• 대한인간공학회지
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• 제32권1호
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• pp.17-26
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• 2013

Objective: The aim of this study is ergonomic analysis of tele-operation tasks using modified remote handling devices dedicated to the cell of PRIDE(PyRoprocess Integrated inactive DEmonstration facility) in KAERI(Korea Atomic Energy Research Institute). Background: Tele-operation manipulators of the PRIDE are applied to perform the remote handling and management of pyroprocessing facilities. Generally, these kinds of systems are composed of master-slave system and its peripherals installed along a wall or ceiling of the cell, and the manipulators transmit the user's own motion to grippers directly. However, a user convenience and intuitiveness while operating the manipulators have not been fully considered in research fields. Method: This study tries to analyze the ergonomic performance of remote handling manipulators in the developed cell facility. It was included that the analysis of operator's capability for his/her own motion range of upper arm while manipulating the MSM, considerations of its manipulation margin and related tool modifications to improve the remote handling performance. Conclusion: The test results of several remote handling tasks performed in PRIDE are represented, and adequate operation strategies for the tele-operation system of hot-cell type facilities are proposed. Application: The knowledge represented in this study can be utilized to improve a tele-operation system operated in a large-scale hot-cell system.

• 로봇학회논문지
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• 제7권1호
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• pp.9-19
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• 2012

This paper proposes a performance index for the multiple shape object handling of dual arm manipulator to determine whether a robot is good or not. When the dual-arm manipulator grasps a fixed object and is posed, the dual-arm manipulator should procure a space to freely control the manipulator. As a performance evaluation parameter, each joint torque from current sensor signal is utilized. From the current information, torque and energy for each joint are estimated. In this paper an performance index for an unstructured object is defined by an energy-cost function, and stability analysis for each motion is derived by the maximum force to the object. The maximum force to the object is computed by the inertia of object and acceleration information of end-effector. The acceleration data are derived by the double derivation of each encoder signal. Manipulability measure which implies how efficiently the dual-arm manipulator can move with the grasped object, can be represented by the intersection of the two manipulability ellipsoids for the left and right arms. Effectiveness of the proposed algorithm has been verified through the practical simulations and real experiments.

• 한국포장학회지
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• 제6권1호
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• pp.37-40
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• 2000

This study was carried out to investigate dropping shock of household electric appliances during materials handling. Microwave oven($18{\ell}$), TV(16") and washing machine(6.2kg) were singled out as the study items. From the results of dropping test by KS A 1026(General Rules of Performance Testing for Packaged Freights), relative equations were gained as follow : y=0.0863x+10.032 for microwave oven, y=0.136x+7.85 for TV and y=0.214x+5.8 for washing machine (where y is G-factor and x is Dropping height). The maximum values of dropping shock during materials handling were measured to be $11{\sim}14G$ for microwave oven, $12{\sim}15G$ for TV and $10{\sim}12G$ for washing machine. The maximum shocks of microwave oven, TV and washing machine during materials handling were corresponding to dropping shocks of dropping height 45.98cm, 52.57cm and 28.97cm by KS A 1026.

• 한국자동차공학회논문집
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• 제5권4호
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• pp.21-28
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• 1997

The vehicle handling performances have a close relation with the driver's safety. And the CAT(Computer aided testing) system has been introduced as a powerful tool for improving the handling performances. In this study, a CAT system for effectively measuring and analysing the handling performances is developed based on the windows GUI(Graphic user interface) environment. Especially, in order to derive a lot of significant handling performance parameters from a series of proving ground tests, the CAT system has various functions related to real time measurement, time domain analysis, frequency domain analysis, steady state analysis and so on.

