thermography can be utilized to compensate for inaccuracies encountered in real-time during robotic arc welding.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.127-133
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• 2001

The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers has been considered robustness for only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness for the variation of frequency and damping ratio.

• 반도체디스플레이기술학회지
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• 제10권1호
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• pp.83-89
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• 2011

In the case of the tracking system with an active camera, it is very difficult to guarantee real-time processing due to the attribute of vision system which handles large amounts of data at once and has time delay to process. The reliability of the processed result is also badly influenced by the slow sampling time and uncertainty caused by the image processing. In this paper, we figure out dynamic characteristics of pixels reflected on the image plane and derive the mathematical model of the vision tracking system which includes the actuating part and the image processing part. Based on this model, we find a controller that stabilizes the system and enhances the tracking performance to track a target rapidly. The centroid is used as the position index of moving object and the DC motor in the actuating part is controlled to keep the identified centroid at the center point of the image plane.

• 산업경영시스템학회지
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• 제18권36호
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• pp.297-306
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• 1995

An automatic transfer line consists of several stages(groups of stations) in series into one system by a common transfer mechanism and a common control system. In this system losses of the efficiency are evidenced in periods where a stage is forcod down- starved or blocked. The efficiency of an automatic transfer line can be improved by providing buffer storages between a stage or the length of line common senses there are several critical factors, system configurations relative position, and buffer capacity allocations in automatic transfer line are considered with a point of view production rates, average stock, and mean delay. The propose of this paper is to provide the robust designs by Taguchi method which improve the efficiency of four-stage transfer line.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 추계학술대회논문집
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• pp.455-461
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• 2000

A multichannel signal processing algorithm for generating real time virtual sound field was proposed. Evaluation of the system performance was done by an objective function that minimizes the difference between the real and generated signals at each control point. Since impulse responses at the surface of a rigid sphere show characteristics similar to those of real HRTF, a rigid sphere model was adequate to simulate the multichannel sound system. A two-channel system and two four-channel systems were studied with various combinations of source locations and speaker positions. The results show that a two-channel system has its best configuration when the angle spanned by the loudspeakers is less than $60^{\circ}$. In the case of four-channel systems, the overall performance was highly improved with one pair of speakers fixed at an optimal position. Left/right symmetry was a reasonable choice, but the additional front/back symmetry degraded the performance of system.

• 한국반도체및디스플레이장비학회:학술대회논문집
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• 한국반도체및디스플레이장비학회 2003년도 춘계학술대회 발표 논문집
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• pp.80-87
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• 2003

On this study, an End-Effector for the 300mm wafer transfer robot System is newly suggested. It is a mechanical type with $180^{\circ}$ rotating ranges and is composed of 3-point arms, two plate springs and single-axis DC motor. It is controlled by microchip for the DC motor control. To design, relationships on the gripping force and the wafer deformation is analyzed by FEM analysis. Criterion on gripping force of a suggested End-Effector is confirmed as $255 ~ 274g_f$ from experimental results. From experimented results on repeatable position accuracy, gripping force and gripping cycle times in a wafer cleaning system, we confirmed that the suggested End-Effector is well satisfied on the required performance for 300mm wafer transfer robot system.

• 대한원격탐사학회지
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• 제36권5_4호
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• pp.1209-1220
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• 2020

산림지역의 경우 도심지에 비해 무인항공사진측량 작업과정 중 하나인 지상기준점(ground control point, GCP) 측량이 제한적이며, 높은 산림 때문에 비가시권 비행으로 인해 안전문제가 발생한다. 이를 보완하기 위해 드론의 위치를 실시간으로 보정하는 RTK(real time kinematic) 드론과 지형정보를 기반으로 비행하는 3차원 비행 방식이 개발되고 있다. 본 연구는 산림지역에서 재난피해조사를 위한 드론의 활용방안을 제시하기 위해 1) GCP 측량을 통한 드론 맵핑(normal drone mapping), 2) 지형정보를 기반으로 비행하는 드론 맵핑(3D flight drone mapping), 3) RTK 드론을 이용한 드론 맵핑(RTK drone mapping) 3가지 방법을 통해 위치정확도를 평가하였으며, 그 결과 평면 위치오차는 2 cm, 높이오차는 13 cm 이내로 나타났다. 위치정확도 평가 후, 산사태 발생 면적을 계산하여 체적 값을 비교했을 때 세 가지 방법 모두 유사한 결과를 보였다. 본 연구에서는 3D flight drone mapping, RTK drone mapping을 통해 산림지역에서 드론 맵핑이 가지는 한계를 극복하고 재난피해조사의 활용 가능성을 확인하였다. 향후 다양하게 발생하는 재난상황을 감안하였을 때 재난지역의 여건에 따라 3가지 방법을 적절히 활용하면 보다 효과적인 피해조사를 수행할 수 있을 것으로 기대된다.