• 한국CDE학회논문집
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• 제7권3호
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• pp.170-176
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• 2002

To exchange CAD data between heterogeneous CAD systems, we generally use a neutral format especially STEP, which is the international standard (ISO-10303) for product model data exchange. AP214 (Application Protocol) for the automotive industry not only takes into account geometry and organizational data, but also provides a classification mechanism for product modeling. When reading a STEP file during a design process that is exported from other CAD systems, it is a burden to a designer to go through the tedious process of removing duplicate or non-manifold entities, adjusting parts, and rearranging text. We analyze the structure of AP214 and develop a healing tool to solve the following problem. Without the assembly information in the Master workspace of CATIA, or to read a STEP file from Pro/Engineer, a designer should do a repetitive process of disintegrating an assembly into parts one by one. We have developed a post-processing tool for STEP AP214 that separates out a part from an assembly model and adjusts superfluous or useless entities using the ACIS kernel.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2013년도 춘계 학술논문 발표대회
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• pp.14-15
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• 2013

Green Frame is precast concrete column-beam structure. There are three types on column connection. The coupler type which is one of the three, need to be improved because of unstability caused by pre-installation of column before casting the slab, and quality deterioration caused by lack of workspace. Therefore, in this study, new coupler connection type with thread rebar is suggested. The result of this study shall be used for the efficiency analysis of the new coupler connection.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2004년도 추계학술대회
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• pp.166-169
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• 2004

In this paper show how to design a redundant robot which is suitable for the multiple task without any constraints on the workspace. The implementation is possible by the rigid connection of a mobile robot and a task robot. Use a five joint articulated robot as the task robot; designed the 3 joint mobile robot for this usage. For a task execution assigned to the redundant robot, not only the task robot but the mobile robot should work in the coordinated way. therefore, a kinematic connection of the two robots should be cleary represented in a frame. And, also the dynamic interaction between the two robots needs to be analyzed. Clarified these issues considering the control of the redundant robot. Finally, demonstrate away of utilization of the redundancy as the cooperation between the mobile robot and the task robot to execute a common task.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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• pp.1014-1021
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• 1999

PID controllers with constant gains have been widely used in various control systems. But it is difficult to have uniformly good control performance in all operating conditions. In this paper, we propose a variable PID controller for robot manipulators. We divide total workspace of manipulators into several subspaces. PID controllers in each subspace are optimized using evolution strategy which is a kind of global search algorithm. In real operation, the desired trajectories may cross several subspaces and we select the corresponding gains in each subspace. The gains may have large difference on the boundary of subspaces, which may cause oscillatory motion. So we use artificial neural network to have continuous smooth gain curves to reduce the oscillatory motion. From the experimental results, although the proposed variable PID controller for robots should pay for some computational burden, we have found that the controller is more superior to the conventional constant gain PID controller.

• 산업공학
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• 제11권2호
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• pp.125-137
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• 1998

A new vehicle design approach coupled with an ergonomic human model was proposed in the study. The seating package layout of a vehicle is very important to the driving comfort, and it has been one of the primary ergonomic research areas since the past 30 years. The diverse and interrelated design factors of seating package layout in the limited workspace make designers often neglect many parameters related with drivers which differ in their anthropometric characteristics. It is due to the lack of the proper tools by which the designer can easily apply several ergonomic design guidelines to the vehicle design. In this study. an iterative package layout procedure was developed, and the effectiveness of an ergonomic human model was examined in this procedure. A discomfort function was developed for the quantitative evaluation of the driving posture. This study clearly demonstrates that the package layout using an ergonomic human model is very helpful to improve the usability and driving comfort of the drivers or passengers.

• Journal of Electrical Engineering and Technology
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• 제9권3호
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• pp.1034-1042
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• 2014

For the remote operation of the mobile robot, the human operator depends fully on the sensory information which is the partial information of the workspace of the mobile robot. It is usually very hard to fully manually operate the mobile robot in this situation. We propose the efficient guidance navigation method for improving the efficiency of the remote operation with the expanded guide circle using the sensory information. The guidance command is generated from the proposed algorithm using the expanded guide circle. We evaluated the performance of the proposed algorithm using the experiments.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2004년도 SMICS 2004 International Symposium on Maritime and Communication Sciences
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• pp.123-127
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• 2004

In this paper, we propose that the chaotic behavior analysis in the several Arnold chaos mobile robot of embedding some chaotic such as Arnold equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. We consider that there are two type of obstacle, one is fixed obstacle and the other is hidden obstacle which have an unstable limit cycle. In the hidden obstacles case, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2006년도 춘계종합학술대회
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• pp.701-705
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• 2006

본 논문에서는 바퀴로 구성된 이동 로봇의 슬립 방지를 위한 경로 계획은 제안한다. 제안한 방식은 퍼텐셜 필드 경로 계획에서 척력에 대한 인위적인 힘을 평탄화 시키는 방식이다. 제안한 방식의 유용성을 확인하기 위하여 이동 로봇의 활동 영역에 C-obstacle이 존재하는 경우에 대해 시뮬레이션하여 제안한 방식의 성능이 기존 퍼텐셜 필드 방식보다 우수함을 확인하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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• pp.429-432
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• 2003

In this paper, a novel neural network approach is proposed for cleaning robot to complete coverage path planning with obstacle avoidance in stationary and dynamic environments. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation derived from Hodgkin and Huxley's membrane equation. There are only local lateral connections among neurons. The robot path is autonomously generated from the dynamic activity landscape of the neural network and the previous robot location without any prior knowledge of the dynamic environment.

• 한국정밀공학회지
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• 제27권6호
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• pp.39-46
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• 2010

Linear induction motor is adopted as an actuator of the planar stage. An inherently poor characteristic at zero or ultra-low speed zone of the induction motor is remarkably improved due to a recent development of power electronic semiconductor technology and a spatial vector control theory. At present, a servo response speed of the induction motor reaches 90 percent of one of PM synchronous or BLDC motor. Specially, as a secondary of the induction motor can be constructed using uniform conducting sheets, there is no periodic force ripple as in PM motors. So, the induction motor can be superior to another driving means under a certain condition. This paper discusses the overall development procedure of non-contact planar stage with a big workspace using linear induction motors.