• 경영과학
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• 제29권1호
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• pp.131-141
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• 2012

The automated material handling systems today are playing ever more important roles in semiconductor/LCD fabrication facilities. Recently they became more flexible, intelligent, and speedy than in the past. The facilities have been fully automated because the size and weight of the unit loads used in the facilities were being increased beyond the limits that a human operator can handle. This research develops an efficient procedure to streamline the delivery of unit loads by the automated material handling system (AMHS). For this task, the research employs the event scheduling theory that has been successfully used in the both academia and industry. The developed procedure was applied to an actual LCD fabrication facility and improved the performance of an existing material handling system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2275-2278
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• 2005

In this paper, a control algorithm for a servo manipulator is focused on. A servo manipulator system has been developed for remotely handling radioactive materials in a hot cell. It is driven by servo motors. The torque from a servo motor is transferred through a reducer to the corresponding axis. The PID control algorithm is a simple and effective algorithm for such application. However, since friction degrades the algorithm's performance, friction has to be considered and compensated. The major aberrations are the positional tracking errors and the limit cycle. The authors have considered a switching term to a conventional PID algorithm to reduce the friction's effect. It has been tested by a hardware test.

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2008년도 하계학술발표대회 논문집
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• pp.591-596
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• 2008

The present study has been conducted to study the performance of dedicated outdoor air handling unit in central and personal air-conditioning. With conventional central and personal air-conditioning systems which are designed according to the maximum load, humidity increase above comfort level can not be avoided as the cooling load decreases. The adoption of dedicated outdoor air handling unit, however, can solve this problem. Moreover, the dedicated outdoor air handling unit has the characteristics of anti-bacteria due to dry coil, energy saving and good indoor air quality. During cooling seasons, dedicated outdoor air handling unit can save energy up to 30% than the conventional cooling+reheating system for controlling both temperature and humidity.

• Journal of Nutrition and Health
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• 제40권6호
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• pp.542-557
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• 2007

The purpose of this study was to investigate the foodservice employees' awareness and performance in sanitation and customers' satisfaction with sanitation in large sized restaurants in Korea. Sanitation inspections were carried out in 200 large Korean, Western, Chinese, and Japanese style restaurants, and in buffet-style restaurants in Daegu and Gyeongbuk province. Foodservice employees' awareness of sanitation and customers' satisfaction with sanitation were investigated by interviewing 317 foodservice employees and 205 customers. Results of the inspection of restaurants showed low performance in food handling, employees' hygiene (hygienic) practices, and in cleaning food processing equipment. Scores of the foodservice employees' awareness in Chinese style restaurants were significantly lower than scores of workers in western restaurants. Foodservice employees had low awareness of sanitation procedures used for food storage and cleaning of equipment in Korean, Chinese, and Japanese style restaurants. Foodservice employees had low awareness of equipment cleaning, inspection and food distribution in western style restaurants and of equipment cleaning and food handling in buffet-style restaurants. Foodservice employees at all restaurants had the lowest performance in terms of HACCP. This shows that HACCP application and recording have not yet been properly carried out at restaurants in Korea. Foodservice employees had low performance scores in food handling, vegetable disinfection and disinfection after hand washing. Research on customers' satisfaction with sanitation revealed a low rating of kitchens and foodservice employees at all restaurants. Customers had low satisfaction with servers and kitchen environments in Korean style restaurants with food, tableware, utensils and servers in western style restaurants; with food and kitchen environments in Chinese style restaurants with servers, tableware, and utensils in Japanese style restaurants and with kitchen environments and servers in buffet-style restaurants. Therefore, cleanliness of kitchen facilities and equipment, and hygienic food handling procedures by workers in restaurants are urgently needed.

• 한국생산제조학회지
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• 제7권6호
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• pp.102-109
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• 1998

As the fundamental study of an active suspension system, computer simulation is performed using a quarter model. Design data for the development of active suspension system are presented through performance estimation of active control laws in the time and frequency domain. The verification of compromise between ride quality and handling characteristics is carried out.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.169.4-169
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• 2001

Conventional methods to solve the nonlinear programming problem range from augmented Lagrangian methods to sequential quadratic programming (SQP) methods. NPSOL, which is a SQP code, has been widely used to solve various optimization problems but is still subject to many numerical problems such as convergence to local optima, difficulties in initialization and in handling non-smooth cost functions. Recently, many evolutionary methods have been developed for constrained optimization. Among them, CEALM (Co-Evolutionary Augmented Lagrangian Method) shows excellent performance in the following aspects: global optimization capability, low sensitivity to the initial parameter guessing, and excellent constraint handling capability due to the benefit of the augmented Lagrangian function. This algorithm is ...