• 한국정보통신학회논문지
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• 제2권3호
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• pp.303-308
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• 1998

As the technology of industrial automation using robot system grows the rapid advance, productivity improvement and decrease in number of maintenance, management occur in many fields. Therefore, more various and intelligent robot motions are needed without human being help. Considering this situation, the need of robot with various, fast and safe acting sensors are demanded. In these sensings, the slippage sensing gives us specific information between ripper and object while grasps the object. In this paper, we proposed new slippage sensing algorithm for various and intelligent robot motion. So, optimal grasping force control and compensation of position error is possible for an adaptive task execution using adaptive control.

• 한국산업보건학회지
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• 제7권2호
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• pp.289-297
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• 1997

Work-related low back pain(below LBP) is one of the major cause of morbidity, disability, limitation of activity and economic loss. Therefore the work-related LBP is one of the major issue in the field of industrial safety and health. This study was performed for detecting the risk factors and proposing the effective control programs of work-related LBP. The subjects were male workers employed at the welding and metal factory. The data was collected by self-reported questionnaire, interview and checking abdomen muscular and grasping power for two days on October, 1993. The contents of questionnaire were as follow: the experience of LBP, general characteristics, physical characteristics, employment status, type of work and working environment. The number of cases was 104 with a history of work-related LBP, so the prevalence of work-related LBP was 35.0%, and the number of controls was 140 without any history of LBP. As a result, marital status, educational level, abdomen muscular power, tenure, category of job, satisfaction of job, working posture, satisfaction for table and chair and lifting materials showed a statistical significance between the case and control groups. 284 Lifting jobs were quantified by NIOSH lifting equation method and ergonomic computer modelling methods. There were no significant differences in the action limit and disc compression force between group with LBP and without LBP. But in the lifting frequency and cumulative disc compression force there were significant differences. Therefore work-related LBP should be prevented by the ergonomic and environmental control.

• 로봇학회논문지
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• 제6권2호
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• pp.130-140
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• 2011

This paper proposes an optimal posture for the task-oriented movement of dual arm manipulator. A stability criterion function which consists of three kinds of feature-representative parameters has been utilized to define the optimal posture. The first parameter is the force which is applied to the object. The torque of each joint and position of arm are attained from the current sensor and encoder, respectively. From these two data, the applied force to an object is estimated using sum of vectors of the joint torques estimated from the measured current. In order to investigate the robustness of each posture, the variation of the end-effector from the encoder information has been utilized as the second parameter. And for the last parameter for the optimality, the total energy consumption has been used. The total consuming energy of each posture can be computed from the current information and the battery voltage. The proposed robot structure consists of a mobile inverted pendulum and dual manipulators. In order to define the optimal posture for the each object, external disturbances are applied to the mobile inverted pendulum robot and the first and second parameters are investigated to find the optimal posture among the pre-selected most representative postures. Finally, the proposed optimal posture has been verified by the proposed stability criterion function which consists of total force to the object, the fluctuation of the end-effector position, and total energy consumption. The effectiveness of the proposed algorithms has been verified and demonstrated through the practical simulations and real experiments.

• 한국산업융합학회 논문집
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• 제20권3호
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• pp.233-243
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• 2017

This paper proposes a structure of direct-printed flexible tactile-sensor. These flexible tactile sensors are based on pressure-sensing materials that allow pressure to be measured according to resistance change that in turn results from changes in material size because of compressive force. The sensing material consists of a mixture of multi walled carbon nanotubes (MWCNTs) and TangoPlus, which gives it flexibility and elasticity. The tactile sensors used in this study were designed in the form of array structures composed of many lines so that single pressure points can be measured. To evaluate the performance of the flexible tactile sensor, we used specially designed signal-processing electronics and tactile sensors to experimentally verify the sensors' linearity. To test object grasp, tactile sensors were attached to the surface of the fingers of grippers with three degrees of freedom to measure the pressure changes that occur during object grasp. The results of these experiments indicate that the flexible tactile sensor-based robotic gripper can grasp objects and hold them in a stable manner.

• 로봇학회논문지
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• 제18권1호
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• pp.99-109
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• 2023

In this paper, the cinch bag typed fruit harvesting gripper was proposed. This gripper is focused on preventing problems that we found from the related research and setting the breakthrough as a design condition according to the harvest failures of other related studies. The cover part is designed to overcome the surrounding obstacles of target fruits such as tomato, Korean melon, and sweet pepper. The measurement of maximum load showed that the well-grasped target object, such as a spherical object with 65 mm of diameter, is unable to slip in a range of 0 kg to 10 kg. The fact that the gripper allows from 4 cm to 6 cm of positional error was shown in the measurement of positional error tolerance. And the cover part of this gripper showed that the suggested gripper can grab a target object without being obstructed by leaves and stems. Finally, it was proved that the gripper satisfied the design conditions through the measurement of contacting force, which showed it is appropriate for grasping an actual fruit without damage.

