• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.12
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• pp.2315-2327
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• 1992

A robot assembly method which uses configuration and force/torque information of tactile sensor system and performs chamferless peg-in-hole tasks is suggested and experimentally studied. When the robot gripes the peg with random orientation, the realignment of the peg to the hole center line is successfully performed with the gripping configuration information of the tactile sensor and the inverse kinematics of the robot. The force/torque information of the tactile sensor makes it possible to control the contacting force between mating parts during hole search stage. The suggested algorithm employs a hybrid position/force control and the experiments show that the algorithm accomplishes well peg-in-hole tasks with permissible small contacting force. The chamferless peg-in-hole tasks with smaller clearance than the robot repeatibility can be excuted without any loss or deformation of mating parts. This study the possibility of precise and chamferless parts mating by robot and tactile sensor system.

• Proceedings of the Korean Society of Computer Information Conference
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• 2024.01a
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• pp.481-484
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• 2024

본 논문에서는 레고(LEGO®) 조립 설명서를 생성하기 위해 딥러닝을 이용한 조립 및 설명서 생성 시스템을 제안한다. 이 시스템은 사용자가 제공한 단일 이미지를 기반으로 레고 조립 설명서를 자동 생성한다. 해당 시스템은 딥러닝 기반 이미지 분할 기술을 활용하여 물체를 배경으로부터 분리하고 이를 통해 조립 설명서를 생성하는 과정을 포함하며, 조립을 위한 알고리즘을 새로 설계하였다. 이 시스템은 기존 레고 제품의 한계를 극복하고, 사용자에게 주어진 부품으로 다양한 모델을 자유롭게 조립할 수 있게 한다. 또한, 복잡한 레고 조립 과정을 간소화하고, 조립의 장벽을 낮추는 데 도움을 준다.

• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.335-336
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• 2007

본 논문은 표면실장기판을 위한 자동 광학 검사 시스템에서 사용되는 알고리즘을 종류 별로 비교 분석한다. 비교된 부품 검사 알고리즘은 공간영역에서의 템플릿 매칭 방법을 사용한다. 각 방법에는 장단점이 있으며 주된 비교항목은 검사 속도와 검사 정확도에 대한 비교 분석을 한다. 비교 및 분석을 통해 부품검사 알고리즘의 속도 및 정확도 향상의 방향을 제시한다. 실험 결과를 제시하여 비교된 알고리즘의 성능을 검증한다.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2149-2151
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• 2003

본 논문에서는 마이컴(PIC16C74)과 Tabu 탐색법 및 지능기법(퍼지 및 신경회로망)을 이용하여 고정밀 제어 및 강인한 제어 성능을 가지는 초소형 DC 모터용 지능형 제어기를 개발하였다. 이를 위해 마이컴(PIC16C74)를 이용한 지능형 제어 알고리즘을 개발하고, 초소형 DC 모터용 드라이브 회로 설계 및 제작하였다. 개발한 초소형 DC 모터 지능형 제어기는 디지털 자동 용접캐리지에 적용할 예정이며, 다른 응용 분야로써는 자동배수장치, 반도체 분야, 산업용 로봇 분야 및 조립자동화 시스템 분야 등에 사용되는 구동모터에 적용함으로서 정밀도와 외부의 잡음에 대한 영향을 경감시켜 안정성과 효율향상 및 에너지절약이 가능할 것이다.

• Journal of the Korea Computer Graphics Society
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• v.20 no.2
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• pp.25-32
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• 2014

We present an example-based approach to synthesizing physically simulated Rube Goldberg machines in which a series of rigid body elements are sequentially triggered and driven along the causal chain. Given a set of elements, our goal is to automatically instantiate and arrange those elements to meet the user-specified requirements including the start and end positions, and the boundary of movement. To do so, we first sample small-scale machines consisting of only a few elements randomly, and represent the connectivity between every pair of components as a graph structure. Searching over possible paths in this graph solves our problem by finding a path that can be unrolled to satisfy the given requirements, and then assembling components sequentially along the solution path. In order to ensure that the machine works precisely in a physically simulated environment, we finally elaborate the layout of assembled components by a simple greedy algorithm. We demonstrate the usefulness of our approach by displaying a large diversity of Rube Goldberg machines built with only five kinds of elements.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.11
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• pp.4282-4290
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• 2010

Recently, business environment is spreading from singular business to supply-chain problem. SCM(Supply Chain Management) is changing from closed and static to opened and dynamic environment, so these environment changes of SCM require to enterprise different approach than past. As supply chain is becoming opened and dynamic, a claim is being naming that converse of real-time the get reaction from to recognizing the level of supply chain problem, grope of alternative plan to solving this problem and choosing optimum alternative plan raise the enterprise competitive. But until present, the research to deal with these changes of SCM is on insufficient situation. Thus in this paper proposes the agent system by a way of realizing dynamic supply chain. The agent is going to accomplish the management activities in real-time depends on environment and given condition and designed for solving problems development and maintenance. Also, algorithms performance of the agent is tested on TAC SCM environment. Agents in TAC SCM are simulations of small manufacturers, who must compete with each other for both supplies and customers, and manage inventories and production facilities.

