• 한국시뮬레이션학회논문지
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• 제17권4호
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• pp.249-257
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• 2008

본 논문에서는 로봇 한 대를 중심으로 여러 설비들이 제어되는 Flexible Manufacturing Cell(FMC)에서 로봇의 대기위치 선정과 작업물 선택 의사결정을 위하여 Q-learning 알고리즘을 응용한 방법을 제시하였다. 이를 위해 하나의 로봇과 다수의 설비로 구성된 전형적인 가상의 FMC를 시뮬레이션으로 설계, 제안한 알고리즘을 적용하여 다른 대안과의 비교 분석을 실시하였다. 비교결과 적용된 알고리즘이 로봇가동률을 높여 평균 처리시간, 총 처리량 모두 향상시키는 결과를 가져왔다. 또한, 이 방법은 본 논문에서 제시한 정보뿐 아니라 그 우선순위와 가중치에 따라 다른 정보들을 손쉽게 추가하여 적용할 수 있으므로 FMC의 생산성 향상에도 크게 기여할 것으로 기대된다.

• 한국산업융합학회 논문집
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• 제23권4_2호
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• pp.693-699
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• 2020

355nm UV pulse laser is irradiated on the surface of polyimide (PI) by LDW (Laser Direct Writing) method to produce a high sensitivity flexible humidity sensor using a simple one-step process. The LDW method continuously investigates 2-D CAD data using a galvano scanner and an F-lens. This method is non-contact, so it minimizes physical strain on the PI. Laser-induced graphene (LIG) produced by lasers has a high surface area due to its high flexibility and numerous pores and oxidizers compared to conductors. For this reason, it is highly useful as a flexible humidity sensor. The humidity sensor produced in this study was attached to the inside of a mask filter, which has become a hot topic recently, and its applicability was confirmed.The measurement of humidity measured the sensitivity, reactivity, stability and recovery behavior of the sensor by measuring changes in capacitance and resistance.

• International Journal of Naval Architecture and Ocean Engineering
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• 제11권1호
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• pp.521-529
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• 2019

Interlocked armor layers of unbonded flexible risers may crush when risers are being launched. In order to predict the behavior of interlocked armor layers, they are usually simplified as rings with geometric and contact nonlinearity ignored in the open-literature. However, the equivalent thickness of the interlocked armor layer has not been addressed yet. In the present paper, a geometric coefficient ${\gamma}$ is introduced to the equivalent stiffness method, and a linear relationship between ${\gamma}$ and geometric parameters of interlocked armor layers is validated by analytical and finite element models. Radial stiffness and equivalent thickness of interlocked armor layers are compared with experiments and different equivalent methods, which show that the present method has a higher accuracy. Furthermore, hoop stress distribution of interlocked armor layer under crushing is predicted, which indicates the interlocked armor layer can be divided into two compression and two expansion zones by four symmetrically distributed singular points.

• 한국정밀공학회지
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• 제14권11호
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• pp.34-41
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• 1997

This paper presents a technique to control a very flexible robot moving in a vertical plane. The flexible robot is modeled as an Euler-Bernoulli beam. Elastic deformation is approximated using the assmed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID cnotrol tech- nique. The proportional, integral and deivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and no steady state error, and short settling time. The effectiveness of the developed control scheme is showed in the hub angular diaplacement control experiment. Three different end masses are uned in the experiment. The experimental results show that developed control algorithm is very effective showing little overshoot, no steady state error, and less than 2.5 second settl- ing time in case of having an end mass which is equivalent to 45% of the manipulator mass. Also the experimental results show that the residual vibration fo the end point is effectively controlled.

• 대한산업공학회지
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• 제23권4호
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• pp.803-816
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• 1997

In this paper we propose a new approach far part families considering multiple attributes of parts in the design and operating stage of flexible manufacturing systems. We first represent the relationship of parts and the relative attributes using fuzzy membership function, AHP method and normalization. As a result, more realistic nonbinary data of the relationship is obtained. Then we group parts into part families based on the nonbinary data using fuzzy $\alpha$-cut and new similarity coefficient method. The performance of our method is compared numerically with others.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제2권2호
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• pp.139-145
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• 2002

In this paper, we proposed an intelligent digital redesign method for a class of fuzzy-model-based controllers, effective fur stabilization of continuous-time nonlinear systems. The TS fuzzy model is used to expend the results of the digital redesign technique to nonlinear systems. The proposed method utilized the recently developed LMI technique to obtain a digitally redesigned fuzzy-model-based controller. The intelligent digital redesign problem is converted to equivalent problem, and the LMI method is used to find the digitally redesigned fuzzy-model-based controller. The stabilization conditions of TS fuzzy model are derived for stabilization in the sense of Laypunov stability. In order to demonstrates the effectiveness and feasibility of the proposed controller design methodology, we applied this method to the single link flexible-joint robot arm.

• 한국정밀공학회지
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• 제19권6호
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• pp.109-118
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• 2002

The vibrational intensity and the dynamic response of a compound vibratory system had been controlled actively by means of a feedforward control method. A compound vibratory system consists of a flexible beam and two discrete systems - a vibrating source and a dynamic absorber. By considering the interactive motions between discrete systems and a flexible beam, the equations of motion for a compound vibratory system were derived using a method of variation of parameters. To define the optimal conditions of a controller the cost function, which denotes a time averaged power flow, was evaluated numerically. The possibility of reductions of both of vibrational intensity and dynamic response at a control point located at a distance from a source were fecund to depend on the positions of a source, a control point and a controller. Especially the presence of a dynamic absorber gives the more reduction on the dynamic response but the less on the vibrational intensity than those without a dynamic absorber.

• International Journal of Precision Engineering and Manufacturing
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• 제3권4호
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• pp.54-63
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• 2002

In recent years, mechanical systems such as high speed vehicles and railway trains moving on elastic beam structures have become a very important issue to consider. In this paper, a general approach, which can predict the dynamic behavior of a constrained mechanical system moving on a flexible beam structure, is proposed. Various supporting conditions for the foundation support are considered for the elastic beam structure. The elastic structure is assumed to be a non-uniform and linear Bernoulli-Euler beam with a proportional damping effect. Combined differential-algebraic equation of motion is derived using the multi-body dynamics theory and the finite element method. The proposed equations of motion can be solved numerically using the generalized coordinate partitioning method and predictor-corrector algorithm, which is an implicit multi-step integration method.

• 한국정밀공학회지
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• 제16권2호통권95호
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• pp.60-67
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• 1999

Micro-fabrication techniques such as lithography and LIGA processes usually require large investment and are suitable for mass production. Therefore, there is a need for a new micro-fabrication technique that is flexible and more cost effective. In this paper a novel, economical and flexible method of producing micro-pattern on silicon wafer is presented. This method relies on selective removal of mask by mechanical cutting. Then micro-pattern is produced by chemical etching. V-shaped grooved of about 3 ${\mu}m$ wide and 2 ${\mu}m$ deep has been made on ${SiO_2}m$ coated silicon wafer with this method. This method may be utilized for making microstructures in MEMS application at low cost.

• 센서학회지
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• 제29권5호
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• pp.336-341
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• 2020

The deflection and null balance methods are used for precision force measurement in the precision industry. Since both methods are based on deformation, the performance of the load cell mechanism is important. In this study, the design variables were obtained via the free body diagram of a lever-linked Roberval mechanism (combined with a flexible hinge link and a Roberval mechanism), and the design characteristics were analyzed according to the weight method. Based on the design characteristics, the optimal design was conducted according to the weight method and FEM was used to verify its reliability.