• 한국구조물진단유지관리공학회 논문집
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• 제8권4호
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• pp.165-174
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• 2004

본 연구에서는 고속철도 ${\bigcirc}{\bigcirc}$역사 공사구간 중 굴착구간에 인접하여 하천이 위치하고 공사구간 좌측에는 항상 만수위 상태의 저수지가 있어 지반 굴착시 지하 5m 깊이에서 지하수위가 존재하는 구간에 설치된 부력앵커의 수평재하시험에 관한 연구이다. 따라서 본 연구에서는 지하수위 면이 발생하는 구간에 설치된 부력앵커의 현장 수평재하시험을 통해 영구적으로 지하수위에 의해 부력을 받는 구조물의 장기적인 안정성을 평가하고자 한다. 이를 위해 고강도 강봉이나 강연선을 사용, 지반과의 마찰력을 이용하여 부력에 저항하는 방법으로 충분한 인발력을 확보할 수 있는 Bar Type 앵커를 사용하였다. 고속철도의 제동과 가속에 의해 수평력을 받는 지하구조물 바닥 슬래브에 부력방지용 앵커를 설치하였다. 이로 인해 Bar Type 부력앵커에 발생되는 거동특성을 파악하기 위해 수평재하시험을 실시하여 고속철도의 주, 정차시 열차의 급제동및 출발에 의해 발생되는 수평력에 대한 부력앵커의 거동특성을 파악하고자 하였다.

• 지질공학
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• 제27권1호
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• pp.41-49
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• 2017

본 연구는 수치해석을 통해 구근체, 보강재 변화와 지반 조건 변화에 따른 지반 내 영향범위를 확인하고자 하였다. 구근체의 증가에 따른 보강효과 증가 폭을 확인하고 지반조건 변화에 따른 경향을 파악하게 되면 쏘일네일링의 보강재 및 구근체를 결정할 수 있게 되어, 경제적인 시공이 되도록 기초자료로 활용할 수 있을 것으로 판단된다. 본 논문에서는 범용 수치해석 프로그램인 MIDAS GTS NX를 활용하여 보강재 위치 별 하중에 따른 변위를 분석 하였다. 또한 쏘일네일의 인발하중에 따른 사질토, 화강풍화토 지반에서 보강재의 구근체 이완영역이 지반 내 어떠한 특성을 나타내는지 비교 분석 하여 구근체 크기와 보강재의 직경 별 경제성을 확보할 수 있는 기준을 선정하기 위한 수치해석을 수행하였다.

• 한국소음진동공학회논문집
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• 제13권10호
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• pp.798-804
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• 2003

One of the methods that are used to compare and verify the supporting performance of the spacer grids developed is the vibration characteristic test. A modal test in this paper is performed for a dummy rod 3,847 mm tall supported by eight New Doublet (ND) spacer grids. For the vibration test in air, nine accelerometers, one displacement sensor and one shaker are used for acquiring signals, and an I-DEAS TDAS software Is employed for analyzing the signals. Also, a finite element (FE) analysis is performed by a beam-spring simple model and a contact model simulating the contact phenomenon between the rod and the ND spring. And then, the results of the modal testing are compared with those of the FE analysis. The natural frequencies as well as the mode shapes obtained by the experiment have a greater similarity to the results by the contact model than the previous beam-spring model. In audition, for grasping whether or not the modal parameters are influenced by where shaking spot is, two kinds of tests are performed : one is for the shaker attached at the fourth span (center), the other is for the shaker at the fifth span that is one span nearer to the bottom of the rod. The latter shows higher MAC than the former Finally, the vibration displacements are measured in the range of 0.l12∼0.214 mm for the excitation force of 0.25∼0.75 N.

• 한국소음진동공학회논문집
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• 제22권5호
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• pp.459-467
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• 2012

이 연구에서는 MR 브레이크를 이용하는 새로운 형태의 햅틱 그리퍼를 제안하였다. 이를 위하여, 다양한 형태의 MR 브레이크를 고려한 뒤, 각 MR 브레이크의 제동 토크와 점성 마찰토크를 빙햄 모델에 기반하여 분석하였다. MR 브레이크의 최적설계를 위해 유한요소법과 최적화 toolbox를 통합한 새로운 알고리즘이 고안되었으며, 점성 마찰토크는 필요 제동 토크보다 작도록 구속조건을 설정하였다. 이러한 최적 설계 알고리즘을 통하여 적절한 제동 토크를 시스템에 부하할 수 있으며 무게가 최소화된 MR 브레이크를 설계할 수 있었다. 그리고 최적 설계된 MR 브레이크의 성능 또한 고찰하였다.

• 환경생물
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• 제30권2호
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• pp.77-89
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• 2012

With the advent of the genomics era powered by DNA sequencing technologies, life science is being transformed significantly and biological research and development have been accelerated. Environmental biology concerns the relationships among living organisms and their natural environment, which constitute the global biogeochemical cycle. As sustainability of the ecosystems depends on biodiversity, examining the structure and dynamics of the biotic constituents and fully grasping their genetic and metabolic capabilities are pivotal. The high-speed high-throughput next-generation sequencing can be applied to barcoding organisms either thriving or endangered and to decoding the whole genome information. Furthermore, diversity and the full gene complement of a microbial community can be elucidated and monitored through metagenomic approaches. With regard to human welfare, microbiomes of various human habitats such as gut, skin, mouth, stomach, and vagina, have been and are being scrutinized. To keep pace with the rapid increase of the sequencing capacity, various bioinformatic algorithms and software tools that even utilize supercomputers and cloud computing are being developed for processing and storage of massive data sets. Environmental genomics will be the major force in understanding the structure and function of ecosystems in nature as well as preserving, remediating, and bioprospecting them.