• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 춘계학술대회 논문집
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• pp.354-358
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• 1993

This paper shows the basic configuration for the system(H/W and S/W) which can interface between the PC and the slave robot. The PC(personal computer) is used for the basic MMI(Man-Machine Interface) system. The slave robot is controlled through the PC, actually the generated trajectory by using polynomials. The velocity control is carried out at the via points of the rrajectory. The heuristic method which chooses the average of the two slopes as the via velocity is used for the velocity control. From the simulation results, we can choose the better trajectory polyomial for reducing the deviation error at the starting and arriving parts.

• Journal of applied mathematics & informatics
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• 제29권1_2호
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• pp.173-190
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• 2011

In this paper, we construct a new approach of affine scaling interior algorithm using the affine scaling conjugate gradient and Lanczos methods for bound constrained nonlinear optimization. We get the iterative direction by solving quadratic model via affine scaling conjugate gradient and Lanczos methods. By using the line search backtracking technique, we will find an acceptable trial step length along this direction which makes the iterate point strictly feasible and the objective function nonmonotonically decreasing. Global convergence and local superlinear convergence rate of the proposed algorithm are established under some reasonable conditions. Finally, we present some numerical results to illustrate the effectiveness of the proposed algorithm.

• 무역상무연구
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• 제31권
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• pp.59-78
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• 2006

The purpose of this research is to discuss the excepted perils of carriers, to expose moot points arising from the applications of the excepted perils of the carriers, and then to suggests improvements them. The methodology of this research depended largely upon a combination of the related precedents, international treaties related to the excepted perils of carriers. The excepted perils of carriers in marine carriage begin with extremely limited perils based on the receptum liabilities and the absolute liability principle in English common law. Proceed via the intemperate expansion of the excepted perils by the widespread diffusion of the principle of free contract. but via the American Harter Act, The Hague Rules, The Hague Visby Rules, and The Hamburg Rules Came contracted. This study conducted an analysis of the excepted perils for the carriers and suggests improvements in them but it remains regrettable that we are not in a position to sustain them since we are lacking is precedents connected with The Hamburg rules.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.169-172
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• 2002

This paper is concerned with walking trajectory generation by applying the genetic algorithm. The walking trajectory is generated though three via-points and genetic algorithm is employed to find velocity and acceleration at each via-point. Also genetic algorithm is applied for balancing joint trajectory. Fitness function is used for minimizing the trajectory. As a result, new algorithm generated the smooth trajectory. The proposed algorithm is verified by the experiment of biped walking robot developed in our Control laboratory, and we compared the result with the previous walking algorithm. It showed that the new proposed algorithm generated the better walking trajectory.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.453-454
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• 2006

This paper describes a processing verification technique for developing about end-milling cutters. Developed software is processing verification module for manufacturing. By using cutting simulation method, we can obtain center points of finding wheel via Boolean operation between a grinding wheel and a cylindrical workpiece. The obtained CL data can be used for calculating NC data. After then, we can simulate by using designed grinding machine and NC data. This research has been implemented on a commercial CAD system by using the API function programming. The operator can evaluate the cutting simulation process and reduce the time of design and manufacturing.

• 한국한의학연구원논문집
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• 제1권1호
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• pp.245-272
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• 1995

The meridians are energy pathways found in the interior organs of the body leading the bio-electrical energy the periphery of the body for its energetic supply and the meridians connect the individual acupuncture points. The acupucture points in turn serve for the interference with the bio-electric energy, thus made it measurable. It has been developed to a stage where one could stimulate the acupuncture-points in order to achieve organ effects in the body. To the contrast, Dr.Niboyet proved that the human skin contains points varing in their electrical roperties as to their surroundings. He also tried to send direct current through the skin taken from the body and derive it at other places of the skin characterized by the above mentioned meridians and acupuncture points. The body produces a potential in the organs to reach the acupuncture point via the meridians. The charge on the individual acupuncture point caused by the exactly difinable current of our mesurement device, creates a state of blance between the irritational potential, both of whcih are which are opposite to each other. The body processes the irritational current in the acupuncture point. Voll and Werner, as early as 1953, developed an instruments for applying electro-acupuncture on the skin without needle picks and the teaching from part of modern medicine after developing over recent years. Electro-acupucture is a comprechensive fterm for all procedures based on mesurements or thrapy derived from Oriental acupuncture, using modern electronics. As a result, I found the phenomena of the meridian during the disease. And It seems to be closely related between the meriduan and the disease. I think it must be researched profoundly and for the long time.

