• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1396-1401
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• 2004

In recent years, robot has been used widely in industrial field and has been expanded as a result of continous research and development for high-speed and miniaturization. The goal of this paper is to design the special serial manipulator through the understanding of the structure, mobility, and analysis of serial manipulator. Thereafter we control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints. Typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily by AC servomotor that is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of 3D end-effector model made by OpenGL can be displayed on the monitor program simultaneously

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2000-2003
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• 2003

In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. The goal of this paper is to design the serial manipulator through kinematic analysis and to control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints, typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily. AC servo motor is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of end-effector can be displayed on the monitor of general personal computer through Opengl program.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2033-2038
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• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2747-2752
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• 2003

This paper has develops a new framework to understand the human’s driving maneuver based on the expression as HDS focusing on the driver’s stopping maneuver. The driving data has been collected by using the three-dimensional driving simulator based on CAVE, which provides three-dimensional visual information. In our modeling, the relationship between the measured information such as distance to the stop line, its first and second derivatives and the braking amount has been expressed by the PWPS model, which is a class of HDS. The key idea to solve the identification problem was to formulate the problem as the MILP with replacing the switching conditions by binary variables. From the obtained results, it is found that the driver appropriately switches the ‘control law’ according to the following scenario: At the beginning of the stopping behavior (just after finding the stopping point), the driver decelerate the vehicle based on the acceleration information, and then switch to the control law based on the distance to the stop line.

• Bulletin of the Korean Chemical Society
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• v.32 no.5
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• pp.1613-1619
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• 2011

A hybrid thermosetting maleimido epoxy compound 4-(N-maleimidophenyl) glycidylether (N-MPGE) containing Co(II), Ni(II) and Cu(II) ions was prepared by curing N-MPGE and tetradentate Schiff base Co(II), Ni(II) and Cu(II) complexes. The curing polymerization reaction of N-MPGE with metal complexes as curing agents was studied. The cured samples were studied for thermal stability, chemical (acid/alkali/solvent) and water absorption resistance and homogeneity of the cured systems. The tetradentate Schiff base, 3-[(Z)-2-piperazin-1-yl-ethylimino]-1,3-dihydro indol-2-one was synthesized by the condensation of Isatin (Indole-2, 3-dione) with 1-(2-aminoethyl)piperazine (AEP). Its complexes with Co(II), Ni(II) and Cu(II) have been synthesized and characterized by microanalysis, conductivity, Uv-Visible, FT-IR, TGA and magnetic susceptibility measurements. The spectral data revealed that the ligand acts as a neutral tetradentate Schiff base and coordinating through the azomethine nitrogen, two piperazine nitrogen atoms and carbonyl oxygen.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2005.04a
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• pp.663-671
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• 2005

Distributed operation of overall structural design process, by which product and process optimization are implemented, is presented in this paper. The database-interconnected multilevel hybrid method, in which the conventional design method and the optimal design approach are combined, is utilized there. The method selectively takes the accustomed procedure of the conventional method in the conceptional framework of the optimal design. Design conditions are divided into primary and secondary criteria This staged application of design conditions reduces the computational burden for large complex optimization problems. Two kinds of numeric and graphic processes, are simultaneously implemented on the basis of concurrent engineering concepts in the distributed environment of PC networks. Numerical computation on server and graphic works on independent client are communicated through message passing. Numerical design is based on the optimization methodology and the drawing process is carried out by AutoCAD using the AutoLISP programming language. The prototype design experimentation for some steel trusses shows the validity and usability of the method. This study has sufficient adaptability and expandability in methodology, in that it is based on general theory and industry standard systems.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.91-101
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• 2008

For a friendly interaction between human and robot, emotional interchange has recently been more important. So many researchers who are investigating the emotion generation model tried to naturalize the robot's emotional state and to improve the usability of the model for the designer of the robot. And also the various emotion generation of the robot is needed to increase the believability of the robot. So in this paper we used the hybrid emotion generation architecture, and defined the generalized context input of emotion generation model for the designer to easily implement it to the robot. And we developed the personality and loyalty model based on the psychology for various emotion generation. Robot's personality is implemented with the emotional stability from Big-Five, and loyalty is made of familiarity generation, expression, and learning procedure which are based on the human-human social relationship such as balance theory and social exchange theory. We verify this emotion generation model by implementing it to the 'user calling and scheduling' scenario.

• The KSFM Journal of Fluid Machinery
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• v.19 no.1
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• pp.24-30
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• 2016

In this study, a 2W micro-gas turbine engine was designed using micro-electro-mechanical systems (MEMS) technology, and experimental investigations of its potential under actual combustion conditions were performed. A micro-gas turbine (MGT) contains a turbo-charger, combustor, and generator. Compressor and turbine blades, and generator coil were manufactured using MEMS technology. The shaft was supported by a precision computer numerical control (CNC) machined static air bearing, and a permanent magnet was attached to the end of the shaft for generation. A heat transfer analysis found that the cooling effect of the air bearing and compressor was sufficient to cover the combustor's high temperature, which was verified in an actual experiment. The generator performance test showed that it can generate 2W at design rotational speed. Prototype micro-gas turbine generated maximum 1 mW electric power and lasted up to 15 minutes.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.2
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• pp.631-653
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• 2020

Sign language is a natural, visually oriented and non-verbal communication channel between people that facilitates communication through facial/bodily expressions, postures and a set of gestures. It is basically used for communication with people who are deaf or hard of hearing. In order to understand such communication quickly and accurately, the design of a successful sign language translation system is considered in this paper. The proposed system includes object detection and classification stages. Firstly, Single Shot Multi Box Detection (SSD) architecture is utilized for hand detection, then a deep learning structure based on the Inception v3 plus Support Vector Machine (SVM) that combines feature extraction and classification stages is proposed to constructively translate the detected hand gestures. A sign language fingerspelling dataset is used for the design of the proposed model. The obtained results and comparative analysis demonstrate the efficiency of using the proposed hybrid structure in sign language translation.

• Journal of Multimedia Information System
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• v.4 no.3
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• pp.123-144
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• 2017

Personalized media includes user-targeted and user-generated content (UGC) exchanged through social media and interactive applications. The increased consumption of UGC presents challenges and opportunities to multimedia information systems. We work towards modeling a deep structure for content networks. To gain insights, a hybrid practice with Media Framework (MF) is presented for network creation of personalized media, which leverages the authoring methodology with user-generated semantics. The system's vertical integration allows users to audition their personalized media networks in the context of a global system network. A navigation scheme with dynamic GUI shifts the interaction paradigm for content query and sharing. MF adopts a multimodal architecture anticipating emerging use cases and genres. To model diversification of platforms, information processing is robust across multiple technology configurations. Physical and virtual networks are integrated with distributed services and transactions, IoT, and semantic networks representing media content. MF applies spatiotemporal and semantic signal processing to differentiate action responsiveness and information responsiveness. The extension of multimedia information processing into authoring enables generating interactive and impermanent media on computationally enabled devices. The outcome of this integrated approach with presented methodologies demonstrates a paradigmatic shift of the concept of UGC as personalized media network, which is dynamical and evolvable.