• Proceedings of the Korean Operations and Management Science Society Conference
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• 1995.04a
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• pp.79-90
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• 1995

The material handling equipment selection, that is a key task in the material handling system design, is a complex, difficult task, and requires a massive technical knowledge and systematic analysis. It is invaluable to justify the selected equipment model by the performance evaluation before its actual implementation. This paper presents an intelligent knowledge-based expert system called "IMESE" created by authors, for the selection and evaluation of material handling equipment model suitable for movement and storage of materials in a manufacturing facility. The IMESE is consisted of four modules: a knowledge base to select an appropriate equipment type, a multiple criteria decision making procedure to choose the most favorable commercial model of the selected equipment type, a database to store the list of commercial models of equipment types with their specifications, and simulators to evaluate the performance of the equipment model. The whole process of IMESE is executed under VP-Expert expert system environment.vironment.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.905-908
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• 1987

A human operator has the ability to control a complicated system such as a gantry crane, an aircraft and a remote manipulator after enough training and learning. In this article, we attempt the positioning experiment of a flexible arm by a human operator. Flexible arm has nonlinearlity and infinite-degrees of freedom in general; thus it is difficult to obtain a control input. The operator interprets a given task and finds the procedure of operations. He devises an effective way of achieving the goal on the basis of his experience and knowledge about the task.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.121-122
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• 2002

The main principle of radiation therapy is to deliver optimum dose to tumor to increase tumor cure probability while minimizing dose to critical normal structure to reduce complications. RTP system is required for proper dose plan in radiation therapy treatment. The main goal of this research is to develop dose model for photon, electron, and brachytherapy, and to display dose distribution on patient images with optimum process. The main items developed in this research includes: (l) user requirements and quality control; analysis of user requirement in RTP, networking between RTP and relevant equipment, quality control using phantom for clinical application (2) dose model in RTP; photon, electron, brachytherapy, modifying dose model (3) image processing and 3D visualization; 2D image processing, auto contouring, image reconstruction, 3D visualization (4) object modeling and graphic user interface; development of total software structure, step-by-step planning procedure, window design and user-interface. Our final product show strong capability for routine and advance RTP planning.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.930-939
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• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.945-950
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• 1990

An automatic visual classification system is introduced which provides for measuring the length and diameter of coilform cores and dividing them into 5 different classed in terms of how far their length be from the desired length. This task is fully automated by controlling two STEP motors and by using image processing techniques. The classification procedure is broken into three logical parts, First, cores in the form of randomly stacked bundle are lined up one by one so as to be well captured by a camera. The second part involves capturing core image. Then, it enters the measuring process. Finally, this machine would retain all the information relating to the length. According to the final result, cores are sent to the corresponding bin. This considerably simplifies the selecting task and facilitates a greatly improved reliablity in precision. The average classifying capability is about 2 pieces per second.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.932-935
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• 2007

According to Urban Railroad Act, trains can be operated only after they take The Urban Transit Performance Test. There has been Performance Tests for the trains which has been manufactured since 2000, but it is nearly impossible to utilize the Performance Test results other than the original purpose due to the fact that they are not organized in detail, In addition, test steps have difficulty using the former test results. Thus, test results must be computerized and made into database to make the best use of them and to carry out efficient and dependable tests. For this purpose, this paper analyzes the task and the procedure of the performance test on trains. On the basis of the analysis results, this paper checks the availability of the computerized information and the possibility of improving the task concerned

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.302-307
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• 1990

An automatic visual classification system is introduced which provides for measuring the length and diameter of coilform cores and dividing them into 5 different classes in terms of how far their length be from the desired length. This task is fully automated by controlling two STEP motors and by using image processing techniques. The classification procedure is broken into three logical parts. Fist, cores in the form of randomly stacked bundle are lined up one by one so as to be well captured by a cameras. The second part involves capturing core image. Then, it enters the measuring process. Finally, this machine would retain all tire information relating to the length. According to the final result, cores are sent to the corresponding bin. This considerably simplifies the selecting task and facilitates a greatly improved reliability in precision. The average classifying capability about 2 pieces per second.

• Proceedings of the KIEE Conference
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• 1987.11a
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• pp.430-434
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• 1987

This paper describes implementation of a robot programming system for automation of manufacturing products, which is embedded in the C programming language. World representation and motion primitives necessary to describe a manipulator task are provided by a set of procedure calls and user defined data structures. Off-line programming is implemented with graphic simulation as a debugging tool. PUMA 560 manipulators are used as a model for one task which inserts a nonstandard power IC Iota PCB. Communication facilities are provided for collision avoidance or two manipulators.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.580-584
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• 2006

Material information for environment may be useful to accomplish mobile robot localization. A procedure to classify a set of indoor materials (glass, steel, wood, aluminum and concrete) with the reflected signal of ultrasonic sensor is proposed in this paper. The main idea is to use material-specific reflection characteristics for the recognition of material type. To achieve the classification task, we modeled reflected signal as a maximum amplitude with respect to distance. In this way, we can generate echo signal models for the given materials and these models are used to compare with the current sensor reading. The experimental results show that the proposed method may give material information during map building task of mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.218-223
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• 2012

Maintenance and improvement of the graph connectivity is very important for decentralized multi-agent systems. Although the CBBA (Consensus-Based Bundle Algorithm) guarantees suboptimal performance and bounded convergence time, it is only valid for connected graphs. In this study, we apply a decentralized estimation procedure that allows each agent to track the algebraic connectivity of a time-varying graph. Based on this estimation, we design a decentralized gradient controller to maintain the graph connectivity while agents are traveling to perform assigned tasks. Simulation result for fully-actuated first-order agents that move in a 2-D plane are presented.