• Journal of Biosystems Engineering
• /
• v.30 no.3 s.110
• /
• pp.179-184
• /
• 2005

The purpose of this study was the development of teat-cup attachment module for robot milking system. The teat-cups attachment module was controlled on the two dimensional space independently, Each teat cup of an end effector was independently controlled via two axis control based on the position information data obtained from the image processing system. This system was developed install of all 4 teat cups at the same time after adjusting positions of each teat sequentially. The individual motion system was operated using two servo motors for the high speed of teat position adjustment. The errors fur the individual motion system of teat cups were maximum 1.0mm, minimum 0.0mm, and average 0.6mm. The operating time for adjusting the teat cups position required about 1.0 second. It is envisaged that teat cups attachment module can be applicate to milking robot being developed in consideration of the experiment results for the teat cups operation accuracy and the actuation speed of servo motors.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.151-155
• /
• 1996

To automate an excavator the control issues resulting from environmental uncertainties must be solved. In particular the interactions between the excavation tool and the excavation environment are dynamic, unstructured and complex. In addition, operating modes of an excavator depend on working conditions, which makes it difficult to derive the exact mathematical model of excavator. Even after the exact mathematical model is established, it is difficult to design of a controller because the system equations are highly nonlinear and the state variable are coupled. The objective of this study is to design a multi-layer neural network which controls the position of excavator's attachment. In this paper, a dynamic controller has been developed based on an error back-propagation(BP) neural network. Computer simulation results demonstrate such powerful characteristics of the proposed controller as adaptation to changing environment, robustness to disturbance and performance improvement with the on-line learning in the position control of excavator attachment.

• Journal of Animal Environmental Science
• /
• v.8 no.3
• /
• pp.159-164
• /
• 2002

The distance between teats of each head on twenty heads of holstein was measured in Nation Livestock Research Institute of Rural Development Administration to find design variables on the teat-cup attachment system of the auto-milking system before milking. The distance between teats was tested by the steps for milk producing in the morning and evening. The results from this study is summarized as follow. 1 The maximum and minimum length between front teats were 297mm and 112mm respectively, the maximum and minimum length between rear teats were 231mm and 36mm and the maximum and minimum length between left front and left rear were 220 and 84mm. And the maximum length of right front and right rear were 205mm and 90mm. A relative position of the each teats was asymmetric. 2. The size of teats, the length between front teats, and the length between rear teats by lactating period were very much changed for its milking. 3. The design variables on the teat-cup attachment system was found by the length between each teats tested. Since the position of teat-cup is changed by milking environment for a cow to milk, the design variables should be considered to be asymmetric area between four teat of COW.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.1183-1187
• /
• 1993

The objective of this study is to design a fuzzy logic controller(FLC) which controls the position of excavator's attachment a noble FLC is proposed, which is based on simple control rules while offering easy tuning of control parameters by utilizing real operation characteristics of an operator. The proposed FLC consists of two parts, the proportional controller part and the FLC part. Experiments are carried out on a test bed which is built around a commercial excavator. The controller is applied to bhe leveling of excavator's bucket tip, which is one of the main functions in an excavator's operation.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.2 no.3
• /
• pp.21-32
• /
• 1994

The Problem of mechanical vibration is investigated for an automotive exhaust system. The vibrational reduction effect is systematically evaluated according to the attachment of the exhaust system. Moreover, the optimal attachment position of bellows is determined from the viewpoint of vibration isolation. The structure is analysed by the finite element technique where the geometry, the mass, the stiffness and the damping properties of the exhaust pipe are modeled. The validity of the developed model is verified by comparing with the experimental results. An optimization is carried out by the quadratic approximation algorithm. The reaction transferred to an automobile body by the hanger is considered ad the objective function. It is shown that the exhaust system which has the bellows at the optimal position is more effective for the vibrational characteristics than the others. It is also proved that this analytical method is quite useful in the design stage of the exhaust system.

• Proceedings of the KIEE Conference
• /
• 1995.07b
• /
• pp.705-709
• /
• 1995

The objective of this study is to design a multi-layer neural network which controls the position of excavator's attachment. In this paper, a dynamic controller has been developed based on an error back-propagation(BP) neural network. Since the neural network can model an arbitrary nonlinear mapping, it was used as a commanded feedforward input generator. A PD feedback controller is used in parallel with the feedforward neural network to train the system. The neural network was trained by the current state of the excavator as well as the PD feedback error. By using the BP network as a feedforward controller, no a priori knowledge on system dynamics is need. Computer simulation results demonstrate such powerful characteristics of the proposed controller as adaptation to changing environment, robustness to disturbancen and performance improvement with the on-line learning in the position control of excavator attachment.

