• 제어로봇시스템학회논문지
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• 제16권11호
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• pp.1089-1095
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• 2010

We propose an image segmentation method for auto-teaching system of PCB (Printed Circuit Board) assembly inspection machines. The inspection machine acquires images of all components in PCB, and then compares each image with its standard image to find the assembly errors such as misalignment, inverse polarity, and tombstone. The component window that is the area of component to be acquired by camera, is one of the teaching data for operating the inspection machines. To reduce the teaching time of the machine, we newly develop the image processing method to extract the component window automatically from the image of PCB. The proposed method segments the component window by excluding the soldering parts as well as board background. We binarize the input image by use of HSI color model because it is difficult to discriminate the RGB colors between components and backgrounds. The linear combination of the binarized images then enhances the component window from the background. By use of the horizontal and vertical projection of histogram, we finally obtain the component widow. The experimental results are presented to verify the usefulness of the proposed method.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.319-326
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The industrial robot with 4 and 6 axes modeled SM5 and AMI respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 한국정밀공학회지
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• 제20권12호
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• pp.80-88
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• 2003

We propose a new technique to design an unmaned integrating control system based-on Windows XP version off-Line Programming System which can simulate a dynamic model of robot manipulator in three dimensions graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off$.$line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for three dimensions graphics.

• 전기학회논문지
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• 제61권3호
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• pp.472-478
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• 2012

The inspection machine in PCB (printed circuit board) assembly line checks assembly errors by inspecting the images inside of the component inspection region. The component inspection region consists of region of component package and region of soldering. It is necessary to extract the regions automatically for auto-teaching system of the inspection machine. We propose an image segmentation method to extract the component inspection regions automatically from images of PCB. The acquired image is transformed to HSI color model, and then segmented by several regions by clustering method. We develop a modified K-means algorithm to increase the accuracy of extraction. The heuristics generating the initial clusters and merging the final clusters are newly proposed. The vertical and horizontal projection is also developed to distinguish the region of component package and region of soldering. The experimental results are presented to verify the usefulness of the proposed method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1731-1734
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 한국공작기계학회논문집
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• 제11권3호
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• pp.21-27
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• 2002

In this paper, we have developed a Widows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. The SCARA robot with four joints (FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Widows 98's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic 1ibraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 한국환경교육학회지:환경교육
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• 제11권2호
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• pp.252-261
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• 1998

Since 1980's during which environmental pollution became serious enough to urge various types of environmental educations in many areas. But, most emphasis has been put on theoretical education. Even field education training mostly focused on water pollution. Therefore, simple air pollution monitoring system was needed for better field education in air pollution. In this study, we evaluated Passive Sampler as an useful tool for teaching air pollution in field. Students have found passive sampler very effective tool. Recent comparative study of auto-monitoring and passive sampler networks suggested a potential use of passive sampler as an useful tool for environmental education. In this study, the correlation between two sets of values appears very high judging from the regression slope of 0.92 and correlation coefficient of 0.91 However, inexpensive Passive sampler with easy-to-operate colorimeter, has not been used in environmental education partially because large scale fluctuation in time and space characteristic to air pollution has been overlooked so that the sampler has not been tested for an effective educational tool. Passive sampler certainly deserves further in depth research as an effective air monitoring system, and better attention to its usefulness to teach students and public.

• 한국과학교육학회지
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• 제39권2호
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• pp.307-320
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• 2019

본 연구는 강의식 과학 수업 사용에 머물러 있었던 초등 담임교사가 어떻게 다양한 과학 수업 방법을 사용할 수 있게 되었는지를 탐색한 것이다. 자문화기술지 방법을 사용하여 초등 담임교사의 한 해 동안의 과학 수업 준비와 실행에 대한 자기 기억자료, 수업일지, 페이스북 일기, 인터뷰 자료가 데이터 분석을 위해 수집되었고, 수집된 데이터들은 문화 역사적 활동 이론을 통해 분석되었다. 연구자는 데이터를 통하여 활동 시스템 상에서 어떠한 핵심 요소(i.e. 행위자로서의 담임교사, 규범, 분업, 도구, 목표, 산출)들의 상호작용이 특징화되었고 이것들이 어떻게 교사의 수업 방법을 구체화시켜 나갔는지를 분석하였다. 이를 기반으로 본 연구는 첫째, 과학 수업 준비를 소홀히 하는 규범, 개별적인 공동체, 분업 없음의 요소들이 행위자인 초등교사의 수업을 강의식 수업만으로 이끌게 되었고, 이로 인해 모순이 발생하게 되었음을 밝혔다. 둘째, 기존의 규범, 공동체, 분업 요소가 과학 수업 준비시간을 절약하거나 다양한 수업을 준비하도록 하는 규범, 협력적인 공동체, 역할 분담의 분업 형태로 변화되면서 행위자의 수업 도구를 다양한 과학 교수 방법(i.e. 실험, 논변 수업, 교과 통합 수업, 현장 학습)으로 사용하도록 이끌었으며, 이를 통해 모순이 완화될 수 있었음을 보였다. 또한, 본 연구에서는 초등 담임교사와 동료 교사들이 개인의 과학 수업 전문성을 키우는 것뿐만 아니라 학교 현장에서 다양한 과학 수업 방법 사용에 모순되는 규범, 공동체, 분업 요소를 잘 다루어 나갈 때 학습자 중심 수업이 촉진될 수 있음을 논의하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.83-86
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• 1995

This paper proposes an auto-tuning method of feedforward signal in boiler control of thermal power plants by using the neural network. The neural network produces an optimal feedforward signal by tuning the weights of the network. The weights are adapted effectively by using the teaching signal of PI control output. The proposed method was evaluated based on a detailed simulator which expressed non-linear characteristics of the 600 MW actual thermal power plant at load chaning operations, showed effectiveness in the learning of the weights of the neural network, and gave an accurate control performance in the temperature control of the system. Through the evaluation, the proposed method was proved to be effectively applicable to the actual thermal plants as the automatic adjustment tool.

• 대한기계학회논문집A
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• 제31권5호
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• pp.609-616
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• 2007

Palletizing is necessary to promote the efficiency of storage and shipping tasks. These are, however some of the most monotonous, heavy and laborious tasks in the factory. Therefore many types of robot palletizing systems have been developed, but many robot motion commands still depend on the teaching pendent. That is, an operator inputs the motion command lines one by one. It is very troublesome, and most of all, the user must know how to type the code. That is why we propose a new GUI (Graphic User Interface) Palletizing System. To cope with this issue, we proposed a 'PLP' (Pallet Loading Problem) algorithm, Fast Algorithm and realize 3D auto-patterning visualization interface. Finally, we propose the robot palletizing simulator. Internally, the schematic of this simulator is as follows. First, an user inputs the physical information of object. Second, simulator calculates the optimal pattern for the object and visualizes the result. Finally, the calculated position data of object is passed to the robot simulator. To develop the robot simulator, we use an articulated robot, and analyze the kinematics and dynamics. Especially, All problem including thousands of boxes were completely calculated in less than 1 second and resulted in optimal solutions by the Fast Algorithm.