• 대한기계학회논문집A
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• 제22권1호
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• pp.215-226
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• 1998

This paper addresses an analytical approach to tolerance and reliability analysis of mechanical systems with uncertainty. Many mechanical systems consist of links and lubricated joints. The mobility method is applied to consider lubrication effects and the clearance vector model is used to stochastically define a mechanism for tolerance and reliability analysis. To show the validity of the proposed method, a four-bar path generator and a slider-crank mechanism are considered. The results obtained by applying the proposed method are compared with those by Monte-Carlo simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.410-414
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• 1996

A visual servoing algorithm is proposed for a robot with a camera in hand. Specifically, novel image features are suggested by employing a viewing model of perspective projection to estimate relative pitching and yawing angles between the object and the camera. To compensate dynamic characteristics of the robot, desired feature trajectories for the learning of visually guided line-of-sight robot motion are obtained by measuring features by the camera in hand not in the entire workspace, but on a single linear path along which the robot moves under the control of a, commercially provided function of linear motion. And then, control actions of the camera are approximately found by fuzzy-neural networks to follow such desired feature trajectories. To show the validity of proposed algorithm, some experimental results are illustrated, where a four axis SCARA robot with a B/W CCD camera is used.

• EDISON SW 활용 경진대회 논문집
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• 제6회(2017년)
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• pp.511-515
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• 2017

Various walking robot platforms have been developed to carry out missions such as explorations, pass of obstacle or inspections of dangerous environments. In this work, a four legs mechanism based on Jansen mechanism is developed, which can trace a certain line. In order to maximize the tracing speed, mechanism design is performed in multiple phases using m.sketch, EdisonDesign and Arduino programs. In design process, control of power path and optimization of the locus of legs(GL/GAC) are found to be most important. A prototype model is constructed and test run to check the validity of the design optimization.

• Journal of Electrical Engineering and information Science
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• 제2권6호
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• pp.177-182
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• 1997

A visual servoing method is proposed for a robot with a camera in hand. Specifically, vanishing point features are suggested by employing a viewing model of perspective projection to calculate the relative rolling, pitching and yawing angles between the object and the camera. To compensate dynamic characteristics of the robot, desired feature trajectories for the learning of visually guided line-of-sight robot motion are obtained by measuring features by the camera in hand not in the entire workspace, but on a single linear path along which the robot moves under the control of a commercially provided function of linear motion. And then, control actions of the camera are approximately found by fuzzy-neural networks to follow such desired feature trajectories. To show the validity of proposed algorithm, some experimental results are illustrated, where a four axis SCARA robot with a B/W CCD camera is used.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.325-329
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• 2001

This paper addresses a control architecture for the hospital service robot, SmartHelper. With a sensing-reasoning-acting paradigm, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the control architecture is verified.

• 자동차안전학회지
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• 제13권4호
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• pp.114-122
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• 2021

In this paper, an automated vehicle intersection collision accident was analyzed through simulation. Recently, the more automated vehicles are distributed, the more accidents related to automated vehicles occur. Accidents may show different trends depending on the sensor characteristics of the automated vehicle and the performance of the accident prevention system. Based on NASS-CDS (National Automotive Sampling System-Crashworthiness Data System) and TAAS (Traffic Accident Analysis System), four scenarios are derived and simulations are performed. Automated vehicles are applied with a virtual system consisting of an autonomous emergency braking system and algorithms that predict the route and avoid collisions. The simulations are conducted by changing the sensor angle, vehicle speed, the range of the sensor and vehicle speed range. A range of variables considered vehicle collision were derived from the simulation.