• Journal of Korean Society of Occupational and Environmental Hygiene
• /
• v.25 no.3
• /
• pp.328-337
• /
• 2015

Objectives: The purpose of this study is to investigate differences in concentration according to the position at the left or right shoulder within a 30 cm of radius of workers' respirators and provide basic data for the establishment of an industrial health policy. Methods: Personal samples were collected from a total of 65 workers from 27 manufacturing firms in South Gyeongsang-do Province from November 5, 2011 to December 30, 2012 after classifying the laborers into left- and right-side groups. The organic compound samples were collected and analyzed in accordance with the NIOSH Manual of Analytical Methods (NMAM) 1501. Results: In terms of the concentration of organic compounds collected from both left and right shoulders at the position of workers' respirators, isobutyl acetate was the highest with 145 ppm at the left shoulder, followed by ethyl acetate (133.5 ppm) and toluene (38.13 ppm). At the right shoulder, on the contrary, ethyl acetate (149.3 ppm) was the highest, followed by toluene (46.26 ppm), xylene (29.63ppm) and isopropyl alcohol (28.06 ppm). Overall, the right shoulder was higher than the left shoulder in terms of concentrations. Conclusions: For the measurement of the working environment, workers' personal samples should be collected at the place closest to the respirator. In terms of the reduction of error, the attachment of two sample media is expected to reduce errors in exposure assessment.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.2
• /
• pp.160-166
• /
• 2005

In this paper, to overcome drawbacks of FLC a self tuning fuzzy sliding mode controller is proposed, which controls the position of excavator's attachment, which can be regarded as an ill-defined system. It is reported that fuzzy logic theory is especially useful in the control of ill-defined system. It is important in the design of a FLC to derive control rules in which the system's dynamic characteristics are taken into account. Control rules are usually established using trial and error methods. However, in the case where the dynamic characteristics vary with operating conditions, as in the operation of excavator attachment, it is difficult to find out control rules in which all the working condition parameters are considered. Experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator. The experimental results show that both alleviation of chattering and performance are achieved. Fuzzy rules are easily obtained by using the proposed method and good performance in the following the desired trajectory is achieved. In summary, the proposed controller is very effective control method for the position control of the excavator's attachment.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.2
• /
• pp.185-205
• /
• 2017

The purpose of this research is to examine the relationship between the adult attachment of married employees, their job motivation and marital relationship. For this purpose, a questionnaire survey was carried out with 370 married employees in the Chungnam area as the target from Sep. 10 to Oct. 14, 2016. The collected data was analyzed using SPSS 23.0 using descriptive statistical analysis, the independent sample T-test, ANOVA analysis, Pearson correlation, and structural equation analysis. First, significant differences were revealed in the level of attachment avoidance, satisfaction with the marriage relationship, and job motivation according to the age group, in the level of attachment avoidance and satisfaction with the marriage relationship according to the education level, in the level of attachment avoidance and satisfaction with the marriage relationship according to the marriage period, in job motivation according to the position, in satisfaction with the marriage relationship according to the average household income, and in satisfaction with the marriage relationship according to the work shift pattern. Second, although a significant negative correlation appeared between attachment anxiety and attachment avoidance, a significant positive correlation was found between attachment avoidance and job motivation. Also, although a significant negative correlation appeared between attachment avoidance and marital relationship, a significant positive correlation was found between job motivation and marital relationship. Third, to examine the mediating effect of satisfaction with the marital relationship on the relationship between adult attachment and job motivation, a structural equation analysis was carried out. As a result, the indirect effect of attachment anxiety on job motivation turned out to be significant and its complete mediating effect was confirmed. This suggests that when developing programs to improve job motivation within the workplace or consultative interventions for the enhancement of marital relationships, the above characteristics of individuals should be taken into consideration.

• Proceedings of the KSAR Conference
• /
• 2003.06a
• /
• pp.40-40
• /
• 2003

형질전환체 제작 시 발현벡터가 삽입되는 위치에 따라 발현 또는 억제되는 현상인 ‘position effect(위치효과)’를 극복하기 위해 Matrix Attachment Region(MAR)을 포함하는 발현벡터를 제작하였다 MAR는 핵 기질(nuclear matrix) 부착 부위로 발현조절에 관여하는 전사인자 등이 존재하는 핵 기질 부착부위로, 삽입된 발현벡터가 전사활성을 할 수 있는 게놈 환경을 제공해 주어 형질전환 유전자 발현을 향상시켜 준다고 보고되고 있다. 본 연구에서는 사람에서 이미 분리되어 염기서열이 밝혀진 MAR를 PCR로 증폭하였다. 증폭된 1,270 bp의 human alpha-1-antitrypsin MAR와 1,080 bp human corticosteroid binding globulin promoter MAR를 T vector에 클로닝하여 염기서열을 확인했으며 발현벡터 클로닝에 사용하였다. 유용 유전자와 세포 형질전환에 사용할 선별 유전자로 neo를 포함하며, 그 외 벡터골격은 pGL3 control vector를 사용하여 기본 발현벡터를 제작하였다. 이 벡터에 MAR를 5', 3' 양쪽 또는 한쪽만 포함하도록 클로닝하였다. 이는 MAR의 위치에 따른 게놈내 삽입 및 발현효과를 확인하여 형질전환동물 생산용 발현벡터로 활용하고자 한다.