• IE interfaces
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• v.22 no.2
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• pp.144-152
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• 2009

Assembly line has been recognized as an efficient production system in mass production. However, the recent production environment characterized as mass customization urges production managers to transform a long assembly line to a number of short assembly cells. To maximize the utilization of resources in an assembly cell, it is important to have the line balanced. This paper presents a bucket brigade-based assembly cell. Bucket brigade is a way of coordinating workers who progressively perform a set of assembly operations on a flow line. Each worker follows a simple rule: perform assembly operations on a product until the next worker downstream takes it over; then go back to the previous worker upstream to take over a new assembly job. In this way, the line balances itself. The bucket brigade assembly cell is analyzed and compared with traditional assembly lines and general assembly cells. The paper also discusses some prerequisite requirements and limitations when the bucket brigade assembly cells are employed.

• Bulletin of the Korean Space Science Society
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• 2008.10a
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• pp.35.3-36
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• 2008

The ground-based spacecraft simulator is a useful tool to realize various space missions and satellite formation flying in the future. Also, the spacecraft simulator can be used to develop and verify new control laws required by modern spacecraft applications. In this research, therefore, Hardware-in-the-loop (HIL) simulator which can be demonstrated the experimental validation of the theoretical results is designed and developed. The main components of the HIL simulator which we focused on are the thruster system to attitude control and automatic mass-balancing for elimination of gravity torques. To control the attitude of the spacecraft simulator, 8 thrusters which using the cold gas (N2) are aligned with roll, pitch and yaw axis. Also Linear actuators are applied to the HIL simulator for automatic mass balancing system to compensate for the center of mass offset from the center of rotation. Addition to the thruster control system and Linear actuators, the HIL simulator for spacecraft attitude control includes an embedded computer (Onboard PC) for simulator system control, Host PC for simulator health monitoring, command and post analysis, wireless adapter for wireless network, rate gyro sensor to measure 3-axis attitude of the simulator, inclinometer to measure horizontality and battery sets to independently supply power only for the simulator. Finally, we present some experimental results from the application of the controller on the spacecraft simulator.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.144-149
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• 2017

There have been lots of interest on service and entertainment robots. To ensure that robots work in harmony with humans, their stability and compactness are some of the key issues. Obviously, robots with fewer wheels occupy a smaller floor area compared to those with more wheels. In addition, robots with fewer wheels, whose posture stabilities are maintained by feedback control, are stable even under larger accelerations and/or higher locations of the center of mass. To facilitate controller design, it is assumed that both pitch and roll dynamics are decoupled. The dynamic equations of motion for the proposed robot are derived from the Euler-Lagrange equation. To obtain the optimal balancing control law, linear quadratic regulator control methods are applied to the linearized dynamic equations. Simulation and experimental results verify the effectiveness and performance of the proposed balancing control algorithm for a single-wheeled mobile robot.

• Archives of Plastic Surgery
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• v.41 no.5
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• pp.535-541
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• 2014

Background Patients having unilateral breast reconstruction often require a second stage procedure on the contralateral breast to improve symmetry. In order to provide immediate symmetry and minimize the frequency and extent of secondary procedures, we began performing simultaneous contralateral balancing operations at the time of initial reconstruction. This study examines the indications, safety, and efficacy of this approach. Methods One-hundred and two consecutive breast reconstructions with simultaneous contralateral balancing procedures were identified. Data included patient age, body mass index (BMI), type of reconstruction and balancing procedure, specimen weight, transfusion requirement, complications and additional surgery under anesthesia. Unpaired t-tests were used to compare BMI, specimen weight and need for non-autologous transfusion. Results Average patient age was 48 years. The majority had autologous tissue-only reconstructions (94%) and the rest prosthesis-based reconstructions (6%). Balancing procedures included reduction mammoplasty (50%), mastopexy (49%), and augmentation mammoplasty (1%). Average BMI was 27 and average reduction specimen was 340 grams. Non-autologous blood transfusion rate was 9%. There was no relationship between BMI or reduction specimen weight and need for transfusion. We performed secondary surgery in 24% of the autologous group and 100% of the prosthesis group. Revision rate for symmetry was 13% in the autologous group and 17% in the prosthesis group. Conclusions Performing balancing at the time of breast reconstruction is safe and most effective in autologous reconstructions, where 87% did not require a second operation for symmetry.