• Proceedings of the Korea Water Resources Association Conference
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• 2022.05a
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• pp.279-279
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• 2022

최근 이미지분석 기술은 하드웨어 및 소프트웨어 기술의 급격한 발전으로 인해 의학, 생물학, 지리학, 재료공학 등에서 수많은 연구 분야에서 광범위하게 활용되고 있으며, 이미지분석은 다량의 토사에 대하여 입경을 포함한 형상학적 특성을 간편하게 정량화 할 수 있기 때문에 매우 효과적인 분석 방법으로 판단된다. 현재 모래의 입도분석 방법으로는 신뢰성 있는 체가름 시험법(KSF2302) 등이 있으나, 번거로운 처리과정과 많은 시간이 소요된다. 또한 입자형상은 입경이 세립 할수록 직접 측정이 어렵기 때문에, 최근에는 이미지 분석을 이용하는 방법이 시도되고 있다. 본 연구에서는 75㎛ 이상의 조립질 하상 토사 이미지를 취득하여, 입자들의 장·축단 길이, 면적, 둘레, 공칭직경 및 종횡비 등의 형상학적 특성인자를 자동으로 측정하는 프로그램 개발을 수행하였다. 프로그램은 이미지 분석에 특화된 라이브러리인 OpenCV(Open Source Computer Vision)를 적용하였다. 이미지 분석 절차는 크게 이미지 취득, 기하보정, 노이즈제거, 객체추출 및 형상인자 측정 단계로 구성되며, 이미지 취득시 패널의 하단에 Back light를 부착해 시료에 의해 발생되는 음영을 제거하였다. 기하보정은 원근변환(perspective transform)을 적용했으며, 노이즈 제거는 모폴로지 연산과 입자간의 중첩으로 인한 뭉침을 제거하기 위해 watershed 알고리즘을 적용하였다. 최종적으로 객체의 외곽선 추출하여 입자들의 다양한 정보(장축, 단축, 둘레, 면적, 공칭직경, 종횡비)를 산출하고, 분포형으로 제시하였다. 본 연구에서 제안하는 이미지분석을 적용한 토사의 형상학적 특성 측정 방법은 시간과 비용의 측면에서 보다 효율적으로 하상 토사에 대한 다양한 정보를 획득 할 수 있을 것으로 기대한다.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.14 no.6
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• pp.49-56
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• 2015

For designing working devices of construction equipment, it is necessary to consider not only sufficient working ability but also available working range. Therefore, it is important to select the appropriate pivot positions of links. This paper presents a study on selection of pivot points of links used in construction equipment. To analyze the effect of each pivot point, a design program for pivot selection is developed. A conventional pivot design method requires a complicated process because it needs to create a certain working position manually to evaluate its performance. However, the developed program includes an automatic link assembly algorithm; thus, the working device can easily be analyzed by using pivot information of links. The developed program also included a kinematic/static analysis module and characteristic analysis algorithms. Therefore, it is possible to easily analyze a working device model created through the automatic assembly algorithm, whereby users can easily analyze the effect of each link pivot point for the actual product design.

• Korean Journal of Construction Engineering and Management
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• v.13 no.1
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• pp.118-128
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• 2012

As the bearing wall structure, which has been widely applied to domestic apartment buildings since the 1980s, cause many problems during remodeling of buildings, the government encourages constructors to adopt flat plate or rahmen structure through legal incentives. In line with such a trend, the green frame, an eco-friendly rahmen structure that has removed the shortcomings of previous structures, was developed to enhance structural safety, constructability, and eco-friendliness. The construction of green frame can reduce the labor cost and facilitate the composition of iron bars to reduce rebar loss through calculating the quality and establishing the bar bending schedule automatically on the precast concrete member data collected over the design phase. Therefore, the purpose of this study is to develop the algorithm to automate the calculation of iron bar volume for the green frame designed on composite precast concrete members. Automated algorithm to calculate concrete structural design information and design information. Practices through the application site should prove efficacy. The database established by the developed algorithm will automate the establishment of iron bar processing map and bar cutting list and the calculation of optimal composition and order volume to minimize the rebar loss. This will also reduce the expenses on management staff and overall construction cost through the minimization of rebar loss.

• Journal of Korean Society of Steel Construction
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• v.24 no.6
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• pp.671-682
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• 2012

The use of sinusoidal corrugated web girder for the box-type girders and gable steel main frames has recently been increasing very much. The reasons are that the thin web of the girder affords a significant weight reduction compared with rolled beam and welded built-up girder, and that corrugation prevents the buckling failure of the web. Improvements of the automatic fabrication process makes mass production of the corrugated web and unit possible, and applications of this girder have been extended considerably. Thus, the research for the optimum design processer considering the production data is needed practically. For doing this research, we develope the discrete optimum structural design program in consideration of production list data for the research, and the program apply to the single girder under the uniform load and the concentrated load as numerical example. We consider objective function as minimum weight of the girder, and use slenderness ratio, stress of flanges and corrugated web, and the girder deflection as the constraint functions. And also the Genetic Algorithms is adopted to search the global minimum point by using the production list as a discrete design variable. Finally, to verify the optimality of the design, we conduct a comparison of the results of the discrete optimum design with those of the continuous one, and also analyze the characteristics of the optimum cross-section.