• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.6
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• pp.55-62
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• 2017

This paper aims to realize additional axes, which increase the processing efficiency of a robot by controlling in harmful environments. Ultimately, this is to create time and energy savings in industrial sites with 6-axis articulated welding robots (RS2). Using $RecurDyn^{(R)}$ a simulation technique is applied. The motion paths of the welding rod are compared for two cases in order to verify the necessity of the additional axes: 1) when there are no additional axes and 2) when there are additional axes during welding using the RS2. For this purpose, the angle variations of the RS2 axes required for the simulation are compared, on the assumption that each of the four points of the welding bed installed on the additional axes of the welding rod in $Solidworks^{(R)}$ is point-welded. Then, actual additional axes equipment is grafted on to the RS2 and the process times compared using $LabVIEW^{(R)}$.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.4
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• pp.16-23
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• 2021

Currently, 6-axis articulated robots are used throughout the industry because of their 6-dof (degrees of freedom) and usability. However, 6-axis articulated robots have a fixed base and their movements are limited by the rotational operating range of each axis. If the angle of the 2-axis additional axes can be adjusted according to the position and orientation of the end-effector of the 6-axis articulated robot, the effectiveness of the 6-axis articulated robot can be further increased in areas where the angle is important, such as welding. Therefore, in this paper, we proposed a cooperative kinematic inter-operation strategy. The strategy will be verified using the Simulink of MATLABⓇ, an engineering program, and RecurdynⓇ, a dynamic simulation program.

• Journal of the Mineralogical Society of Korea
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• v.12 no.1
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• pp.23-31
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• 1999

The dehydroxylation of kaolinite was investigated in detail by means of energy-filtering transmission electron microscope with both orientations parallel and perpendicular to c. The dehydroxylation could be characterized by the broad background including (0.211) band (20~24$^{\circ}$ 2$\theta$) on X-ray diffraction and by the three halo rings (d-spacing : 3.28~4.40$\AA$ (near (02,11) band), 2.41~245$\AA$ (near (20,13) band), 1.16~1.23$\AA$ (near (0.8,44) band)), and (02,11) and (20,13) spots on electron diffraction. These indicate existence of a short-range order along the a and b axes. Interplanar spacing of (001) is reduced to about 6.86$\AA$ and the sharp additional intensity maximum of about 14.2$\AA$ reveals that metakaolinite has a modulated structure along c axis. It is proposed that the modulated structure is attributed to the domains consisting of more than two-layers due to the changes of positions of the vacant octahedral sites in successive layers.

• Spatial Information Research
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• v.16 no.1
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• pp.113-127
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• 2008

This paper proposes an efficient spatial index, named $AR^*$-tree(Area $R^*$-tree) which is a variant of the $R^*$-tree, for mobile software. A MBR(Minimum Bounding Rectangle) structure of the $AR^*$-tree has additional min and max values of area axis as well as x and y axes. The value of area axis is used to determine the significance of a spatial data. If area of a spatial data is large, then it is significant when drawing a map. To reduce complexity of a map on a small screen of mobile device, only significant spatial data can be found by the $AR^*$-tree. The result of a series of tests indicates that the $AR^*$-tree provides a method for control of readability of a map and guarantees an efficient performance at the same time.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_2
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• pp.327-332
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• 2023

As interest in eco-friendly and fuel-efficient electric vehicles has increased globally, there has also been a growing interest in the efficiency, vibration, and noise of motors for electric vehicles Electric vehicles generally have significantly lower driving ranges per charge compared to the maximum driving range per fueling of internal combustion engine vehicles. Additionally, there are issues with various vibrations and noise generated by the motor that can cause discomfort for passengers. Therefore, research is necessary to reduce losses, vibration, and noise of the motor to improve the driving range of electric vehicles. IPMSM with a purchased design can obtain additional reluctance torque by utilizing the difference in inductance between the d and q axes. However, due to this reluctance torque, torque ripple occurs larger than other motors. The increase in torque ripple also increases noise and vibration. Since the reluctance torque, which is the main cause of torque ripple, is determined by the shape of the motor components, torque ripple can be reduced through shape optimization. In this paper, a rotor shape for reducing torque ripple and core loss that causes vibration, noise, and efficiency to decrease of IPMSM for electric vehicles was proposed. Optimization design was carried out by changing the shape of the q-axis path of the rotor to reduce the difference in inductance of the d and q-axis of the rotor. Finally, in order to verify the validity of the design variables derived through the optimal design, the original model and the improved model were compared through the FEM. Compared to the original model, the improved model's torque verifying ripple was reduced by about 62% and core loss was reduced by about 29%, the superiority of the improved model.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.63 no.4
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• pp.219-225
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• 2014

