• Journal of Venture Innovation
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• v.6 no.1
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• pp.59-73
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• 2023

In the era of the 4th Industrial Revolution, manufacturing is the implementation of smart factories through digital transformation, and refers to consumer-centered intelligent factories that combine next-generation digital new technologies and manufacturing technologies beyond the existing factory automation level. In order to successfully settle such a smart factory, it is necessary to train professionals. However, education for smart factories is difficult to have actual field mechanical facilities or overall production processes. Therefore, there is a need for a system that can visualize and control the flow and process of logistics at the actual production site. In this paper, the logistics flow of the actual site was implemented as a small FMS, a physical system, and the production process was implemented as a digital system. In real-time synchronization of the physical system and the digital system, the location of AGV and materials, and the process state can be monitored to see the flow of logistics and process processes at the actual manufacturing site. The developed digital twin system can be used as an effective educational system for training manpower in smart factories.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.21 no.2
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• pp.177-186
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• 2021

This paper aims to show that cooperative robots, which have only been used in manufacturing sites, are expanding their scope of use in daily living spaces due to the expansion of non-face-to-face services. By combining robots and IoT technologies in terms of diversifying services in daily life and customized service areas, it is expected that the general public will also have easy access to smart technologies, and these technologies will be used in more areas. The robot barista system will provide customers with the services they want, monitoring, maintenance, and management of the system, making this paper convenient for customers, as well as managers who run stores, maintenance and repair, and engineers who design the system. This paper attempts to demonstrate this through a structure called Robopresso.

• Composites Research
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• v.33 no.2
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• pp.50-54
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• 2020

Soft robotics and wearable devices require large motions and flexibility. In this regard, there is a demand for developing stretchable strain sensors which can be attached to the soft robots and wearable devices. In this work, we fabricated stretchable and electrically conductive composite fibers by combining polyurethane (PU) and silver nanoflowers (AgNFs). The PU/AgNF composite fibers showed the change of the resistance as a function of the applied strain, demonstrating the potential for stretchable strain sensors in soft robotics and wearable devices. The mechanical and electrical characteristics of the composite fibers were measured and analyzed to use the composite fibers for stretchable strain sensors.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.3
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• pp.113-118
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• 2004

In this paper, we propose a new weaving trajectory algorithm for the arc welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms using Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. Through simulations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning so that it's trajectory cannot penetrate into a base metal compared to the conventional algorithm using Catmull-Rom curve.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.3
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• pp.126-132
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• 2004

This paper proposed trajectory tracking control based on genetic algorithm. Trajectory tracking control scheme are real coding genetic algorithm(RCGA) and back-propagation algorithm(BPA). Control scheme ability experience proposed simulation. Stable tracking control problem of mobile robots have been studied in recent years. These studies have guaranteed stability of controller, but the performance of transient state has not been guaranteed. In some situations, constant gain controller shows overshoots and oscillations. So we introduce better control scheme using real coding genetic algorithm and neural network. Using RCGA, we can find proper gains in several situations and these gains are generalized by neural network. The generalization power of neural network will give proper gain in untrained situation. Performance of proposed controller will verity numerical simulations and the results show better performance than constant gain controller.

• Journal of the KSME
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• v.23 no.5
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• pp.326-334
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• 1983

1980년대에서는 생산성이 세계 제조업자들에게 특히 중요하게 된다. 이 기간 중에, 보호관세가 낮아져서 외국사람의 접근이 증가하게 되고, 국내 및 국외시장에서 경쟁 역시 증가될 것이다. 동 시에 전세계적인 산업자동화의 물결이, 급속히 증가하고 있는 컴퓨터와 산업용 로봇들을 근거로 제조업에 거세게 일 것이며, 이 기술변환의 지표로서, CAD/CAM에 관한 약 1,000개의 논문 및 서적과 기사가 매년 출판 발표되고 있다. 이러한 변화의 물결 중에서, 가장 급속히 진보하고 있는 2개의 첨단기술은, 컴퓨터응용설계를 위한 그래픽시스템의 사용이며, 생산기계류와 수치로 제어 되는 기계공구 사용과 더불어 부품과 공구취급을 위한 산업용 로봇의 사용이다. CAD/CAM이, 기업이나 산업국가에게 위협을 줄런지 또는 행운을 가져다 줄런지 결정하는 CAD/CAM 그 자 체가 아니라, CAD/CAM에 대한 기업이나 산업국가의 반응 및 그 활용에 있겠다.

• Journal of Welding and Joining
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• v.14 no.1
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• pp.24-29
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• 1996

철도차량의 루프 판넬(Roof Panel)은 폭이 약 3m, 길이가 약 20m의 초대형 외판과 하부 골조간에 2000 - 3000개의 스폿 용접건을 조작해서 작업을 해야 하는 대표적인 작업기피 공정의 하나이다. 이제까지 철도차량 제조업체에서는 대부분 스폿 용접을 사진1에서 본 바와 같이 수동조작 메니퓨레이터 등의 전용장비를 사용하여 제품 생산을 하고 있었으나 이러한 장비는 고가일뿐 아니라 수동조작으로 위치 이동 하여 모든 스폿 용접을 하여야 하므로 작업시간이 크게 소요되어 생산성이 매우 낮았 다. 본고에서는 300kg 중량물 취급용 5축 구조의 대형 로봇을 개발하여 철도차량 루프 판넬 스폿용접 작업 공정을 자동화 함으로서 생산성 및 품질을 크게 향상시킨 사례에 대하여 소개하고자 한다.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1882-1883
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• 2011

서비스 로봇은 효과적인 작업 수행을 위해 장소 인식을 정확하고 빠르게 할 필요가 있다. 이러한 장소 인식을 위해 영상 센서를 사용하여 데이터베이스와 비교하여 장소를 인식하는 방식이 많이 사용되고 있다. 현재 사용 가능한 영상 데이터베이스는 하나의 공간에서 다양하게 얻을 수 있는 영상을 수집하여 갖추고 있지 않다. 본 논문에서 제안하는 SEFEX database는 병원 실내에서 촬영된 영상 데이터베이스로 총 25개 촬영장소 (회전 영상 촬영 장소 15가지, 주행 영상 촬영 장소 10가지), 기준 영상 총 100장 (회전 영상 : 60장, 주행영상: 40장)과 시험 영상 총 250장 (회전 영상 : 150장, 주행 영상: 100장)의 사진으로 구성되어 있다. 이 영상 데이터베이스를 이용하여 제조사나 연구자가 장소 인식 성능 평가의 척도나 알고리즘의 평가 척도로 사용할 수 있을 것으로 예상되며, 새로운 장소 인식 방법의 개발 등의 장소 인식 분야에 사용될 것으로 기대된다.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.1
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• pp.8-15
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• 2003

The cylindrical object such as a water pipe or an oil pipeline are widely used in the infrastructure. Those pipes should be inspected periodically by human or a robot. However, since there is no edge or vertex in the pipe, it is very difficult for the robot to navigate along the pipe. In this paper in order to guide the robot along the axis of the pipe, an algorithm which find the axis using the measured range data from the robot to the pipe wall is developed The algorithm is verified using both the simulated range data and the measured one.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.3
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• pp.19-25
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• 2001

In this paper, we developed a Windows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. 4 axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinemat-ics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 98s GUI environment was also studied. The developing is Microsoft Visual C++. Graphic libraries, OpernGL, by silicon Graphics, Inc. were utilized for 3D Graphics.