• 대한산업공학회지
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• 제25권3호
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• pp.382-392
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• 1999

Industrial robots have increased in both the number and applications in today's material handling systems. However, traditional approaches to robot controling have had limited success in complicated environment, especially for real time applications. One of the main reasons for this is that most traditional methods use a set of kinematic equations to figure out the physical environment of the robot. In this paper, a neural network model to solve robot manipulator's inverse kinematics problem is suggested. It is composed of two Self-Organizing Feature Maps by which the workspace of robot environment and the joint space of robot manipulator is inter-linked to enable the learning of the inverse kinematic relationship between workspace and joint space. The proposed model has been simulated with two robot manipulators, one, consisting of 2 links in 2-dimensional workspace and the other, consisting of 3 links in 2-dimensional workspace, and the performance has been tested by accuracy of the manipulator's positioning and the response time.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.795-800
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• 2000

In a parallel manipulator, there are three constraints that determine workspace: link length constraint, passive joint angle constraint, and interference among links. Generally, the link length constraint is the most dominant. The interference among links is, however, also an important parameter in designing a desired parallel manipulator. In this study, the interference among links is mathematically modeled by considering the links as a line and a cylinder of radius of twice the link radius, and a new algorithm is suggested to check if arbitrary two links interfere each other or not. The workspace of a cubic parallel manipulator is illustrated in a 2D space satisfying the three constraints.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.893-900
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• 1994

In this study, workspace analysis has been performed for a Clemens Coupling type parallel robotic wrist with four degrees of freedom such as three angular degrees of freedom and 1 plunge motion. Because of plunge motion, this mechanism has no singular point that the general roll-pitch-roll mechanisms have. Also, proposed mechanism performs larger load, faster motion, with less weight and has better structural characteristics such as higher stiffness and strength to weight ratio compared with serial type mechanisms. As a basic step for position control, the closed form solution of forward and inverse kinematics are proposed and workspace is analyzed and plotted by applying triangle tracer method for workspace boundary tracing.

• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.560-567
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• 2007

The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.

• Journal of Mechanical Science and Technology
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• 제20권10호
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• pp.1614-1625
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• 2006

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix for each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. Finally, the kinematic optimization of the mechanisms is performed in consideration of their dexterity and rigidity. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.

• 대한기계학회논문집A
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• 제30권12호
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• pp.1564-1572
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• 2006

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix of each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. .Finally, the kinematic optimization of the mechanisms is performed with regards to their dexterity, stiffness and space utilization. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.973-974
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• 2012

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제14권9호
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• pp.916-920
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• 2008

개인 컴퓨팅 환경은 사용자에 특화된 응용프로그램 및 설정, 사용자 데이타 등을 총칭하는 개념으로써, 노트북, UMPC 등의 휴대용 컴퓨팅 H/W는, 어떤 곳에서도 항상 개인에게 특화된 컴퓨팅 환경에서 작업 가능하도록 소형화, 경량화가 진행되고 있다. 그러나, 최근 가상화 기술 및 휴대용 스토리지 기술을 이용한 다양한 개인 컴퓨팅 환경 이동성 지원 기술이(c.f. VMWare Pocket ACE[1], Mojopac[2], u-PC[3] 등) 등장함으로써, 공용 PC 상에 자신의 컴퓨팅 환경을 로딩하여 사용할 수 있도록 지원하는 기술이 주목받고 있다. 특히, 본 논문의 이전 연구로써, u-PC[3]에서는 UPnP 및 iSCSI 프로토콜을 이용하여 사용자 영역 네트워크(PAN)상에서 자동 검색 및 구성이 가능한 무선 스토리지 기술과, Windows 운영체제 상에서 구동 가능한 개인 컴퓨팅 환경 이동성지원 기술을 제안하였다. 그러나, 기존의 u-PC 기술에서는, Windows 운영체제 상 Filter Driver 계층에서 IRP(I/O Request Packet) forwarding을 이용하여 개인 컴퓨팅 환경의 이동성 지원 기술을 구현함으로써, 제한적인 응용 프로그램만 구동 가능한 한계점이 있었다. 본 논문에서는 Windows 운영체제 상 System Call Hooking 기법을 이용하여 운영체제 가상화 기술을 구현하고, 개인 컴퓨팅 환경의 이동성을 지원함으로써, 기존 논문에서의 한계성을 극복하였으며, VMWare Pocket ACE, Mojopac 등의 단점인 개인 컴퓨팅 환경의 구동 초기화 오버 헤드를 극복하였다. 또한, Ultra Wide Band (UWB) 기반 고속 무선 네트워크 상 적용 가능한 무선스토리지 기술을 개발하고, 개선된 u-PC 플랫폼을 연동하여 다양한 형태의 개인 컴퓨팅 환경 사용 모델을 제시함으로써 기술의 적용성을 검증하였다.

• 한국실내디자인학회논문집
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• 제22권6호
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• pp.140-150
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• 2013

The weaving of Mosi(fine ramie) in the Hansan region was inscribed on the representative list of the UNESCO intangible cultural heritage in 2011. Unlike other fabric, as the Mosi is very sensitive towards humidity it needs different conditions for its workspace. The Hansan region is near the sea with many mountains around where it is easy for the Mosi to grow and is an appropriate place to weave Mosi. Recently the manpower for weaving of Mosi in the Hansan area is decreasing with the decrease of workspace drastically. After the investigation of workspace for the weaving of Mosi in the Hansan area, most of the places were done in individual houses and it could be classified in 1. Mosi storeroom, 2. Shed(Gwang che), 3. Dugout hut, 4. Under the toenmaru The depth of the dugout hut and under the toenmaru is around 80~60cm which is similar with the depth of the prehistoric dugout hut houses. The towns for weaving of Hansan Mosi are formed mostly in the Seochungun district, but the Hoamri Hansan-myeon and Gayangri Masan-myeon has the most traditional workspaces and they are still forming and maintaining the traditional town composition. However the numbers are too small and maintaining the traditional town is getting more difficult, so a plan for the maintenance should be made to continue to keep it as UNESCO intangible cultural heritage.

• Journal of Microbiology and Biotechnology
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• 제14권5호
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• pp.1081-1085
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• 2004

Genome research has become very popular in most nations. In order to enhance the efficiency of collaboration among genome research groups, ways to store and share data, communicate with each other, be guided through right research strategies, and to easily use well-established databases. In addition, since techniques and softwares for genome research groups are well established, a similar research road map could commonly be applied. In this study, we developed a web-based work place for effective genome research, named 'BioPlace.' From the beginning of writing a proposal, research members can work on the same environment with convenient aid to share files or data. BioPlace provides various ways of collaboration methods among genome researchers. The BioPlace system supports two types of workplaces, namely 'Personal Workspace' and 'Team Workspace.' For each BioPlace user, a Persona] Workspace is provided, while a Team Workspace is provided for each group with the same purpose. In addition, BioPlace provides a 'General Research Road Map' for genome research, and several Korean user interfaces for BLAST, PDB, and Primer3. We expect that BioPlace may facilitate collaboration of genome research among the experienced scientists and help beginners in many different ways as well.