• 대한기계학회논문집A
• /
• 제36권11호
• /
• pp.1405-1411
• /
• 2012

위험지역에서의 작업을 위하여 전세계적으로 원격조작기가 널리 활용되고 있다. 특히 원격 시스템의 경우, 운영되는 환경의 특징상 안정적인 성능이 담보되어야만 하며, 조작기 몸체의 경량화 및 운용환경 외부에서의 유지보수 편리성을 위하여 구동부를 시스템의 기저부에 집중시킬 수 있는 장력구동방식 메커니즘이 주로 활용되고 있다. 본 연구에서는 장력구동 방식 원격조작기에 적용하기 위한 그리퍼 탄성 구동부의 설계를 위해 시도된 접근법을 소개하고자 한다. 제시된 그리퍼 시스템은 기본적으로 스프링 메커니즘에 기반을 둔 4 절 링크형 구조를 가지고 있으며 마스터 조작자에 의해 동작되는 슬레이브 조작기의 말단부에 결합되는 구조를 가진다. 본 논문에서는 이러한 조작기의 요구사항에 맞는 그리퍼의 파지력 및 복원력을 재현하기 위하여 그리퍼 상에서의 적정 스프링 결합위치 및 요구강성과 그에 따른 운동학적 영향계수 등을 분석 및 고찰하였다. 최종적으로는 이러한 분석내용들을 바탕으로, 실제 그리퍼 시스템에 적용함으로써 타당성을 검증하였다.

• 동력기계공학회지
• /
• 제19권2호
• /
• pp.15-21
• /
• 2015

Bollard installed on the street is a facility that protects pedestrians by restraining cars from entering on the sidewalk. It is basically classified into manual, semiautomatic, automatic type and mostly manual type is widely used because the automatic type is imported and much expensive. However, in case of manual handling type in practice, it is very troublesome and difficult to remove it whenever cars are permitted, and in case of automatic type, since underbody of a bollard is very long, it is difficult to dig a deep hole in the ground because a pipe, a hose or a cable is under the surface. In order to reduce these difficulties, this paper proposed new design of the multistage bollard that moves up and down automatically by using hydraulic system. This is developed by 6 step creativity of TRIZ inventive problem solving and structural analysis. The developed bollard can be installed in shallow hole and allow entry of vehicles through up-and-down movement without its removal manually. Finally, we could see smoothly motion through the manufactured bollard.

• 대한인간공학회지
• /
• 제23권1호
• /
• pp.1-12
• /
• 2004

The purpose of this study was to develop an automatic expert system for the evaluation of human sensibility, where human sensibility can be inferred from objective physiological signals. The study aim was also to develop an algorithm in which human arousal and pleasant level can be judged by using measured physiological signals. Fuzzy theory was applied for mathematical handling of the ambiguity related to evaluation of human sensibility. and the degree of belonging to a certain sensibility dimension was quantified by membership function through which the sensibility evaluation was able to be done. Determining membership function was achieved using results from a physiological signal database of arousal/relaxation and pleasant/unpleasant that was generated from imagination. To induce one final result (arousal and pleasant level) based on measuring the results of more than 2 physiological signals and the membership function of each physiological signal. Dempster-Shafer's rule of combination in evidence was applied, through which the final arousal and pleasant level was inferred.

• 한국HCI학회논문지
• /
• 제12권3호
• /
• pp.13-23
• /
• 2017

본 논문에서는 사용자의 편의성을 향상시킨 새로운 인 핸드 3D 모델링 시스템을 제안한다. 기존의 시스템은 사용자의 편의성이 낮은 문제점이 존재하여 물체를 손으로 들고 모델링을 진행하는 인 핸드 모델링 시스템이 연구되어 왔으나 손 제거를 위한 추가적인 장비가 필요하거나 특정 조건에서만 모델링이 가능한 문제가 발생하였다. 이에 본 논문에서는 자동 손 제거를 위한 접촉 상태 변화 감지 알고리즘과 정확한 정합을 위한 이상점 제어가 가능하고 색상정보를 추가적으로 이용하는 개선된 ICP 알고리즘을 제안한다. 제안된 알고리즘을 사용하면 추가적 장비나 어떠한 제한조건 없이 정확한 모델링이 가능하다. 본 논문에서는 실제 데이터를 이용한 실험을 통해 제안된 시스템을 활용하면 어떠한 제한 조건도 없는 일반적인 상황에서 정확한 모델링을 수행할 수 있음을 보였다.

• 한국항해항만학회지
• /
• 제33권1호
• /
• pp.21-25
• /
• 2009

선박이 부두에 이접안할 경우 쓰러스터나 특수 추진기가 없는 선박은 예선의 도움을 받아 이접안을 하게 된다. 이접안시 예선들은 도선사의 명령에 의하여 선박의 이접안을 도와주게 된다. 이때 본선과 예선의 위치가 2차원 지도에 표시되고 부두와의 상대적인 거리가 나타난다면 이접안에 매우 도움이 될 것으로 생각된다. 본 연구에서는 이러한 예선사용 지윈 시스템에 대해서 개념 설계를 수행하였다. 예선사용 지원 시스템은 본선, 예선 및 부두의 상황을 모니터링하는 예선사용 모니터링 기능과 해양환경을 고려하여 필요한 예선력을 계산하여 나타내주는 예선사용 자동화 기능을 갖고 있다. 이러한 예선사용 지원 시스템은 항만에 설치된 네트워크를 기반으로 설계되었으며, 추후 한국해양연구원의 선박운항 시뮬레이터를 이용하여 검증될 계획이다.

