• 한국기계가공학회지
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• 제20권2호
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• pp.38-44
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• 2021

To cater to the transition from single-color to multicolor/multi-material printing, this paper proposes a cartridge-replacing type multi-nozzle Fused Depositon Modeling(FDM) three-dimensional (3D) printer. In the test printing run, tool change failure/wobble/layer shift occurred. It was confirmed that improper support was the cause of this tool change failure. As a solution, spline and electromagnetic cartridges were designed. Wobble was caused by machine vibration and the motor stepping out. To minimize wobble, an additional Z-axis was installed, and the four-point bed leveling method was used instead of the three-point bed leveling method. The occurrence of layer shift was ascribed to the eccentricity of the Z-axis lead screw. Therefore, slit coupler was replaced with an Oldham type. In addition to the mechanical supplementation, the control environment was integrated to prevent accidents and signal errors due to wire connections. Before the final test printing run, a rectifier circuit was added to the motor to secure precise control stability. The final test printing run confirmed that the wobble/layer shift phenomenon was minimized, and the maximum error between layers was reduced to 0.05.

• 드라이브 ㆍ 컨트롤
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• 제12권4호
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• pp.60-70
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• 2015

A front-end loader (FEL) mounted on an agricultural tractor is one of the most commonly used implements for farm work. However, when the tractor carries material using the bucket attached to the FEL on a sloping ground, the materials can spill or roll back over the operator due to the tilted body, thereby requiring the bucket surface to remain level at a constant value regardless of varying slopes. In this study, an active system for controlling the angle of the FEL bucket on a tractor based on the real-time measurement of ground slopes was developed to enable the bucket to constantly remain level. A FEL simulator operated based on an electro hydraulic proportional valve (EHPV) was constructed in the laboratory to develop a proportional-integral-derivative (PID) controller forming a virtual electronic control unit (ECU) on the computer, which could automatically adjust the bucket angles depending on varying input angles while sending SAE-J1939 associated messages via CAN BUS to the EHPV. The different parameter values for the PID controller due to the gravity effect of the bucket were determined using a manual PID tuning method while assuming that the tractor travels on either an ascending slope or a descending slope. The developed PID control-based self-leveling system showed a mean of steady-state errors of within $1^{\circ}$ and a mean of delayed times of ~ 0.8s when the step input of $+20^{\circ}$ was given, implying that the developed system and control algorithm would be effective in maintaining the bucket angle at a certain value. Future studies include the improvement of the control algorithm to reduce such a time delay as well as the application of the developed algorithm to the FEL mounted on a tractor tested at a testing ground.

• 한국정보전자통신기술학회논문지
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• 제10권3호
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• pp.232-241
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• 2017

본 연구는 선행 연구로 진행되었던 과수원 및 농경지에서 사용되는 고소작업차의 안정적인 요소를 설계하기 위하여 진행되었다. Auto leveling system과 수평센서를 이용하여 불규칙하고 경사가진 곳에서 안전하게 작업하기 위하여 유압식 상승리프트를 개발하였으며 고소작업대에서의 제어를 하기 위하여 원격 제어를 포함한 중앙집중식 컨트롤러의 개발을 진행하였다. 개발된 모듈을 통하여 고소작업대에서의 안정적 제어가 되는지 현장 시 운행을 실시하였으며, 고소 작업대의 구조해석을 통하여 작업자가 작업대에서 안전하게 작업을 할 수 있는 최대 적재 하중 및 균등 적재량을 제시함으로서 보다 안전에 대해 유의하도록 하였다. 각 부위별 설계 및 검증, 제작을 통하여 완성된 고소기계차의 현장 시운행을 통하여 프로토타입의 고소기계차를 제작하였고, 몇 가지의 수정 보완 사항을 통하여 연구를 지속적으로 행할 예정이다.

• 대한치과교정학회지
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• 제28권4호
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• pp.591-600
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• 1998

본 연구는 교정치료를 목적으로 발치가 예정된 치아를 대상으로 임상적으로 매우 중요한 치료과정 중의 한 부분인 초기치아배열단계에서 다양한 기간과 크기의 교정력을 가하여 치아배열기간, 교정력의 크기,치아이동방향에 따라 치근표면에 일어나는 흡수와 회복 양상에 대한 정보를 얻기 위하여 시행되었다. 치료받지 않은 13개의 치아를 대조군으로 하고 교정치료계획상 제1소구치를 발거하기로 예정된 37개의 치아를 실험군으로 하여 20-450gm의 초기교정력을 가한 후 주사전자현미경적 관찰을 통하여 다음과 같은 결과를 얻었다. 1. 실험군 37개 중 22개의 치아($59.5\%$)에서 치근흡수가 발견되었다. 치근흡수는 최소실험기간인 3주군부터 나타났으며 흡수부위의 회복은 3개월군부터 나타났다. 2. 교정력의 기간 증가에 따라 치근흡수의 발생빈도가 증가하는 경향을 보였다. 3. 교정력이 클수록 상아질을 포함하는 홉수가 증가하는 경향을 보였다. 4. 치근 흡수의 부위는 하중 받는 부위와 일치하는 경향을 보였다. 5. 치근 흡수 부위의 면적과 가장 상관성이 높은 변수는 교정력의 크기였다.

