• Journal of Biosystems Engineering
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• 제30권3호
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• pp.179-184
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• 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
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.151-155
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• 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.

• 한국축산시설환경학회지
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• 제8권3호
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• pp.159-164
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• 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
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1183-1187
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• 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.

• 한국자동차공학회논문집
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• 제2권3호
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• pp.21-32
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• 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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.705-709
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• 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.

• 한국산업보건학회지
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• 제25권3호
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• pp.328-337
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• 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.

• 제어로봇시스템학회논문지
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• 제11권2호
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• pp.160-166
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• 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.

• 한국산학기술학회논문지
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• 제18권2호
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• pp.185-205
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• 2017

본 연구의 목적은 기혼직장인의 성인애착, 직무동기, 부부관계 간의 관계를 파악하는 것이다. 이를 위해 충남 지역의 기혼직장인 370명을 연구 대상으로 2016년 9월 10일~10월 14일까지 설문을 실시하였다. 수집된 자료는 SPSS 23.0을 이용하여 기술통계, 독립표본 t검증 및 일원배치 분산분석, Pearson 상관관계, 구조방정식으로 분석하였다. 첫째, 연령대에 따라 애착회피, 부부관계, 직무동기, 학력에 따라 애착회피, 부부관계, 결혼기간에 따라 애착회피, 부부관계, 직책에 따라 직무동기, 가계의 연평균 소득에 따라 부부관계, 근무형태에 따라 부부관계에서 유의미한 차이가 나타났다. 둘째, 애착불안과 애착회피 간에는 유의미한 부적 상관관계가 나타났지만, 애착회피와 직무동기 간에는 유의미한 정적 상관관계가 나타났다. 애착회피와 부부관계 간에는 유의미한 부적 상관관계가 나타났지만, 직무동기와 부부관계 간에서는 유의미한 정적 상관관계가 나타났다. 셋째, 성인애착과 직무동기의 관계에서 부부관계의 매개효과를 확인하기 위해 구조방정식을 실시하였다. 그 결과 애착불안이 직무동기에 주는 간접효과가 유의미하게 나타나 완전매개효과가 검증되었다. 이러한 결과는 직장 내 직무동기, 부부관계 향상을 위한 상담 개입이나 프로그램 개발을 위해서는 개개인의 이러한 특징 또한 고려되어야 함을 시사한다.

• 한국동물번식학회:학술대회논문집
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• 한국동물번식학회 2003년도 학술발표대회 발표논문초록집
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• pp.40-40
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• 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.