• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.1
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• pp.15-24
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• 1996

This paper presents a new method for visual servoing to control the pose(position and orientation) of the robotic manipulators for grasping the 3-D moving object whose initial pose and moving informations are unknown by using the stereo camera. The stereo camera is mounted on the end-effector of robotic manipulator. In order to track the current pose of robotic manipulator to the desired pose, we use the image Jacobian, which is described by the differential transform, relating the change in image feature point to the change in the object's pose with respect to the camera. In this paper the simple PD controller is adopted for the robotic manipulator to track the desired pose. Finally, the effectiveness of the proposed method is confirmed by some computer simulations.

• International Journal of Aeronautical and Space Sciences
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• v.6 no.2
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• pp.64-75
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• 2005

The Stratospheric Airship Platform (SAP) has a capability of performing the autonomous and guidance flight to satisfy given missions. To be used as the High Altitude Platforms (HAPs), the capabilities of controlling platform's accurate position and keeping the station point are the most important features. Under this circumstances Autonomous Flight Control System (AFCS) is a critical system and plays a key role in achieving the given requirements and succeeding in missions. In this paper, the design and analysis results of the AFCS algorithms and controller are presented. The brief summary of the AFCS hardware structure is also explained. The autopilot controller and guidance logics were designed based on the linear dynamics of the unmanned airship platform and the full nonlinear dynamics was considered to evaluate and verify their performances.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.417-420
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• 1987

For an increased level of productivity, it is important that the end-point of a robot manipulator moves from an initial location to final position in the minimum time subject to the available maximum actuator's torque (or force) at each joints. The main issue is to develop an algorithm to compute the actuators in real-time. In this paper, a digital state feedback control algorithm has bean developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm have been established using numerical simulations. A three-link manipulator in chosen for this purpose and results are discussed for three different combinations of initial and final station.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.10
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• pp.1051-1056
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• 2014

In this paper, we introduce an intelligent robotic arc welding system which exploits sensors like as LVS (Laser Vision Sensor), Hall effect sensor, voltmeter and so on. The use of industrial robot is saturated because of its own limitation, and one of the major limitations is that industrial robot cannot recognize the environment. Lately, sensor-based environmental awareness research of the industrial robot is performed actively to overcome such limitation, and it can expand application field and improve productivity. We classify the sensor-based intelligent arc welding robot system by the goal and the sensing data. The goals can be categorized into detection of a welding start point, tracking of a welding line and correction of a torch deformation. The Sensing data can be categorized into welding data (i.e. current, voltage and short circuit detection) and displacement data (i.e. distance, position). This paper covers not only the explanation of the each category but also its advantage and limitation.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.198-203
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• 2004

In these days, the orthodontic surgery including lingual orthodontics has attracted a person' attention due to its functional and esthetic appreciation. The delivery of the optimal orthodontic treatment is greatly influenced by clinician' ability to predict and control the tooth movement by applying force system to dentition. The skeletal anchorage system with the miniscrew has been used recently in the lingual orthodontics to assist the anchorage control. Precise understanding of the force system produced from the various orthodontic appliances is necessary. However, the qualitative and quantitative effect of the miniscrew has not been identified well. In this paper, three dimensional finite element analysis is introduced on the lingual orthodontics to investigate the effect of anterior retraction force on the miniscrew and transpalatal arch wire. The purpose of this study is to determine the location of the miniscrew and the point of force application of the anchorage system in the lingual orthodontics. The analysis results indicate the efficient position of the miniscrew and the transpalatal arch wire in the lingual orthodontics.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.384-391
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• 1998

When a device is mounted on the PCB, it is impossible to have zero defects due to many unpredictable problems. Among these problems, devices with bent corner leads due to mis-handling and which are not placed at a given point measured along the axis are principal problem in SMT(Surface Mounting Technology). It is obvious that given the complexity of the inspection task, the efficiency of a human inspection is questionable. Thus, new technologies for inspection of SMD(Surface Mounting Device) should be explored. An example of such technologies is the Automated Visual Inspection(AVI), wherein the vision system plays a key role to correct this problem. In implementing vision system, high-speed and high-precision are indispensable for practical purposes. In this paper, a new algorithm based on the Radon transform which uses a projection technique to inspect the FIC(Flat Integrated Circuit) device is proposed. The proposed algorithm is compared with other algorithms by measuring the position error(center and angle) and the processing time for the device image, characterized by line scan camera.