The purpose of this paper is to control of the low-speed, high-precision PMSM 2-axes pitch/turning. In this paper, apply the PAM-PWM inverter for it. However, The PAM-PWM inverter, control algorithms and hardware is complex. But it is possible to improve the performance in the low-speed operation can reduce the effect of the PWM ripple and Dead Time of inverter by applying suitable DC-bus voltage control. The direct driver PMSM(Permanent Magnet Synchronous Motor) configured to vector control part, PAM control part and the other controller. The vector control part includes PI current, speed control, additional space vector modulation. PAM control part has to have PI voltage controller and P current controller for DC-bus voltage control. Besides, the motor position estimator, the speed estimator and the counter electromotive force and Dead Time Compensation are added. With this arrangement, PMSM was driven with a low pole pitch/turning by performing the current control to the current command or torque command is the paper. As a result, it was possible to minimize the disturbance component that appears in the drive in proportion to the DC voltage magnitude. The use of a hydraulic drive method for a two-axis bubble column is a typical tank. When using the PWM PAM inverter driver is in the turret can be driven by high-precision, low vibration, low noise compared to the hydraulic drive may contribute to the computerization of the turret.

• Journal of Internet Computing and Services
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• v.15 no.4
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• pp.33-42
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• 2014

Hand-signal is an effective communication means in the situation where voice cannot be used for expression especially for soldiers. Vision-based approaches using cameras as input devices are widely suggested in the literature. However, these approaches are not suitable for soldiers that have unseen visions in many cases. in addition, existing special-glove approaches utilize the information of fingers only. Thus, they are still lack for soldiers' hand-signal recognition that involves not only finger motions, but also additional information such as the rotation of a hand. In this paper, we have designed and implemented a new recognition system for six military hand-signal motions, i. e., 'ready', 'move', quick move', 'crawl', 'stop', and 'lying-down'. For this purpose, we have proposed a finger-recognition method and motion-recognition methods. The finger-recognition method discriminate how much each finger is bended, i. e., 'completely flattened', 'slightly flattened', 'slightly bended', and 'completely bended'. The motion-recognition algorithms are based on the characterization of each hand-signal motion in terms of the three axes. Through repetitive experiments, our system have shown 91.2% of correct recognition.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.9
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• pp.875-882
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• 2011

In the present study, the imbalance in the axial-thrust and variation in the volumetric efficiency that occurred during the trimming of impeller diameter were investigated. The present study was focused on low-specific-speed multistage centrifugal pumps with a balancing piston as the balancing mechanism. The effects of impeller trimming on the axial-thrust balance in multistage pumps with horizontal and vertical axes were compared. The results showed that impeller trimming resulted in an additional axial-thrust acting in direction of pump inlet. The axial-thrust imbalance due to impeller trimming was more severe in the vertical-axis pumps than in the horizontal-axis pumps. The rate of increase in the diameter of the balancing piston, which was proportional to the rate of impeller trimming, was evaluated to maintain the axial-thrust balance. Furthermore, a simultaneous increase in the piston length and piston diameter was more effective for reducing the axial-thrust imbalance along with the volumetric efficiency drop.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.12
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• pp.446-452
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• 2016

Recently, heat resistant super alloys (which are wear-resistant, corrosion-resistant, and heat-resistant), have been used as the basic structural material in offshore and petrochemical plants. On the other hand, making valves from very expensive, high heat-resistant alloys increases the production cost and decreases its market competitiveness. To solve these problems, the technique of overlaying only those that flow on the fluid has been used as an effective method. Nevertheless, because the former technique of overlaying the ball is performed manually, it takes too much time and perfect welding is difficult to perform. To solve this problem, this study developed a robot automation system that can make uniformly overlay welding of the ball for ball-valves. The system consists of a 6-axis welding robot with a welding torch and additional 2 axes for the rotation of positioner, the controller, and a robot path OLP (Off-Line Programming). The CAD drawing data was entered in the Off-line program to obtain the robot teaching point and drive source. Overlay welding paths were implemented using Matlab. Through an automated overlaying system that implemented the OLP, the productivity rose 2.58 times, as the amount of time required for work decreased from 88 hours to 41 hours.