• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2693-2695
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• 2003

Recent advancement in technology raises fundamental questions: "what is right technology for human?", "how can we build machines for human welfare?" Interactive technology and soft engineering deals with these problems. Personal robotics for the elderly seems to be a major area in which to explore these ideas. We can start by asking "what are inhumane human conditions to be resolved by technology?" Issues lain robotics for the elderly are described and desirable roles for the robots in such applications are presented. Interdisciplinary science approach is proposed to successfully implement this technology for the elderly.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.185-190
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• 1993

The POSTECH Hand adopting coupled tendon driven technique with planar two fingers is developed. The hand is designed to emulate principal motions of the human hand which has two and three joints respectively. Its kinematic parameters are determined through a parameter optimizing technique to aim at improving the isotropy of fingertip motions with new criterion functions of design. For the control of the hand, tension and torque control algorithms are developed. Based on the virtual stiffness concept, we develop the stiffness control method of a grasped object with redundant finger mechnism and investigate experimentally.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.290-295
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• 1992

Tendon driven method to drive one joint using two actuators is developed and implemented. While the method has advantages over conventional transmissions, it also has several drawbacks like tendon slack, elongation and endurability. In this paper, a compensation method of the intrinsic non-linearities of tendon is proposed to improve the performance of antagonistic tendon driven method. In this method, tendon tension measurement is prerequisite which is measured with strain gauge type tension sensor. The developed method is implemented on one link test bed with colocated and non-colocated position sensor.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.814-819
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• 2004

Soft engineering, based on symbiotic coexistence of human, machines and environment, is a new engineering field to explore the proper technology and the proper way of engineering. To explore soft engineering intents easily, various robot projects at Pusan National University conducted are presented. Thought experiment, interactive e-leaning, rapid prototyping engineering, biomimciry, tangibility, and ubiquity are concepts to be explored. Thought experiments projects are organized and performed, which include robot assembly game, Turing test, and robotics in science fiction. "Junk robot project" and "ubiquitous Pusan National University (u-PNU) project" have been organized. Also, bug robot project, interactive robot project, and interactive emotional robot projects are introduced. Weekly science fiction films are shown and discussed.

• International Journal of Automotive Technology
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• v.7 no.1
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• pp.83-90
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• 2006

The purpose of this paper is to describe the design and implementation of an unmanned ground vehicle, called the TailGator at CIMAR (Center for Intelligent Machines and Robotics) of the University of Florida. The TailGator is a gas powered, four-wheeled vehicle that was designed for the AUVSI Intelligent Ground Vehicle Competition and has been tested in the contest for 2 years. The vehicle control model and design of the sensory systems are described. The competition is comprised of two events called the Autonomous Challenge and the Navigation Challenge: For the autonomous challenge, line following, obstacle avoidance, and detection are required. Line following is accomplished with a camera system. Obstacle avoidance and detection are accomplished with a laser scanner. For the navigation challenge, waypoint following and obstacle detection are required. The waypoint navigation is implemented with a global positioning system. The TailGator has provided an educational test bed for not only the contest requirements but also other studies in developing artificial intelligence algorithms such as adaptive control, creative control, automatic calibration, and internet-base control. The significance of this effort is in helping engineering and technology students understand the transition from theory to practice.

• Proceedings of the International Microelectronics And Packaging Society Conference
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• 2006.10a
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• pp.75-91
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• 2006

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.360-365
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• 1992

An optimal design method to determine the lengths of finger phalanges is proposed especially for anthropomorphic design. The quality of designs are quantified by several measures of global isotropy for design, Also, for an example, optimal design of two fingers is performed and the results are compared with the anatomical data.

• Proceedings of the KIEE Conference
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• 2007.11a
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• pp.248-249
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• 2007

나노미터 크기의 회절격자 패턴이 형성된 도광판을 설계하기 위한 전산모사를 수행한다. 광원은 LED 4개를 사용하였으며 PMMA 도광판 재질의 파장에 따른 빛의 흡수 현상을 고려하였다. 도광판 위치에 따른 투과광선의 세기 분포, 투과광선의 투과각도 분포 및 편광에 따라 투과광선의 세기가 어떻게 달라지는지 살펴보았다.

• Proceedings of the KIEE Conference
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• 2007.11a
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• pp.142-143
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• 2007

나노미터 크기의 동심원 패턴이 형성된 도광판을 설계하기 위한 전산모사를 수행한다. 광원은 LED 1개를 사용하였으며 PMMA 도광판 재질의 파장에 따른 빛의 흡수 현상을 고려하였다. 도광판 위치에 따른 투과광선의 세기 분포, 투과광선의 투과각도 분포 및 편광에 따라 투과광선의 세기가 어떻게 달라지는지 살펴보았다.

• Proceedings of the KIEE Conference
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• 2007.11a
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• pp.156-157
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• 2007

나노임프린팅 기술을 이용하여 원기둥형 나노 패턴을 갖는 도광판을 제작하였다. 나노 임프린트 공정을 이용하기 위해서는 니켈 스탬퍼가 필요하기 때문에 이를 제작하기 위하여 실리콘 웨이퍼 상에 건식식각을 이용하여 실리콘 몰드를 제작하였다. 제작된 실리콘 몰드를 전주도금을 이용하여 니켈 스탬퍼를 제작하였다. 제작된 니켈 스탬퍼를 사용한 나노임프린트 공정을 통해 원기둥 나노패턴을 갖는 도광판을 제작하였다.