• Journal of Biosystems Engineering
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• 제24권2호
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• pp.159-166
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• 1999

A system to extract continuously the real 3-D geometric fearture information from 2-D image of an object, which is fed randomly via conveyor has been developed. Two sets of structured laser lightings were utilized. And the laser structured light projection image was acquired using the camera from the signal of the photo-sensor mounted on the conveyor. Camera coordinate calibration matrix was obtained, which transforms 2-D image coordinate information into 3-D world space coordinate using known 6 points. The maximum error after calibration showed 1.5 mm within the height range of 103mm. The correlation equation between the shift amount of the laser light and the height was generated. Height information estimated after correlation showed the maximum error of 0.4mm within the height range of 103mm. An interactive 3-D geometric feature extracting software was developed using Microsoft Visual C++ 4.0 under Windows system environment. Extracted 3-D geometric feature information was reconstructed into 3-D surface using MATLAB.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권9호
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• pp.638-643
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• 2004

Middleware enables different networking devices and protocols to inter-operate in ubiquitous home network environments. The UPnP(Universal Plug and Play) middleware, which runs on a PC and is based on the IPv4 protocol, has attracted much interest in the field of home network research since it has versatility The UPnP, however, cannot be easily accessed via the public Internet since the UPnP devices that provide services and the Control Points that control the devices are configured with non-routable local private or Auto IP networks. The critical question is how to access UPnP network via the public Internet. The purpose of this paper is to deal with the non-routability problem in local private and Auto IP networks by improving the conventional Control Point used in UPnP middleware-based home networks. For this purpose, this paper proposes an improved Control Point for accessing and controlling the home network from remote sites via the public Internet, by adding a web server to the conventional Control Point. The improved Control Point is implemented in an embedded GNU/Linux system running on an ARM9 platform. Also this paper implements the security of the home network system based on the UPnP (Universal Plug and Play), adding VPN (Virtual Private Network) router that uses the IPsec to the home network system which is consisted of the ARM9 and the Embedded Linux.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.769-772
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• 2003

Middleware enables different networking devices and protocols to inter-operate in ubiquitous home network environments. The UPnP(Universal Plug and Play) middleware, which runs on a PC and is based on the IPv4 protocol, has attracted much interest in the field of home network research since it has versatility. The UPnP, however, cannot be easily accessed via the public Internet since the UPnP devices that provide services and the Control Points that control the devices are configured with non-routable local private or Auto IP networks. The critical question is how to access UPnP network via the public Internet. The purpose of this study is to deal with the non-routability problem in local private and Auto IP networks by improving the conventional Control Point used in UPnP middleware-based home networks. For this purpose, this paper proposes an improved Control Point for accessing and controlling the home network from remote sites via the public Internet, by adding a web server to the conventional Control Point. The improved Control Point is implemented in an embedded GNU/Linux system running on an ARM9 platform.

• Communications for Statistical Applications and Methods
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• 제15권5호
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• pp.643-653
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• 2008

Application of the bootstrap to problems in multistage inference procedures are discussed in normal and other related models. After a general introduction to these procedures, here we explore in multistage fixed precision inference in models. We present numerical comparisons of these procedures based on bootstrap critical points for small and moderate sample sizes obtained via extensive sets of simulated experiments. It is expected that the procedure based on bootstrap leads to better results.