• Journal of Astronomy and Space Sciences
• /
• 제20권4호
• /
• pp.403-416
• /
• 2003

There are common features, in both imaging surveys and image processing, between astronomical observations and remote sensing. Handling large amounts of data, in an easy and fast way, has become a common issue. Implementing pipeline software can be a solution to the problem, one which allows the processing of various kinds of data automatically. As a case study, the development of pipeline software for the EIS (European Southern Observatory Imaging Survey) is introduced. The EIS team has been conducting a sky survey to provide candidate targets to the 250 VLTs (Very Large Telescopes) observations. The survey data have been processed in a sequence of five major data corrections and reductions, i.e. preprocessing, flat fielding, photometric and astrometric corrections, source extraction, and coaddition. The processed data are eventually distributed to the users. In order to provide automatic processing of the vast volume of observed data, pipeline software has been developed. Because of the complexity of objects and different characteristic of each process, it was necessary to analyze the whole works of the EIS survey program. The overall tasks of the EIS are identified, and the scheme of the EIS pipeline software is defined. The system structure and the processes are presented, and in-depth flow charts are analyzed. During the analyses, it was revealed that handling the data flow and managing the database are important for the data processing. These analyses may also be applied to many other fields which require image processing.

• Journal of Biosystems Engineering
• /
• 제19권2호
• /
• pp.124-137
• /
• 1994

Visual features of a mushroom(Lentinus Edodes, L.) are critical in grading and sorting as most agricultural products are. Because of its complex and various visual features, grading and sorting of mushrooms have been done manually by the human expert. To realize the automatic handling and grading of mushrooms in real time, the computer vision system should be utilized and the efficient and robust processing of the camera captured visual information be provided. Since visual features of a mushroom are distributed over the front and back sides, recognizing sides and states of the stalk including the stalk orientation from the captured image is a prime process in the automatic task processing. In this paper, the efficient and robust recognition process identifying the front and back side and the state of the stalk was developed and its performance was compared with other recognition trials. First, recognition was tried based on the rule set up with some experimental heuristics using the quantitative features such as geometry and texture extracted from the segmented mushroom image. And the neural net based learning recognition was done without extracting quantitative features. For network inputs the segmented binary image obtained from the combined type automatic thresholding was tested first. And then the gray valued raw camera image was directly utilized. The state of the stalk seriously affects the measured size of the mushroom cap. When its effect is serious, the stalk should be excluded in mushroom cap sizing. In this paper, the stalk removal process followed by the boundary regeneration of the cap image was also presented. The neural net based gray valued raw image processing showed the successful results for our recognition task. The developed technology through this research may open the new way of the quality inspection and sorting especially for the agricultural products whose visual features are fuzzy and not uniquely defined.

• 한국항공우주학회지
• /
• 제32권9호
• /
• pp.41-48
• /
• 2004

본 논문에서는 빠른 요소망 자료 처리를 위해 영역기반 해쉬구조를 개발하고 이에 기반한 효율적 삼각형 자동 요소망 생성 알고리듬을 제안하였다. 제안된 알고리듬에서는 신속하게 최적의 절점을 생성하고 삼각형 생성시 예외처리를 줄일 수 있도록 Advancing layer method 와 Delaunay 삼각화 방법이 함께 이용되었다. 본 알고리듬의 성능을 검증하기 위하여 개발된 2차원 자동 요소망 생성 프로그램을 이용하여 볼록한 모델, 오목한 모델 및 복잡한 형태의 모델에 대한 요소망 생성 테스트를 수행하고, 그 성능을 상용 소프트웨어와 비교하였다.

• International Journal of Knowledge Content Development & Technology
• /
• 제3권1호
• /
• pp.81-95
• /
• 2013

Through a series of precise text handling processes, including automatic extraction of information from documents with knowledge from various fields, recognition of entity names, detection of core topics, analysis of the relations between the extracted information and topics, and automatic inference of new knowledge, the most efficient knowledge base of the relevant field is created, and plans to apply these to the information knowledge management and service are the core requirements necessary for intellectualization of information. In this paper, the knowledge base, which is a necessary core resource and comprehensive technology for intellectualization of science and technology information, is described and the usability of academic information services using it is evaluated. The knowledge base proposed in this article is an amalgamation of information expression and knowledge storage, composed of identifying code systems from terms to documents, by integrating terminologies, word intelligent networks, topic networks, classification systems, and authority data.

• 제어로봇시스템학회논문지
• /
• 제14권3호
• /
• pp.307-317
• /
• 2008

Relaxed static stability(RSS) concept has been applied to improve aerodynamic performance of modem version supersonic jet fighter aircraft. Therefore, flight control system are necessary to stabilize an unstable aircraft and provides adequate handling qualities. Also, flight control systems of modem version aircraft employ a safety system to support emergency situations such as a pilot unknown attitude flight conditions of an aircraft in night flight-testing. This situation is dangerous because the aircraft can lose if the pilot not take recognizance of situation. Therefore, automatic recovery system is necessary. The system called the "Pilot Activated Recovery System" or PARS, provided a pilot initiated automatic maneuver capable of an aircraft recoveries in situations of unusual attitudes. This paper addresses the concept of PARS and designed using nonlinear control law design process based on model of supersonic jet trainer. And, this control law is verified by nonlinear analysis and real-time pilot evaluation using in-house software. The result of evaluation reveals that the PARS support recovery of an aircraft unusual attitude and improve a safety of an aircraft.