• Journal of Drive and Control
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• v.13 no.2
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• pp.26-33
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• 2016

This paper describes of a mathematical and real experimental analysis for a walking robot which uses servo valve driven hydraulic actuator. Recently, many researchers are developing a walking robot based on hydraulic systems for the difficult and dangerous missions such as walking in the rough terrain and carrying a heavy load. In order to design and control a walking robot, the characteristics of the hydraulic actuators in the joint through the view point of walking such as controllability and backdrivability must be analyzed. A general mathematical model was used for analysis and proceeds to position and pressure changes characteristic of the input and backdrivability experiment. The result shows the actuator is a velocity source, had a high impedance, the output stiffness is high in contact with the rigid external force. So stand above the controller and instruments that complement the design characteristics can be seen the need to apply a hydraulic actuator in walking robot.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.6
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• pp.309-316
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• 2018

The high-resolution satellite images provided by Kompsat-3A, a multipurpose satellite, have various applications such as digital map generation, 3D image generation, and DEM generation. In order to utilize high-resolution satellite images, the user must create an orthoimage in order to use the image in a suitable manner. The position and the number of the ground reference points affect the accuracy of the orthoimage. In particular, the Kompsat-3A satellite image has a high resolution of about 0.5m, so the difficulty in selecting the ground control points and the accuracy of the selected point will have a great influence on the subsequent application process. Therefore, in this study, we analyzed the influence of the number of ground reference points on the accuracy of the terrestrial satellite images.

• Journal of the Korea Society of Computer and Information
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• v.24 no.6
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• pp.109-115
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• 2019

Smart Factory is a part of and a key point of the 4th industrial revolution. It performs optimization from the whole viewpoint, using comprehensive data of the post-process data by utilizing various sensors, controllers, and mobile devices beyond the existing factory automation level. In this paper, we design and implement an IoT platform that can detect the safety factors of the workers, the environmental factors of the factory, and real time monitoring at the control center, among the fields to implement smart factory. To accomplish this, we construct a monitoring device that provides sensor information control, server transmission of sensor information, and visualization of collected information. By using this system, it is possible to maintain the temperature and humidity for the optimum working environment in the factory. and also, By using the beacon, it is possible to measure the working time of the worker and trace the position.

• The Journal of Korean Physical Therapy
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• v.33 no.3
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• pp.162-167
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• 2021

Purpose: A hyperextended knee is described as knee pain associated with an impaired knee extensor mechanism. Additionally, a hyperextended knee may involve reduced position sense of the knee joint that decreases the individual's ability to control end-range knee extension movement. The purpose of this study was to investigate the effects of visual biofeedback information for plantar pressure distribution on knee joint angle and lower extremity muscle activities in participants with hyperextended knees. Methods: Twenty-three participants with hyperextended knees were recruited for the study. Surface electromyography signals were recorded for the biceps femoris, rectus femoris, gastrocnemius, and tibialis anterior muscle activities. The plantar pressure distribution was displayed and measured using a pressure distribution measuring plate. Knee joint angle kinematic parameters were recorded using a motion analysis system. The visual biofeedback condition was the point at which the difference between the forefoot and backfoot plantar foot pressure on the monitor was minimized. The Wilcoxon signed-rank test was used to determine the significance between the visual biofeedback condition and the preferred condition. Results: The knee joint angle was significantly decreased in the visual biofeedback condition compared to that in the preferred condition (p<0.05). The rectus femoris and gastrocnemius muscle activities were significantly different between the visual biofeedback and preferred conditions (p<0.05). Conclusion: The results of this study showed that visual biofeedback of information about plantar pressure distribution is effective for correcting hyperextended knees.