• Plant Journal
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• v.4 no.3
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• pp.66-72
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• 2008

The vibration of steam turbine is caused by Mass unbalance, Shaft misalignment, Oil whip and rubbing etc. But in turbine which is normally operated and maintained, the Mass unbalance component possesses the greatest portion. Our power plant has two steam turbines in capacity of 200 MW and 135 MW respectively and each turbine is supported by 6 journal bearings. However, we had many difficulties because the vibration amplitude of #3 and #4 Bearings was high during the start-up and operation mode change of steam turbine. But, with this study, we completely solved the vibration problem caused by the mass unbalance of #1 steam turbine. Until a recent date, #3 and #4 bearings which support high pressure turbine for #1 steam turbine had shown about $135{\mu}m$ in vibration amplitude (sometimes it increased to $221{\mu}m$ maximum. alarm: 6 mils, trip: 9 mils) at base load. After applying the study, they decreased to about $45{\mu}m$ maximum. It is a result from that we did not change the setting value of bearing alignment and only changed the assembly position of internal parts in Synchro clutch coupling rachet wheel which links between high pressure turbine and low pressure turbine, and increased the internal gap and machining of the Pawl cage surface. In the operation of steam turbine, if the vibration value increases by 1X, we should reduce the vibration of bearing by weight balancing. However, unless the vibration of bearing is declined by the balancing, we will have to disassemble and check the component and find the cause. In this study, we researched the way to lower mass unbalance that is 1X vibration component which has the greatest portion of vibration generated by steam turbine and we got good result by applying the findings of this study.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.232-235
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• 2008

The vibration of steam turbine is caused by Mass Unbalance, Shaft Misalignment, Oil Whip and Rubbing etc. but in turbine which is normally operated and maintained, the Mass Unbalance component possesses the greatest portion. Our power plant has two steam turbines in capacity of 200MW and 135MW respectively and each turbine is supported by 6 journal bearings. However, we had many difficulties because the vibration amplitude of No 3 and 4 Bearings was high during the start-up and operation mode change of steam turbine. But, with this study, we completely solved the vibration problem caused by the mass unbalance of No 1 steam turbine. Until a recent date, No 3 and 4 bearings which support high pressure turbine for No 1 steam turbine had shown about 135${\mu}$m in vibration amplitude (sometimes it increased to 221${\mu}$m maximum. alarm: 6mils, trip: 9mils) at base load. After applying the study, they decreased to about 40${\mu}$m maximum. It is a result from that we did not change the setting value of Bearing Alignment and only changed the assembly position of internal parts in Synchro Clutch Coupling Rachet Wheel which links between high pressure turbine and low pressure turbine, and increased the internal gap and machining of the Pawl stopper surface. In the operation of steam turbine, if the vibration value increases by 1X, we should reduce the vibration of bearing by weight balancing. However, unless the vibration of bearing is declined by the balancing, we will have to disassemble and check the component and find the cause. In this study, We researched the way to lower mass unbalance that is 1X vibration component which has the greatest portion of vibration generated by steam turbine and We got good result by applying the findings of this study.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.250-257
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• 2014

In this paper, a new mobile robot, so called a rollerbot, is presented, which has single body and rugby-ball shaped roller wheel. A rollerbot has single point contact on ground and low energy consumption in motion because of the reduced friction. By changing center of mass using a balancing weight, a rollerbot is able to get steering force. The vertical position of mass center of the rollerbot in this paper is designed to lie inside radius of the roller wheel, so that to have stable equilibrium position. Thus, the posture and the steering control of the rollerbot can be easily done by changing the center of mass. Kinematics of the rollerbot is derived by transformation of differential motion in this paper.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.602-607
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• 1997

Ball balance belong to a kind of automatic balancers opten referred to as direct balancer or passive mass systems. In such systems the balancing is achieved with free masses. One of the most prevalent problems encountered in washing is the vibration during spin cycle. The primary cause of this vibration is mass unbalance associated with non unform distribution of clothes. Front loading type machine of European style, especially, has inherent unbalance mass due to its shape and this then makes the vibration worse than top loading type machine, which is more popular in Korea. Since the mass distribution of cloths is random and can not be predicted in advance, direct automatic balances appear to be the only feasible alternative. The results form computer simulation and experimental testing will be presented together with stability implications.

