• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.23.2-23
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• 2001

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. We use a pinhole camera model as the camera one. The essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. These play an important role in designing visual servoing. For easy understanding of the proposed method we first show a design in case of the calibrated camera. The design is constructed by 4 steps and the directional motion of the robot arm is fixed only to a constant direction. This means that an estimated epipole denotes the direction, to which the robot arm translates in 3D space, on the image plane.

• The Korean Journal of Applied Statistics
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• v.21 no.6
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• pp.947-957
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• 2008

Two-arm non-inferiority trials is often applied to parametric procedure suggested by Hauschke et al. (1999). Since this design does not allow a direct comparison of a new treatment group with placebo group, parametric procedure in a three-arm non-inferiority trial with a placebo group was suggested by Pigeot et al. (2003). But, procedures in these designs are necessary for distribution assumptions. Therefore we propose, in this paper, non parametric procedures employing Wilcoxon rank sum test in a two-arm design and linear contrast test suggested by Scheirer et al. (1976) in a three-arm design. The proposed nonparametric procedures and parametric procedures are compared by Monte Carlo simulation study.

• Journal of Advanced Navigation Technology
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• v.14 no.1
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• pp.87-92
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• 2010

The design of avionic embedded systems requires high-dependability. In this paper, we studied the dependability of the triple modular redundancy (TMR) hardware for highly reliable aviation embedded system. In order to evaluate the dependability of the base ARM processor and the TMR ARM processor, we developed the simulation model of the reduced ARM and TMR ARM processors and performed the simulation fault injection for the analysis of the dependability of the two targets. In the fault injection experiments, we calculated the error recovery rate of the two the processor models. From the experimental results, we could confirm that the reliability of the TMR ARM processor was greater than the single ARM processor by ten times in some cases.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.5
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• pp.1022-1029
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• 2009

What Ubiquitous means "being or existing anywhere, anytime"in Latin, which is, in other words, the users are able to access the network no matter where they are, what kind of network or computer terminals they use. This paper focuses on the implementation of hardware system. The first part of the sytem is the sensor node which transmits the sensor data from node to ARM11 platform through the Zigbee network wirelessly. The other part of the system is the ARM11 platform which receives and displays the sensor data. ARM11 platform is sink node. The ARM11 platform is based on ARM11 architecture and ported with Linux OS. Qtopia is used as Window Manager in order to make applications. The highly efficient ARM11 processor, S3C6400 MPC is the main part of the ARM11 platform.

• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.1
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• pp.85-92
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• 2024

In this paper, we developed an intuitive teaching and control system that directly teaches a task by holding the tip of a robotic arm and moving it to a desired position. The developed system consists of a 6-axis force sensor that measures position and attitude forces at the tip of the robot arm, an algorithm for generating robot arm joint speed control commands based on the measured forces at the tip, and a self-made 6-axis robot arm and control system. The six-dimensional force/torque of the position posture of the robot arm operator steering the handler is detected by the force sensor attached to the handler at the leading edge and converted into velocity commands at the leading edge to control the 7-axis robot arm. The verification of the research method was carried out with a self-made 7-axis robot, and it was confirmed that the proposed force sensor-based robot end-of-arm control method operates successfully through experiments by teaching the operator to adjust the handler.

• Proceedings of the IEEK Conference
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• 2003.07d
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• pp.1387-1390
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• 2003

The superscalar architecture shows limit in performance improvement recently. While, SMT(Simultaneous Multi-Threading) architecture is receiving remark. The purpose of SMT architecture is to improve the performance of superscalar microprocessors by executing multi threads at the same time. In this paper, a load/store unit(LSU) suitable for ARM-compatible SMT microprocessors is presented. This LSU supports load instructions and store instructions of ARM ISA. This LSU keeps away the degradation of SMT by cache miss.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.818-823
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• 1998

A three-arm PWM UPS is realizable low price and small size UPS. In this UPS configuration, the center arm operates in both PWM converter mode and PWM inverter mode. Therefore, the operation of this UPS differs from the conventional UPS. In this paper, the three-arm PWM UPS is analyzed and a trial product is realized.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1997.11a
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• pp.234-238
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• 1997

This paper describes the tip force control of a flexible minature arm. The arm is driven by the torques generated by the cells, and the endpoint of the arm is controlled so that it moves in synchrony with the fluctuation of the target and maintains a constant distance to the surface of the traget.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.203-206
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• 1995

We investigate the applicability of the theory of robust stabilization with respect to additive, stable perturbations of a normalized left-coprime factorization to controller design of a flexible arm with uncertain parameters.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1121-1125
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• 2003

In this paper we deal with visual servoing that can control a robot arm with a camera using information of images only, without estimating 3D position and rotation of the robot arm. Here it is assumed that the robot arm is calibrated and the camera is uncalibrated. We use a pinhole camera model as the camera one. The essential notion can be show, that is, epipolar geometry, epipole, epipolar equation, and epipolar constrain. These play an important role in designing visual servoing. For easy understanding of the proposed method we first show a design in case of the calibrated camera. The design is constructed by 4 steps and the directional motion of the robot arm is fixed only to a constant direction. This means that an estimated epipole denotes the direction, to which the robot arm translates in 3D space, on the image plane.