• 한국산업융합학회 논문집
• /
• 제17권4호
• /
• pp.245-254
• /
• 2014

In this paper, stable and robust dynamic walking for a biped motion is proposed. To success this objective, the following structures are processed. In this paper, the proposed control method is one that adjusts actual zero moment position to move to the closest possible point in the stable area instead of following desired zero moment position. This minimizes energy consumption with the smallest joint movements. The proposed control method makes mechanical energy that drives lower limb of the bipedal robot efficient. In this paper, walking experiment is carried out with the three control structures mentioned above. The trajectory generated by off-line is illustrated by performing to walking on flat ground. experiment with an obstacle whose height is lower than that of trajectory is executed to validate dynamic motion.

• 한국산업융합학회 논문집
• /
• 제17권4호
• /
• pp.217-226
• /
• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• 한국산업융합학회 논문집
• /
• 제17권4호
• /
• pp.211-216
• /
• 2014

In general, gantry robot is very useful handling of heavy objects. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• 산업공학
• /
• 제19권3호
• /
• pp.174-180
• /
• 2006

This paper deals with the robot system of recognizing human's expression from a detected human's face and then showing human's emotion. A face detection method is as follows. First, change RGB color space to CIElab color space. Second, extract skin candidate territory. Third, detect a face through facial geometrical interrelation by face filter. Then, the position of eyes, a nose and a mouth which are used as the preliminary data of expression, he uses eyebrows, eyes and a mouth. In this paper, the change of eyebrows and are sent to a robot through serial communication. Then the robot operates a motor that is installed and shows human's expression. Experimental results on 10 Persons show 78.15% accuracy.

• 한국정보통신학회논문지
• /
• 제9권8호
• /
• pp.1840-1846
• /
• 2005

본 논문에서는 유전 알고리즘을 사용하여 PID의 각 계수를 자동적으로 조정함으로써 DC 서보모터의 속도제어에 적용하였다. DC 서보모터는 산업현장 및 로봇분야에 널리 적용되고 있으며 적절한 제어성능을 얻기 위하여 많은 시행착오에 의한 다양한 제어방법이 사용되고 있다. 그러나 산업현장, 플랜트의 변화 및 외란에 강인한 제어알고리즘을 선택하기가 매우 어려우며 많은 시행착오를 통하여 원하는 계수값을 얻어 낼 수 있다. 따라서 본 논문에서는 이러한 문제점을 해결하고 DC 서보모터의 제어성능을 향상시키기 위하여 유전 알고리즘을 적용함으로써 우수한 응답특성을 얻을 수 있었다.

• 전력전자학회논문지
• /
• 제10권1호
• /
• pp.29-37
• /
• 2005

본 논문에서는 PI형태의 속도제어기를 장착한 고성능 유도전동기의 조건부 적분형 자동 튜닝 anti-windup 기법을 제안한다. 제안된 방법에서는 전동기 운전 조건에 대한 사전 정보 없이도 전동기 토오크 지령의 주파수 해석에 의해서 적분기 온/오프 시점이 결정된다. 따라서, 사용자는 anti-windup 동작을 위한 별도의 제어 상수를 설정하지 않아도 된다. 또한, 동작 조건이 변동하여도 과도 상태의 속도는 항상 최소한의 오버슈우트와 점착시간을 가지도록 동작한다. 본 기법은 속도 및 토오크 응답의 오버슈우트를 허용하지 않는 유도전동기 고성능 응용 분야에 유용하게 적용 될 수 있으며, 기본 개념은 화학 공정이나 산업용 로봇과 같은 일반 산업 응용 분야에도 확대 적용 가능하다.