• Journal of Construction Engineering and Project Management
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• 제2권1호
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• pp.14-19
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• 2012

Maturity models allow organizations to assess and compare their own practices against best practices or those employed by competitors, with the intention to map out a structured path to improvement. This research explores the aspects of the Maturity Models that are relevant to distinguish them from one to another. The different Project Management maturity models for define maturity differently and measure different things to determine maturity. Because of this, organizations should give careful consideration to select appropriate maturity model. The main reason behind this research lies on the modification to the existing Organizational Project Management Maturity Model (OPM3) by adding four knowledge areas, dedicated to construction industry as best practices. These are Safety, Environment, Financial and Claim Management. This Model contains (Yes/No) questions; all of these questions must be answered before the user reviews the results that describe the overall maturity and areas of strength and weakness of an organization. The research presents the implementation of the proposed Model Construction Enterprises Maturity Model (CEM2). All the components of the developed Model have been implemented in Microsoft Access. CEM2 helps Construction Enterprises to assess their Maturity Level and know Areas of Weaknesses for future improvement. The easy to use Yes/No user interfaces help enterprises' employees to assess the maturity level of their enterprises. The Model maintains users' responses in its database; as such, many employees from different enterprise divisions can be involved during assessment phase in several sessions.

• 간호행정학회지
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• 제22권5호
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• pp.562-569
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• 2016

Purpose: This study was done to construct and verify a model of turnover intention in clinical nurses, considering the effects of compassion fatigue, coping, social support, and job satisfaction. Methods: For this study a cross-sectional correlational design was used. Participants were 283 clinical nurses in four general hospitals. Data were collected using a questionnaire and were analyzed with descriptive statistics, Pearson correlation coefficient and path analysis. Results: The modified model of turnover intention had a good fit in this study. Turnover intention was influenced by job satisfaction, and job satisfaction was affected by workload, problem-focused coping, peer support, family-friend support and compassion fatigue. Compassion fatigue was associated with occupational trauma events, problem-focused coping and emotional-focused coping. Job satisfaction was the most important factors controlling nurse's turnover intention. Conclusion: Findings show that job satisfaction, compassion fatigue, and traumatic events are important factors influencing turnover intention. Nurse managers try to manage job satisfaction, compassion fatigue, support, and coping for nurses, it could be expected making proper nursing circumstance.

• Smart Structures and Systems
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• 제6권2호
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• pp.91-100
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• 2010

An experimental study was carried out to investigate the shape control of plates via embedded shape memory alloy (SMA) wires. An extensive body of literature proposes the use of SMA wires to actively modify the shape or stiffness of a structure; in most cases, however, the study focuses on modeling and little experimental data is available. In this work, a simple proof of concept specimen was built by attaching four prestrained SMA wires to one side of a carbon fiber laminate plate strip. The specimen was clamped at one end and tested in an environmental chamber, measuring the tip displacement and the SMA temperature. At heating, actuation of the SMA wires bends the plate; at cooling deformation is partially recovered. The specimen was actuated a few times between two fixed temperatures $T_c$ and $T_h$, whereas in the last actuation a temperature $T_f$ > $T_h$ was reached. Contrary to most model predictions, in the first actuation the transformation temperatures are significantly higher than in the following cycles, which are stable. Moreover, if the temperature $T_h$ is exceeded, two separate actuations occur during heating: the first follows the path of the stable cycles; the second, starting at $T_h$, is similar to the first cycle. An interpretation of the phenomenon is given using some differential scanning calorimeter (DSC) measurements. The observed behavior emphasizes the need to build a more comprehensive constitutive model able to include these effects.

• The Journal of Asian Finance, Economics and Business
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• 제7권7호
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• pp.403-412
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• 2020

The main purpose of this paper is to explore how green supply chain management (GSCM) and its evaluative factors have affected green supply chain management practice and performance in industrial zone. This study proposes a structural equation model of the relationships among four factors: internal awareness (IA); suppliers' pressure (SP); customers' awareness (CA); and regulations pressure (RP) and their effect on GSCM practice (PA) and GSCM performance (PE). We used a survey questionnaire to elicit perceptions/opinions about GSCM from three level of managers of 322 companies in Bac Ninh Province's industrial zones, Vietnam. PLS-SEM 3.0 software was applied to analyze and verify the gathered data, and the proposed hypothesis model. The results of path analysis show that internal awareness and customers' awareness are positively related to the GSCM practice and GSCM performance. However, suppliers' pressure and regulations pressure just impacted on GSCM practice. As a result, the testing of the relationship between GSCM practice and GSCM performance has been verified and supported. The findings of this study can help manager of companies in industrial zone understand the structure of GSCM, associate with the green supply chain management practice and green supply chain management performance, and be successful in green management organizations.