• Journal of information and communication convergence engineering
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• v.8 no.5
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• pp.591-594
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• 2010

Control devices perform various works for us in many areas. The device is being utilized for precision movement of certain object. In as much as control devices are activated by means of motors, motor control is important.[1][2] Generally, servo motors capable of precision control are more frequently used than DC motors. Use of 3 motors allows 3- way movement. Medical controllers for surgical operation require high precision. [3][4][5][6] AX-12, a servo motor can realize various types of movement. AX-12 can be easily manufactured in the form of a robotic arm and has features that MCU and its peripheral circuits are simple. For precision movement, 3 motors can be controlled by use of a single joystick and 2 buttons, with movement angles being adjusted by having preset values in the program changed.[7][8] By virtue of this study, we have realized small precision robotic arm system utilizing single joystick and 2 buttons. This system can control the robotic arm in the direction desired by the user. The system has been designed such that a joystick controls 2 motors with the remaining motor being controlled by a button. Single MCU is tasked with both control and movement.[9] We have shown precision robotic arm system in the Figure contained in the conclusion part and made reference to results of analysis in there. It has also been demonstrated that the system can be utilized in the industry.[8]

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.06a
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• pp.547-548
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• 2009

• Journal of the Korean Society for Precision Engineering
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• v.24 no.3 s.192
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• pp.76-83
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• 2007

The Taguchi method is applied to obtain the optimal design of an automotive pedal arm in consideration of the stiffness test specification. Design parameters are defined to describe shape of the pedal arm. Volume, maximum Von-Mises stress and maximum displacement of the pedal arm are established as the smaller-the-better characteristics. Optimal parameters are determined on the basis of the analyzed level averages of the characteristics.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.3
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• pp.202-209
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• 2003

We succeeded to build a cost effective assistance robotic arm with a compact and lightweight body. The robotic arm has three joints, and the tip of robotic arm to install tools consists of a closed link mechanism, which consisted of two actuators and several links. The robotic arm has been made possible by the use of actuators typically used in radio control devices. The controller of the robotic arm consists of a single chip PIC only. The robotic arm has a friendly user interface, as the operators are aged and disabled in most cases. The operator can manipulate the robotic arm by voice commands or by pressing a push button. The robotic arm has been successfully prototyped and tested on an elderly patient to assist with eating. The results of field test were satisfactory.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.289-290
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• 2012

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.272-282
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• 2001

Uncertainties are the main reasons of deterioration of contour control of industrial articulated robot arm. In this paper, a high-precision contour control method was proposed to overcome some main uncertainties, such as torque saturation, system delay dynamics, interference between robot links, friction, and so on. Firstly, each considered factor of uncertainties was introduced briefly. Then proper realizable objective trajectory generation was presented to avoid torque saturation from objective trajectory. According to the model of industrial articulated robot arm, construction of Gaussian neural network controller with considering system delay dynamic, interference between robot links and friction was explained in detail. Finally, through the experiment and simulation, the effectiveness of proposed method was verified. Furthermore, based on the results it was shown that the Gaussian neural network controller can be also adapted for the various kinds of friction and high-speed motion of industrial articulated robot arm.

• Proceedings of the Korea Information Processing Society Conference
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• 2022.11a
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• pp.21-23
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• 2022

ARM 아키텍처를 사용하는 임베디드 시스템에서 int8, fp16, fp32 데이터를 조합하여 c/c++로 작성된 mixed precision CNN 을 실행시키기 위한 프레임워크 구성으로, 네트워크의 레이어마다 다른 정밀도를 사용하여 네트워크 경량화 및 추론 정확도 향상을 위한 최적의 설정을 탐색하는 실험 및 분석이 가능토록 하는 것을 목적으로 한다. 주요 구성은 network forwarding 중 레이어의 입력이 레이어에 설정된 정밀도와 다를 경우 실행되는 양자화/반양자화를 c/c++로 바인딩된 tensorflow 의 quantization 모듈을 사용하여 진행하고 ARM 시스템에서 c/c++의 fp16 을 사용하기 위해 fp16 를 컴파일이 가능한 ARM compiler 를 사용하는 프레임워크를 제안한다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1944-1947
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• 2005

In this paper, the control of a prosthetic arm using the flex sensor signal is described. The flex sensors are attached to the biceps and triceps brchii muscle. The signals are passed a differential amplifier and noise filter. And then the signals are converted to digital data by PCI 6036E ADC. From the data, position and velocity of arm joint are obtained. Also motion of the forearm - flexion and extension, the pronation and supination are abstracted from the data by proposed algorithm. A two D.O.F arm with RC servo-motor is designed for experiment. The arm length is 200 mm, weight is 4.5 N. The rotation angle of elbow joint is $120^{\circ}$. Also the rotation angle of the wrist is $180^{\circ}$. Through the experiment, we verified the possibility of the prosthetic arm control using the flex sensor signal. We will try to improve the control accuracy of the prosthetic arm continuously.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.11
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• pp.58-65
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• 2008

The study on dual arm robot manipulator which consists of two 6-DOF srms and one 2-DOF torso is introduced. This dual arm robot manipulator is designed for automation of assembly process in automotive manufacturing line. Each industrial 6-DOF arm can be used as a stand-alone type of industrial robot manipulator with 6-DOF and as a manipulator part of dual arm robot at the same lime. These structures help the robot maker willing to succeed in emerging market of dual arm robots have the high competitive power for the current industrial robot market and the emerging market of dual arm robot at the same time. The research results of the design concept, workspace analysis and the PC-based controller will be introduced.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.6
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• pp.78-85
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• 2007

In this study, we performed finite element analysis for the design of a medical centrifuge and two-types of centrifuge were compared with each other. The types of centrifuge are 2-arm straight type and 3-arm type. Structural analysis was done with respect to the change of the rotational speed of the rotor of a centrifuge. When the rotor of centrifuge was rotated, the von Mises stress of 2-arm straight type-rotor was compared with the von Mises stress of 3-arm type. The margin of safety was estimated from the result. We found the critical speed of centrifuge from the campbell diagram by modal analysis.