• 월간 기계설비
• /
• 12호통권209호
• /
• pp.34-43
• /
• 2007

환경부는 산하 수처리선진화사업단에서 수돗물 수질개선대책의 일환으로 연구개발한 옥내급수관 진단, 세척 및 갱생기술을 적용, 서울시와 공동으로 시범사업을 실시한다고 밝혔다. 이 사업은 서울 둔촌동 주공아파트 2개동 80세대를 대상으로 약 1억2000만원의 예산을 들여 지난 8월 말부터 시행, 수돗물 녹물발생 방지를 위한 갱생기술의 완성도를 검증·확인한다는 것. 기존 옥내급수관 갱생기술은 평균 관직경 15mm인 소형관에 대한 정밀시공이 어려워 녹이 재발하는 경우가 많았다. 하지만 이번에 개발된 기술은 수도관 내부의 녹 제거 및 관 내부 표면이 균일토록 코팅할 뿐 아니라 시공 후 마이크로 로봇을 이용, 관 내부 촬영 및 절연도 체크를 통해 코팅 완성도를 확인, 녹 재발 가능성을 미연에 방지한다. 이번 기술이 검증되면 환경부는 선박배관, 빌딩, 냉각수배관, 소화용배관, 산업용배관 등에도 확대 적용하고 해외진출을 통해 물산업 육성 아이템으로 발전시킬 계획이다. 한편 환경부는 지난 2005년 수도법을 개정, 건축연면적 6만$m^2$이상 다중이용건축물과 연면적5,000$m^2$이상 국.공립 공공시설은 준공 5년 후부터 매년 수질검사를 실시, 결과에 따라 수도관을 세척·갱생 또는 교체토록 올해 1월부터 의무화 하고 있다.

• 한국산업융합학회 논문집
• /
• 제22권5호
• /
• pp.553-559
• /
• 2019

Various types of nozzles have been used to cope with fire in ships. However, in Korea, precise nozzles that perform fine spraying function are required for fire fighting in case of fire in a ship, and most of these nozzles depend on imports. Therefore, in this study, we developed various types of nozzles to develop the water spray nozzle for evolving fire in the engine room of the ship, and developed an optimal nozzle through flow analysis and fire test. For this purpose, we selected the materials that can satisfy the characteristics of existing nozzle materials and developed the design technology and processing technology in the nozzle considering fluid flow to achieve optimal water spraying performance. In order to develop an optimal nozzle, the flow through the finite element analysis was first analyzed and the nozzle was manufactured. As a result of flow analysis of the developed nozzle, the maximum velocity at the outlets of four holes at 0.3 MPa was about 3m/s and about 0.15 MPa. In addition, when the pressure at the inlet was 1.8 MPa, it showed the outlet speed of about 18m/s and a pressure of 1.2 MPa.

• 한국산업융합학회 논문집
• /
• 제22권5호
• /
• pp.491-497
• /
• 2019

Dissimilar friction welding were produced using 15 mm diameter solid bar in superalloy(Alloy718) to chrome molybdenum steel(SCM440) to investigate their mechanical properties. Consequently, optimal welding conditions were n=2000 rpm, HP=60 MPa, UP=120 MPa, HT=10 sec and UT=10 sec when the metal loss(Mo) is 3.5 mm. Acoustic Emission(AE) technique was applied to analyze the dissimilar friction welding of Alloy718 and SCM440. The relationship between the AE parameters and dissimilar friction welding of both material was discussed. In the case of heating time of 6 sec, 10 sec, 14 sec and 20 sec, 5 AE events per 0.5 seconds and energy about $2.7{\times}10^{10}$ were exhibited in heating time. In upsetting time, resulting in various numbers of events per second and very low energy. The frequency range of the signal generated during the heating time was about 200 kHz. However, the upsetting time resulted in a wide range of signals from very low frequency to high frequency of 500 kHz due to rapid plasticity of the material.

• 한국산업융합학회 논문집
• /
• 제24권5호
• /
• pp.573-579
• /
• 2021

In this study, flow analysis was performed on three types of strainers for ships with different flow rates to predict the pressure drop of the strainer due to the filter of strainer. In the case of flow analysis, the flow analysis was performed by applying the porous media method by applying the resistance value derived by Ergun's equation to the filter position. As a result of the analysis, it was found that when the dimensions of the strainer body were small, the influence of the flow rate on the pressure drop was large. In addition, the amount of pressure drop and the flow rate are almost linearly proportional, and an analysis formula that can predict the amount of pressure drop was derived. In order to predict the amount of pressure drop of the strainer when blockage exist in the strainer filter, the analysis was performed by introducing the resistance ratio to derive the prediction equation. Using this equation, it is thought that it will be possible to predict the performance of the strainer due to blockage in the future strainer design and field application.