• Journal of the Korean Society of Industry Convergence
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• v.18 no.2
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• pp.119-128
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• 2015

In this paper, we propose a new motion control technology to design robust control system of industrial robot. The system modeling of robotic manipulation tasks with constraints is presented, and the control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference of robot manipulator is generated by the reference controller as a discrete state system and the control behavior of constrained system which has poor modeling information and time-invariant constraint function is improved motion control system is successfully evaluated by experiment to the desired tasks.

• Proceedings of the KSAR Conference
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• 2004.06a
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• pp.193-193
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• 2004

Gene targeting is an in situ manipulation of endogenous gene with precise manner by the introduction of exogenous DNA. The process of gene targeting involves a homologous recombination reaction between the targeted genomic sequence and an exogenous targeting vector. In elucidating the function of many genes, gene targeting has become the most important method of choice. (omitted)

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1830-1835
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• 2015

In this paper, we propose an algorithm for the automatic registration of two rigid parts using multiple 3D sensor systems on a robot. Four sets of structured laser stripe system consisted of a camera and a visible laser stripe is used for the acquisition of 3D information. Detailed procedures including extrinsic calibration among four 3D sensor systems and hand/eye calibration of 3D sensing system on robot arm are presented. We find a best pose using search-based pose estimation algorithm where cost function is proposed by reflecting geometric constraints between sensor systems and target objects. A pose with minimum gap and height difference is found by greedy search. Experimental result using demo system shows the robustness and feasibility of the proposed algorithm.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.32 no.1
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• pp.62-69
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• 2008

A post-processing program based on the OOP(Object-Oriented Programming) concept has been developed for flow visualization of the flow analysis code(PowerCFD) using unstructured cell-centered method. User-friendly GUI(GTaphic User Interface) has been built on the base of MFC(Microsoft Foundation Class). The program is organized as modules by classes including those based on VTK(Visualization ToolKit)-library, and these classes are made to function through inheritance and cooperation which is an important and valuable OOP concept. The major functions of this post-processor program are introduced and demonstrated, which include mesh plot, contour plot, vector plot, surface plots, cut plot, clip plot, xy-plot and streamline plot as well as view manipulation (translation, rotation, scaling etc).

• Journal of Korean Physical Therapy Science
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• v.8 no.1
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• pp.727-734
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• 2001

Contracture is defined as the lack of full passive range of motion resulting from pint, muscle or soft tissue limitationprolonged Pint immobilization will result in stress and stretch deprivation and gradual development of contracture. the tissue changes caused by immobilization may be categorized as cellular modeling, ground substance and collagen response, and tissue response. contracture can be divided into three categories according to the anatomical location of pathological changes :arthrogenic, myogenic, soft tissue contractures Therapeutic approach of contracture is thermal or cold agents application, stretch or restoration of length, traction, manipulation, mobilization positioning and restoration of function. The purpose of this article is to review current concepts of mechanical properties and synthesis of collagen tissue and the underlying pathomechanics as it relates to evaluation and treatment of contracture.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2007.06a
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• pp.183-187
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• 2007

The magnetron reactive ion etching (RIE) characteristics of polycrystalline (poly) 3C-SiC grown on $SiO_2$/Si substrate by APCVD were investigated. Poly 3C-SiC was etched by $CHF_3$ gas, which can form a polymer as a function of side wall protective layers, with additive $O_2$ and Ar gases. Especially, it was performed in magnetron RIE, which can etch SiC at lower ion energy than a commercial RIE system. Stable etching was achieved at 70 W and the poly 3C-SiC was undamaged. The etch rate could be controlled from $20\;{\AA}/min$ to $400\;{\AA}/min$ by the manipulation of gas flow rates, chamber pressure, RF power, and electrode gap. The best vertical structure was improved by the addition of 40 % $O_2$ and 16 % Ar with the $CHF_3$ reactive gas. Therefore, poly 3C-SiC etched by magnetron RIE can expect to be applied to M/NEMS applications.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.976-979
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• 1996

Teleoperation is the extension of a person's sensing and manipulation capability to a remote location. Teleoperators generally can be modeled as linear transfer function indecently including modeling uncertainty. Modeling uncertainties can make the system unstable and its performance poor. Thus I'm studying about a design framework for a bilateral controller of teleoperator systems with modeling uncertainties. In this paper, a method based on the H$_{\infty}$-optimal control and .mu.-synthesis frameworks are introduced to design a controller for the teleoperator that achieves stability and performance in the presence of the modeling uncertainties..ties.inties.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.155.4-155
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• 2001

This paper deals with the inertia property-based redundancy resolution in posture control of a mobile manipulator. As a measure for the redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation ...

• 한국전산유체공학회:학술대회논문집
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• 2007.10a
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• pp.67-72
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• 2007

A post-processing program based on the OOP(Object-Oriented Programming) concept has been developed for visualization of MRI. User-friendly GUl(Graphic User Interface) has been built on the base of MFC(Microsoft Foundation Class). The program is organized as modules by classes based on VTK-library, and these classes are made to function through inheritance and cooperation which are an important and valuable concept of object-oriented programming. The major functions of this post-processor program are introduced and demonstrated, which include contour plot, surface plots, cut plot and clip plot as well as view manipulation (translation, rotation, scaling etc).

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.885-889
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• 2003

The e-catalog system consists of e-catalog database. e-catalog manager. and a web server, and provides e-catalog web service by displaying e-catalog documents that contain web 3D images. product specifications and manuals. Various web contents such as the 3D images of products, which offer basic viewpoints/movement handles and function simulations, product specifications, product manuals and product features, can be integrated into e-catalog documents in XML format through image manipulation and database connection by using the e-catalog manager tool. By reducing time and cost for publication and management of an e-catalog web service, the competitiveness of companies is expected to be intensified in the perspective of e-business activities.