• 대한의용생체공학회:의공학회지
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• 제28권3호
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• pp.363-368
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• 2007

Most surgery illumination systems have been developed as passive systems. However, sometimes it is inconvenient to relocate the position of the illumination system whenever the surgeon changes his pose. To cope with such a problem, this study develops an auto-illumination system that is autonomously tracking the surgeon's movement. A 5-DOF serial type manipulator system that can control (X, Y, Z, Yaw, Pitch) position and secure enough workspace is developed. Using 3 ultrasonic sensors, the surgeon's position and orientation could be located. The measured data aresent to the main control system so that the robot can be auto-tracking the target. Finally, performance of the developed auto-illuminating system was verified through a preliminary experiment in the operating room environment.

• 한국실내디자인학회논문집
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• 제13호
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• pp.96-101
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• 1997

The purpose of this study was to examine the current office work environment and suggest the needs for improvement the quality and efficiency of work. To fulfill this task, information describing various environmental conditions was gathered from generally large offices in Pusan and Major cities in Kyoungnam. Data were collected on questionnaire's general information, lighting, air quality, temperature, health problems, noise and equipment arrangements, and the size fo workspace. The extent to which the attitudes and behaviors of workers were related to these environmental conditions was then examined and scrutinized. According to the development of office automation, the interest in improvement of office environment become increased. Workstation size, individual environmental control, health care, adequate storage space and noise control should be recognized as critical to the worker's environmental satisfactiov. Finally, based on the results of this study, a number ofrecommendations can be made for alleviating some of the problems that have been identified. Designers should be interested in knowing if their environments actually function in the manner in which they were intended.

• 로봇학회논문지
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• 제6권1호
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• pp.78-85
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• 2011

This article investigates kinematic characteristics of a Sch$\ddot{o}$nflies motion generator which represents a mechanism having translational three Degree-of-Freedom (DOF) and rotational one-DOF motion about a fixed axis. The mechanism consists of the base plate and the moving plate, and four identical limbs connecting them. Each limb employs two revolute joints (RR), one parallelogram (Pa), and two revolute joints (RR) from the base plate to the moving plate. The mechanism is driven by four actuators which are placed on the base plate to minimize dynamic loads. It is shown through simulations that the mechanism can be designed to secure large dexterous workspace and thus has very high potential for actual applications such as haptic devices and high-speed requiring tasks such as pick-and-place operations, riveting, screwing tasks, etc.

• 한국IT서비스학회지
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• 제5권2호
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• pp.79-92
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• 2006

Since software development team members have been more geographically spread due to the globalization of business and Internet technologies, the management of deliverables and communication efforts for developing high-quality software products on time is becoming more complicated. Among the functional requirements for collaborative software development management, the manipulation of shared information objects is essential for the collaborative work among distributed development team members. This paper proposes an integrated information object management framework comprised of a so-called BOC (Bill Of Class) scheme and a standardized software part dictionary for managing shared information objects efficiently among distributed co-workers. In order to manage these complex information objects, the proposed framework adopt product structures represented by Bills Of Materials (BOM) as stems for integrating the various information objects. Based on the proposed framework, a collaborative software development management system (CSDMS) is implemented, and the functionalities and the structure of the system are also described in this paper. The proposed system provides sufficient functionalities for the change management of information objects and the management of their relationship to other objects rather than existing system.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2006년도 춘계 종합학술대회 논문집
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• pp.50-53
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• 2006

본 논문은 적외선 컴퓨터 비전으로 책상형 스크린상에 사용자 조작 물체의 위치와 각도를 실시간으로 추적할 수 있는 시스템을 제안한다. 제안하는 시스템은 기존 컴퓨터 비전 시스템의 약점인 주변 조명의 영향을 거의 받지 않는다. 위치뿐만 아니라 각도와 버튼 클릭 상태도 실시간으로 얻어낸다. 이 시스템을 활용하여 컬러랩 박스를 제작하였다.

• 한국멀티미디어학회논문지
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• 제19권3호
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• pp.539-547
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• 2016

Automated guided vehicles (AGVs) are widely used in industry. Several types of vision-based AGVs have been studied in order to reduce cost of infrastructure building at floor of workspace and to increase flexibility of changing the navigation path layout. A practical vision-based guideline tracing method is proposed in this paper. A virtual tracing wheel is introduced and adopted in this method, which enables a vision-based AGV to trace a guideline in diverse ways. This method is also useful for preventing damage of the guideline by enforcing the real steering wheel of the AGV not to move on the guideline. Usefulness of the virtual tracing wheel is analyzed through computer simulations. Several navigation tests with a commercial AGV were also performed on a usual guideline layout and we confirmed that the virtual tracing wheel based tracing method could work practically well.

• 대한전기학회논문지
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• 제43권6호
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• pp.1010-1019
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• 1994

It is shown that there exists a nonlinear mapping which transforms image features and their changes to the desired camera motion without measuring of the relative distance between the camera and the object. This nonlinear mapping can eliminate several difficulties occurring in computing the inverse of the feature Jacobian as in the usual feature-based visual feedback control methods. Instead of analytically deriving the closed form of this mapping, a Fuzzy Membership Function-based Neural Network (FMFNN) incorporating a Fuzzy-Neural Interpolating Network is used to approximate the nonlinear mapping. Several FMFNN's are trained to be capable of tracking a moving object in the whole workspace along the line of sight. For an effective implementation of the proposed FMF network, an image feature selection process is investigated. Finally, several numerical examples are presented to show the validity of the proposed visual servoing method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.825-829
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• 1993

As a part of the Department of Energy's Environmental Restoration and Waste Management Program, long-reach manipulators are being considered for the retrieval of waste from large storage tanks. Long-reach manipulators may have characteristics significantly different from those of typical industrial robots because of the flexibility of long links needed to cover the large workspace. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A new approach that uses imbedded simulation was developed and compared with others. In the new approach, generation of joint trajectories considering link flexibility was also investigated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.281-286
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• 1993

In this paper, a parallel link typed wrist is developed for robotic precision assembly. The developed wrist can make the corrective motion required for compensating lateral and tilting errors. The mechanism of this wrist is one example of a motion simulator generating 6 DOF motion in space by 6 actuators connected in paralle. To make the wrist more compact, miniature DC motors containing reduction gears and servo system were used. The parallel link architecture enables a high positioning accuracy and high nominal load capacity. In this study, inverse kinematic problem is solved by using a Denavet-Hartenberg method and a simulational result about workspace of the proposed parallel mechanism is obtained.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.328-333
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• 1994

This paper presents a real-time calculation method to generate the trajectory of robot manipulator for the purpose of avoiding collision. In order to model 3-D workspace, we use octree which has been used for fast collision detection. The levels of octree are used as the cost function to represent the distance between the manipulator and the obstacles. This criterion is not exact, but, due to this, we can obtain the approximate feasible trajectory extremely quickly. We will show the effectiveness of our method with some simulation examples. For example, the proposed method can solve a problem within 1 second on Intel 80486 processor running at 33 MHz. It has taken more than half an hour with one of the previously proposed methods.