• 한국항해항만학회지
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• 제39권3호
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• pp.253-260
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• 2015

열악한 작업환경 때문에 수중항만공사를 기계화하려는 많은 노력들이 시도되고 있다. 본 논문은 수중항만공사 중 사석 고르기 작업을 수행하는 수중건설로봇에 대해 기술한다. 로봇의 블레이드는 울퉁불퉁한 지형에서도 사석 마운드를 기준면에 대해 평편하게 고르고, 다목적암은 사석을 파고, 채울 수 있게 설계되었다. 본 연구는 로봇에 설치된 위치 및 방위 센서와 동기를 이루면서 주행과 스윙운동이 포함된 다목적암과 블레이드의 기구학을 해석한다. 기준수심센서에 부여된 월드좌표에 대해서 블레이드와 다목적암의 위치와 방위를 나타내고, 기준면과 나란한 고르기 작업을 위한 형상을 찾는다. 고르기 작업을 위한 유압제어시스템을 개발하며, 로봇에 의한 육상 및 수중 사석 고르기 작업을 실시해 실험결과를 보인다. 로봇의 작업속도는 잠수부보다 8배 정도 빠르며 작업품질도 우수한 것으로 평가된다. 잠수부가 작업할 수 없는 대수심에서는 효율성이 더 좋을 것으로 기대된다.

• 대한치과교정학회지
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• 제23권2호
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• pp.217-227
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• 1993

치아이동시 생역학을 고려한 frictionless system이 공간폐쇄를 위해 이상적이지만, 이는 숙달된 wire bending이 필요하며 잘못 계산된 교정장치를 사용하였을때 부작용이 매우 클 수 있다. 최근 Straight Wire Appliance가 도입 됨에 따라 복잡한 wire bending없이 "Elastic tie back"을 이용한 공간폐쇄가 가능하지만 alignment와 leveling을 위한 치료기간이 길고 friction과 binding으로 인해 이상적인 교정력을 적용시키는데 어려움이 있다. 그러나 교정환자 수가 많아지고 짧은 치료 기간이 요구되어지는 요즈음에 선택적으로 "Elastic tie back"을 이용하는 공간폐쇄는 부작용을 최소화 하면서 손쉽게 이용할 수 있는 교정장치라고 사료된다.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2012년도 춘계 학술논문 발표대회
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• pp.41-42
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• 2012

High temperature / high pressure spray equipment using a conventional method, unlike spray polyurea adjustable pot life and yellowing caused by UV light and chemicals do not occur, or discoloration of Self-Leveling Type of rugged hand-polyurea resin for technology development is underway. This new concept of polyurea resin roller, brush, airless spray, and they installed easily using the unfamiliar labor, and curing time of approximately four hours to gain control of the glass because it is Pot. Construction, but does not like the spray polyurea resin, compared to the existing degradation of the adhesion strength is concerned. In this study, Self-Leveling Type Manual of polyurea resin adhesion strength of target deterioration Let's minimize problems by reviewing existing domestic and infrastructure long-term durability for long life of the facility is to obtain.

• International Journal of Computer Science & Network Security
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• 제21권5호
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• pp.222-230
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• 2021

The article reviews the issue of formation of information culture of social work bachelors in the process of their professional training. The main internal / external factors that determine the need for the information culture formation of social workers-to-be have been identified. To determine the levels of information culture formed in bachelors of social work criteria and their indicators have been substantiated. The model of information culture formation in BSW has been developed and implemented in Ukrainian universities under the following pedagogic conditions: organized informational environment; interconnection between general and professionally-directed courses; curriculum includes course directed on IC formation. The model contained interconnected components: aim - to achieve higher level of information culture formed; specific principles; content, interactive methods and forms of organization of educational process, methods of control and correction; components of information culture. The implemented mastered learning procedure has contributed to the leveling up of information culture formed in social work bachelors.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1352-1355
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• 1997

This paper presents the algorithm for estimating the attitude of an underwater vehicle using EFK. The system model is designed by linerizing the nonlinear Euler angle differential equation and the measurements is a speed logger output. The simulation result shows that the estimation lagorithm is adequate for decreasing attitude errors that grow abruptly during the motion with acceleration and rotation. It also shows that we can adapt the algorithm for compensating initial attitude errors generated after initial leveling.

• Journal of Biosystems Engineering
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• 제37권5호
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• pp.287-295
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• 2012

Purpose: Some of the most representative approaches are to apply next generation technologies to save energy consumption, fully automated control system to appropriately maintain environmental conditions, and autonomous assistance system to reduce labor load and ensure operator's safety. Nevertheless, improvement of upcoming method for soil cultured greenhouse has not been sufficiently achieved. Geometrical complexity of ground in protected crop cultivation might be one of the most dominant factors in design of autonomous vehicle. While there is a practical solution fairly enough to promise an accurate travelling, such as autonomous sprayer guided by rail or induction coil, for various reasons including the limitation of producer's budget, the previously developed sprayer has not been widely distributed to market. Methods: In this study, we developed an autonomous sprayer considering travelling performance on geometrical complexity of ground in soil cultured greenhouse. To maintain a stable travelling and to acquire a real time feedback, common wire with 80 mm thick and body frame and sprayer boom. To evaluate performance of the prototype, tracking performance, climbing performance and spraying boom's uniform leveling performance were individually evaluated by corresponding experimental tests. Results: The autonomous guidance system was proved to be sufficiently suitable for accurate linear traveling with RMS as lower than approximately 10 cm from designated path. Also the prototype could climb $10^{\circ}$ of ground's slope angle with 40 kg of water weight. Uniform leveling of spraying boom was successfully performed within $0.5^{\circ}$ of sprayer boom's slope. Conclusions: Considering more complex pathways and coarse ground conditions, evaluations and improvements of the prototype should be performed for promising reliability to commercialization.