• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.825-829
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• 1993

As a part of the Department of Energy's Environmental Restoration and Waste Management Program, long-reach manipulators are being considered for the retrieval of waste from large storage tanks. Long-reach manipulators may have characteristics significantly different from those of typical industrial robots because of the flexibility of long links needed to cover the large workspace. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A new approach that uses imbedded simulation was developed and compared with others. In the new approach, generation of joint trajectories considering link flexibility was also investigated.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.10a
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• pp.143-148
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• 2003

In recent years, as the optical Communication systems are developed, the demands of essential parts such as splitter, coupler, WDM, and AWG filter are grow rapidly. The fabrication process for them is not, however, automatic. On that reason, the automation is needed for the grow of productivity. The optical alignment and attach ment is the core process in fabrication. In this paper, the 6-axis rotary stage for multi-channel optical alignment system is developed and the dynamic characteristic of this system is studied.

• Fashion & Textile Research Journal
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• v.3 no.1
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• pp.20-24
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• 2001

The primary objective of this study was to empirically explore the mechanical properties of marketing Korean fabrics by using KES-FB system and estimate the sewability of Korean clothes by the mechanical properties. From the empirical research, it was found that Korean fabrics for spring and summer has been transformed easier and less flexible by shearing Korean fabrics for autumn and winter. Also, it was found that there is a significant difference in the hand value as tensile, surface and compression. It was found that Korean fabrics for spring and summer has a stiffness and elastic properties of matter and Korean fabrics for autumn and winter has a bulky and abundant elasticity. Finally, it was found that Korean fabrics for autumn and summer in the joint of account of the mechanical properties. Also, the difficulties of process has been expected by sewability like seam-pucker, over feed, sewing and steam-press.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.10a
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• pp.133-137
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• 1996

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have bevome increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking arre indispensable capabilities for their versatile application. the need to meet demanding control requirement in increasingly complex dynamical control systems under sygnificant uncertainties leads toward design of implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme the ntworks intrduced are neural nets with dynamic neurouns whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure fast in computation and suitable for implementation of real-time control, Performance of the neural controller is illustrated by simulation and experimental results for a SCAEA robot.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.1
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• pp.150-157
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• 2008

Bellows are commonly used in piping systems to absorb expansion and contraction in order to reduce stress. Unlike most piping components, bellows consist of a thin-walled shell of revolution with a corrugated meridian, in order to provide the flexibility needed to absorb mechanical movements. It is a composite shell structure consisting of at least one toroidal shell, an annular plate or conical shell. It is difficult to analyze the behavior of bellows because of its complex geometry. Simplified formulas for variable mechanical behaviors of bellows are provided by a standard called EJMA. An automatic design software for bellows is programming by using VBA(Visual Basic for Application) based on EJMA. Bellows engineers can effectively make a decision for bellows geometries because this software provides graphically design results in its post-processor. Bellows design software is expected to give quite a good guidance to practical design. The characteristics of bellows are also investigated through the automatic design process in bellows design software.

• Steel and Composite Structures
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• v.24 no.5
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• pp.591-602
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• 2017

A cable-stiffened cylindrical single-layer latticed shell that is reinforced by cable-stiffened system has superior stability behaviour compared with the ordinary cylindrical latticed shell. The layouts of cable-stiffened system are flexible in this structural system, and different layouts contribute different stiffness to the structure. However, the existed few research primarily focused on the simplest type of cable layouts, in which the grids of the latticed shell are diagonally stiffened by prestressed cables in-plane. This current work examines the stability behaviour of the cable-stiffened cylindrical latticed shells with two different types of cable layouts using nonlinear finite element analysis. A parametric study on the effect of cross-sectional of the cables, pretension in cables, joint stiffness, initial imperfections, load distributions and boundary conditions is presented. The findings are useful for the reference of the designer in using this type of structural system.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.972-976
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• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

• Proceedings of the KSR Conference
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• 2000.11a
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• pp.636-651
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• 2000

In these days, SNCF replace the connector wire (M-T type) with a dropper has a equivalent role and function of the one in general lines of TGV, and change the connector wire (T-T-M-M-T-T, T-T-M-M-T type, etc) into a New one has more flexible cable in parallel lines (air section air joint, etc) of TGV. The Connector wire has many problems according to a flow of excessive circulation current (or traction current) and a sudden rise of temperature on catenary when electric locomotive is running in high speed. To solve the question at issue of the connector wire in high speed railway catenary system of Fiance, SNCF return their operating experience in TGV lines to design and execution of catenary system Therefore, we have to deal with the question in design and execution of catenary system for kyoungbu HSR line because we will spend a lot of time and more money for maintenance than for construction of that.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.493-496
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• 1990

Recently, the robot control systems are required to be more flexible and intelligent in order to execute more complex and delicate tasks. As an approach to such system, a PC-based robot control system is presented in this paper. The axis controllers are independently designed for each joint of robot manipulator and are supervised by a personal computer. Therefore, the almost system program including the control algorithm can be easily developed and modified in the PC's environment. This proposed control system was successfully applied to 4 axis SCARA-type robot and the associated S/W modules were developed. We can construct sensory robot systems by simply connecting the sensing devices to the PC and the study on this now being progressed.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.113-118
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• 1999

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important n the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes. The nets are trained by the distributed dynamic back propagation algorithm. The proposed neural network control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the neural controller is illustrated by simulation and experimental results for a SCARA robot.