• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.58-62
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• 1987

In this paper, path planning, modelling, and control of manipulators are described. The path planning deals with specifying how to define the motion of hand along straight line paths in the minimum amount of time. A new model was developed for the manipulator, which is based on the classical equations of motion of a rigid body. A new control algorithm was developed which controls the manipulator in terms of the position and orientation of the hand.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.83-86
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• 1987

A vision algorithm is presented for the separation of near objects from distant objects. In the algorithm, a difference field of a stereo pair of images is computed to obtain the range information and the median filter is used for the suppression of distant objects. The objects within a given distance is segmented by thresholding the gray scale cross-section of the median filtered difference field. The experiment is performed in a laboratory setting.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.429-429
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• 2000

Micro positioning mechanism is the key technology in many fields, such as scanning electron microscopy (SEM), x-ray lithography, mask alignment and micro-machining. In the paper, a 3DOF parallel-type micro-positioning mechanism is proposed. This mechanism uses piezo-actuators and Flexure hinge to control x, y and $\theta$ motion. It is shown both analytically and numerically that 2 DOF flexure hinge model was better precision than 1 DOF flexure hinge design.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.195-195
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• 2000

In this paper, intelligent control method using neural network as a nonlinear controller is presented, Neural network controller is implemented on DSP board in PC to make real time computing possible, On-line training algorithm for neural network control is proposed, As a test-bed, a large a-x table was build and interface with PC has been implemented, Experimental results under different PD controller gains show excellent position tracking for circular trajectory compared with those for PD controller only.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.288-288
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• 2000

Reactor vessel is one of the most important equipment with regard to the safety of nuclear power plant. Thus nuclear regulation requires its periodical examination by certified inspection experts. Conventional reactor inspection machines are obsolete, hard to handle, and very expensive. To solve these problems we developed robotic reactor vessel inspection system which are small, easy to use for inspection, cost effective, and convenient in operation. This paper describes the main features of Main Control System which is one part of robotic inspection equipment we developed.

• Proceedings of the Safety Management and Science Conference
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• 2004.05a
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• pp.153-159
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• 2004

There are various types of PLM(product liability management) according to corporation management level. It is necessary to develop diagnostic methods and application systems for PLM as well as to establish an efficient PLM system. This paper aims to propose a PLM system which can be applied to product with high-reliability and high-safety, and diagnostic methods for PLM based on AHP, and also show an empirical application of the proposed PL management system for Auto Test Robot System of the Mobile Phone (EVT 4320).

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.190-194
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• 1998

In this paper, we introduce the micro robot soccer playing system as a standard test bench for the study on the multiple agent system. Our method is based on following viewpoints. They are (1) any complex behavior such as cooperation among agents must be completed by sequential basic actions of concerned agents. (2) those basic actions can be well defined, but (3) how to organize those actions in current time point so as to result in a new stale beneficial to the end aim ought to be achieved by a kind of self-learning self-organization strategy.

• Proceedings of the IEEK Conference
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• 2000.07b
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• pp.600-603
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• 2000

In this paper, we propose the design method of distributed control system using Controller Area Network (CAN). CAN is an advanced serial communication protocol for distributed real-time control systems. It is a contention-based multi-master network whose timeliness properties come from its collision resolution algorithm which gives a high schedulable utilization and guaranteed bus access latency. With proposed method using CAN, we apply to robot controller. The effectiveness of proposed method is demonstrated by the simulation and experiment.

• Proceedings of the KAIS Fall Conference
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• 2006.11a
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• pp.122-128
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• 2006

The intent of this paper is to describe a neural network structure called multi dynamic neural network(MDNN), and examine how it can be used in developing a learning scheme for computing robot inverse kinematic transformations. The architecture and learning algorithm of the proposed dynamic neural network structure, the MDNN, are described. Computer simulations are demonstrate the effectiveness of the proposed learning using the MDNN.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.1
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• pp.123-130
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• 1996

Due to high payload capacity and high length-to -cross-section ratio requirements, long-reach manipulator systems are expected to exhibit significant structural flexibility. To avoid structural vibrations during operations, various types of input shaping filtering methods have been investigated. A robust notch filtering method and an impulse shaping filtering method were investigated and implemented. In addition, two very different approaches have been developed and compared. One new approach, referred to as a