• 한국정밀공학회지
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• 제20권9호
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• pp.151-158
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• 2003

The impulse noise of bullet after shooting in small arms has an effect on the hearing ability of human. Although a silencer has been developed for noise reduction in small arms, there is only a few researches about relationships between the sound pressure level and the auditory sense of human. In this study, the quantitative sound pressure levels are revealed by experimental measurements of impulse noise with each silencer type. And the performance evaluation for noise suppression of a silencer in small arms is carried out to reduce a serious loss of the hearing ability of the small arms user. It is concluded that the evaluated results can be utilized for checking sound pressure and data accumulation for new small arms design with silencer.

• 전자공학회논문지
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• 제50권3호
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• pp.203-211
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• 2013

본 논문에서는 바닥작업용 서비스 로봇을 위한 두 팔 매니퓰레이터의 개발 및 제어에 관한 연구를 기술하였다. 6자유도의 매니퓰레이터를 설계하였으며, 그 중 5자유도 매니퓰레이터를 제작하였다. 제작된 매니퓰레이터의 순기구학과 역기구학을 해석하고 시뮬레이션을 수행하여 기구학을 검증하였다. 실제로 역기구학을 바탕으로 로봇 팔을 제작하여 제어하였다. 양팔의 동작 성능을 확인하기 위해 오른쪽 팔과 왼쪽 팔을 각각 따로 제어하여 서로 다른 경로를 추종하는 실험을 수행하였다. 실험결과를 통해 기구학 분석을 검증하였으며, 시스템의 동작 여부를 확인할 수 있었다.

• 한국소음진동공학회논문집
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• 제26권5호
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• pp.578-583
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• 2016

In order to provide a basis data for design of small arms and their silencer, an experimental study on firing noise of small arms was performed around the muzzle of a gun. For this experimental comparison analysis, the target small arms were included most operating small arms in our country. The sound pressure levels were measured at a certain distance which was predetermined according to US army firing test procedure, TOP 3-2-045. By this experimental study, the sound pressure levels of 5.56 mm caliber small arms are 143 dB ~ 145.4 dB and 7.62 mm caliber small arms are 144 dB ~ 145.2 dB. Between the heavy machine gun K12 and M60, the sound pressure level of K12 is slightly lower than M60.Also silencer for K14 snifer rifle was tested. Using this result, it has been found that the reduction effect of the silencer is 15.4 dB but the improvements of silencer performance in the high frequency range have to be studied later on.

• 한국지능시스템학회:학술대회논문집
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• 한국지능시스템학회 2008년도 춘계학술대회 학술발표회 논문집
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• pp.71-74
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• 2008

The main object of this paper is concentrated on distance control of two robot arms of a humanoid using Fuzzy Logic Controller (FLC) for handling a common object. Serial Link Robot arms are widely used in most significantly in Humanoids serving for older people and also in various industrial applications. A method is proposed here that separates the interconnections between two robot arms so that the resulting model of two arms is decomposed into fuzzy logic based controller. The distance between two end effectors is always kept equal to that of the diameter of an object to be handled, so that the object would not fall down. Mathematical model of this system was obtained to simulate the behavior of serial robotic arms in close loop control before using fuzzy logic controller. Lagrangian equation of motion has been used to obtain the appropriate mathematical model of Robotic arms. The results are shown to provide some improvement over those obtained by more conventional means.

• 국제학술발표논문집
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• The 9th International Conference on Construction Engineering and Project Management
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• pp.336-343
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• 2022

Industrial robotic arms are widely adopted in numerous industries for manufacturing automation under factory settings, which eliminates the limitations of manual labor and provides significant productivity and quality benefits. The U.S. modular construction industry, despite having similar controlled factory environments, still heavily relies on manual labor. Thus, this study investigates the U.S., Canada, and Europe-based leading modular construction companies and research labs implementing industrial robotic arms for manufacturing automation. The investigation mainly considered the current research scope, industry state, and constraints, as well as identifying the types and specifications of the robotic arms in use. First, the study investigated well-recognized modular building associations, the Modular Building Institute (MBI), and renowned architecture design magazine, Dezeen to gather industry updates. The authors discovered one university lab and a few companies that adopted Switzerland-based robotic arms, ABB. Researching ABB robotics led to the discovery of ABB's competitor, Germany-based KUKA robotic arms. Consequently, research extended to the companies and labs adopting KUKA models. In total, this study has identified seven modular companies and four research labs. All companies employed robotic arms and gantry robot combinations in a production-line-like system for partial automation, and some adopted design standardization for optimization. The common goal among the labs was to achieve greater flexibility and full automation with robotic arms. This study will help companies better implement robotic arm automation by providing recommendations from investigating its current industry status.