• Proceedings of the KIEE Conference
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• 2003.11c
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• pp.404-407
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• 2003

In this paper, we have designed the humanoid robot's leg parts with 12 D.O.F. This robot uses ankle's joints to confirm stability of walking performance. It is less movable to use ankle's joints than to do upper body's balancing joints like IWR-III, which needs three parts of via points, support leg, swing leg and balancing joints. Instead, the proposed humanoid robot needs support leg and swing leg via points. ZMP(Zero Moment Point) is utilized to guarantee the stability of robot's walking. The humanoid robot uses the ankle's joints to compensate for IWR-III's balancing joints movement. Actually we concern about a motor performance when making a real humanoid robot. So a simulator is employed to know each joint torque of humanoid robot. This simulator needs D-H(Denavit-Hartenberg) parameters, robot's mass property and two parts of via points. The simulation results are robot's walking trajectories and each motor torque. Using the walking trajectories, we can see the robot's walking scene with 3D simulator. Before we develop the humanoid robot, simulation of the humanoid robot's walking performance is very helpful. And the torque data will be used to make humanoid's joint module.

• Journal of the Korean Geotechnical Society
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• v.35 no.5
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• pp.5-19
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• 2019

Considering the natural phenomenon in which steep slopes ($65^{\circ}{\sim}85^{\circ}$) consisting of rock mass remain stable for decades, slopes steeper than 1:0.5 (the standard of slope angle for blast rock) may be applied in geotechnical conditions which are similar to those above at the design and initial construction stages. In the process of analysing the stability of a good to fair continuum rock slope that can be designed as a steep slope, a general method of estimating rock mass strength properties from design practice perspective was required. Practical and genealized engineering methods of determining the properties of a rock mass are important for a good continuum rock slope that can be designed as a steep slope. The Genealized Hoek-Brown (H-B) failure criterion and GSI (Geological Strength Index), which were revised and supplemented by Hoek et al. (2002), were assessed as rock mass characterization systems fully taking into account the effects of discontinuities, and were widely utilized as a method for calculating equivalent Mohr-Coulomb shear strength (balancing the areas) according to stress changes. The concept of calculating equivalent M-C shear strength according to the change of confining stress range was proposed, and on a slope, the equivalent shear strength changes sensitively with changes in the maximum confining stress (${{\sigma}^{\prime}}_{3max}$ or normal stress), making it difficult to use it in practical design. In this study, the method of estimating the strength properties (an iso-angle division method) that can be applied universally within the maximum confining stress range for a good to fair continuum rock mass slope is proposed by applying the H-B failure criterion. In order to assess the validity and applicability of the proposed method of estimating the shear strength (A), the rock slope, which is a study object, was selected as the type of rock (igneous, metamorphic, sedimentary) on the steep slope near the existing working design site. It is compared and analyzed with the equivalent M-C shear strength (balancing the areas) proposed by Hoek. The equivalent M-C shear strength of the balancing the areas method and iso-angle division method was estimated using the RocLab program (geotechnical properties calculation software based on the H-B failure criterion (2002)) by using the basic data of the laboratory rock triaxial compression test at the existing working design site and the face mapping of discontinuities on the rock slope of study area. The calculated equivalent M-C shear strength of the balancing the areas method was interlinked to show very large or small cohesion and internal friction angles (generally, greater than $45^{\circ}$). The equivalent M-C shear strength of the iso-angle division is in-between the equivalent M-C shear properties of the balancing the areas, and the internal friction angles show a range of $30^{\circ}$ to $42^{\circ}$. We compared and analyzed the shear strength (A) of the iso-angle division method at the study area with the shear strength (B) of the existing working design site with similar or the same grade RMR each other. The application of the proposed iso-angle division method was indirectly evaluated through the results of the stability analysis (limit equilibrium analysis and finite element analysis) applied with these the strength properties. The difference between A and B of the shear strength is about 10%. LEM results (in wet condition) showed that Fs (A) = 14.08~58.22 (average 32.9) and Fs (B) = 18.39~60.04 (average 32.2), which were similar in accordance with the same rock types. As a result of FEM, displacement (A) = 0.13~0.65 mm (average 0.27 mm) and displacement (B) = 0.14~1.07 mm (average 0.37 mm). Using the GSI and Hoek-Brown failure criterion, the significant result could be identified in the application evaluation. Therefore, the strength properties of rock mass estimated by the iso-angle division method could be applied with practical shear strength.