• 대한물리의학회지
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• 제12권3호
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• pp.73-77
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• 2017

PURPOSE: The present study aimed to measure muscle activities in the pectoralis major, the erector spinae, and the quadriceps femoris according to support surface states of arms and legs during plank exercise. METHODS: The subjects of this study were 21 healthy males in their 20s and their muscle activities at three states were measured as follows: The first state was where the support surface of arms and legs was stable. The second state was where only arms were unstable, and the third state was where only legs were unstable. Electromyography (EMG) was used to measure muscle activities. Pectoralis major, quadriceps femoris, and elector spinae were measured for muscle activities. RESULTS: The muscle activities in the pectoralis major were statistically high when arms were unstable. The muscle activities in the quadriceps femoris were statistically high when legs were unstable. The muscle activities in the erector spinae were higher when arms and legs were unstable compared to that at the stable support surface. No significant difference was revealed statistically when arms and legs were unstable. CONCLUSION: If the instability of arms and legs is employed during plank exercise, exercise on the upper and lower bodies or the erector spinae is expected to be more effective.

• 한국전자거래학회지
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• 제25권1호
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• pp.177-202
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• 2020

본 연구는 세계 무기 수출 시장의 구조적인 변화 요인을 식별하기 위한 통계적 모형을 설계하고 실증 분석 결과와 경제적 함의를 제시하고자 한다. 무기 수출의 변화 양상을 설명할 수 있는 변인은 무엇인가, 그러한 변화는 통계적으로 유의한가, 변화의 특성은 어떻게 해석될 수 있는지를 중심으로 연구 질문을 삼고 분석의 틀을 설계하였다. 실증 분석을 위해 SIPRI 데이터베이스에 수록된 무기 수출 상위 40개 국가의 거래량을 분석 대상으로 삼았다. 그리고 연구 모형을 설정하기 위한 가설을 제시하고 가설로부터 도출된 변수들의 조합에 따라 여러 회귀 모형을 구성하여 통계적 유의성을 검증하였다. 분석 결과에서 국가 보유고 변수는 무기 수출 시장의 변화와 지속적인 관계를 맺고 있는 변수로서 특징적인 의미를 보여주고 있으며, UN 안보리 상임이사국 그룹은 세계 무기 수출에 집단적인 지배력을 발휘하고 있는 것으로 나타났다. 이와 함께 2000년대를 전후로 하여 나타난 변화의 주요 동인은 국내 총생산과 국가 순 수출액과 관련이 있는 것으로 파악되었다. 전반적으로 이런 요인들이 세계 무기 수출의 흐름과 방향을 좌우해왔던 것으로 평가되며 향후에도 무기 수출 시장의 구조에 영향을 주는 변수가 될 것으로 전망된다.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.998-1004
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• 2008

In this paper, a visual servoing control technique of humanoid robot arms is implemented for tracking a moving object. An embedded time-delayed controller is designed on an FPGA(Programmable field gate array) chip and implemented to control humanoid robot arms. The position of the moving object is detected by a stereo vision camera and converted to joint commands through the inverse kinematics. Then the robot arm performs visual servoing control to track a moving object in real time fashion. Experimental studies are conducted and results demonstrate the feasibility of the visual feedback control method for a moving object tracking task by the humanoid robot arms called the ROBOKER.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.422-424
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• 1992

In this paper, we are designed a hierachical system controller and builed a robot system for high precision assembly consisting in multi-arms and multi-sensor. For the control of a multi-arms robot system, the robot system are consisted of cell controller, station controller and device. The Operating System of a cell controller is VxWorks for real-time multi-processing. Using by C-language, we are proposed a multi-arms robot control language based a RCCL, and this control language is partially implemented and tested in multi-robot control system.

• 전자공학회논문지B
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• 제33B권7호
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• pp.40-50
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• 1996

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.