• 한국산업융합학회 논문집
• /
• 제22권4호
• /
• pp.415-425
• /
• 2019

This study proposes a new approach to control Moving Stuff Action Through Iterative Learning robot with dual arm for smart factory. When robot moves object with dual arm, not only position of each hand but also contact force at surface of an object should be considered. However, it is not easy to determine every parameters for planning trajectory of the an object and grasping object concerning about variety compliant environment. On the other hand, human knows how to move an object gracefully by using eyes and feel of hands which means that robot could learn position and force from human demonstration so that robot can use learned task at variety case. This paper suggest a way how to learn dynamic equation which concern about both of position and path.

• Journal of Advanced Marine Engineering and Technology
• /
• 제25권6호
• /
• pp.1341-1352
• /
• 2001

Vacuum freeze drying process by which frozen water in a drying material is removed sublimation under vacuum condition, is now applied to various industrial field such as the manufacturing and packaging of pharmaceuticals in pharmaceutical industry, the drying of bio- products in bio-technology industry, the treatment of various quality food stuff in food technology, and so on. The Knowledge about the heat and mass transfer characteristics related with the vacuum freeze drying process is crucial to improve the efficiency of the process as well as the quality of dried products. In spite of increasing needs for understanding of the process, the research efforts in this fields are still insufficient. In this paper, a numerical code that can predict primary drying in a vial is developed based on the finite volume method with a moving grid system. The calculation program can handle the axis- symmetric and multi-dimensional characteristics of heat and mass transfer of the vial freeze drying process. To demonstrated the usefulness of the present analysis, a practical freeze drying of skim Milk solution in a vial is simulated and various calculation results are presented.

• 한국지역지리학회지
• /
• 제13권4호
• /
• pp.438-453
• /
• 2007

경동시장 한약상가는 조선시대부터 한약의 중심지이던 종로 4,5,6가 일대 한약상이 1960년대부터 이쪽으로 이동하기 시작하면서 발달하였다. 이 상가는 편리한 교통을 바탕으로 한약도매상의 성격을 띠면서 성장했다. 한약상가 내에는 다양한 한방관련 업종이 분포하고 있다. 최초 연구를 수행했던 1994년 당시에는 한의원이 주를 이루었으나 2007년에는 도매 중심의 한약국이 한의원을 대체하는 현상이 현저해졌다. 여기에는 한의사의 노령화가 크게 관여하였다. 경동시장 한약상가는 전국 약재물동량의 70%를 점유하고 있으며, 이 가운데의 70% 정도가 외국산이다. 과거에 비해 현대화된 건물이 속속 들어서 한약상가의 외관과 규모는 발전하였지만 실제 상황은 활기를 띠지 못하고 있는 형편이다. 본 연구의 목적은 1994년부터 2007년까지 13년간의 변화상을 고찰하고, 변화의 주된 원인을 규명하고자 하였다. 그간 경동시장 한약상가는 현대화된 모습으로 변모하였으나 새로 들어선 한방건물의 영업 실패의 주된 이유를 '장소에 대한 관성'이라는 개념으로 설명했다. 경동시장 한약상가는 우리나라의 전반적인 경기침체와 맞물려 어려움을 겪고 있지만 한방특구로 지정되면서 세계 최대 규모의 한약상가로서, 새로운 관광자원으로서 발돋움하려는 노력을 지속하고 있다.

• 대한인간공학회지
• /
• 제30권3호
• /
• pp.409-418
• /
• 2011

Objective: This study was performed to evaluate the child-care teachers' job in relation to physical work. Background: Child-care teacher is directly related to the quality of child care. And their physical activity is higher than general education teachers because the proportion of day care is high. But analyzes of child-care teachers' job burdens and the work environment associated with physical activity is not well established. Method: To conduct this study, the child-care teachers' job was classified into 18 physical works. After classification, posture was evaluated by ergonomic posture evaluation schemes of OWAS, RULA, REBA and evaluated for each physical part. Next, musculoskeletal subjective symptoms were analyzed. Results: The results showed the following: The highest assessment on the posture evaluation was "helping children to ride a school bus", "feeding: meal/snack", "brushing children's teeth" and "arrangement of nap-stuff". The rank of high-risk assessment on the neck/trunk/leg part was arranged by: "feeding: meal/snack", "helping children to ride a school bus", "making nap", "arrangement nap-stuff" and "brushing children's teeth". The rank of high-risk assessment on the upper limbs part was arranged by: "helping children to ride a school bus", "the bust - group activity", "meal/snack time - preparing, feeding, arrangement", "nap time - preparing, arrangement", "brushing children's teeth", and "using the toilet". According to the results of each musculoskeletal subjective symptom, teachers ordered the pain area as follows: waist, shoulder, leg/feet, and neck, and they showed more pain on trunk than the upper limbs. Conclusion: To sum up the results from ergonomic posture evaluation and a subjective symptom, the following are high working pressures: "feeding: meal/snack", "the bust - group activity", "making nap", "brushing children's teeth" with deep bending and waist twisting, "helping children to ride a school bus", "brushing children's teeth" with lifting shoulder; "meal/snack time - preparing, arrangement", "nap time - preparing, arrangement", and "using the toilet" with moving or an up-down position in their job. Application: The results of this study might be information for improvement of the child-care teachers' job environment.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.102-105
• /
• 2005

A Effective wall following plays important role for the mapping behaviors which determine the entire memory size and the shape of map before building a map. In case of wall following, attacking those cause by curved wall or obstacles brings a bad stuff that makes ripples on the moving trajectory. These types of ripples come to an end with problems that increase the load of calculation and sensing errors. In this paper, a new sensing method and its corresponding controller are suggested for problems. It minimizes the occurrence of the trajectory ripples.

• 한국컴퓨터정보학회지
• /
• 제14권2호
• /
• pp.147-152
• /
• 2006

2D에서 3D로 이동하고 있는 현재의 GIS는 자료 크기가 기하급수적으로 커지고 이로 인해 처리속도가 느려지고 있으며 사용자의 실시간 렌더링(Rendering) 요구는 커지고 있다. 대용량의 공간자료에 대한 처리속도, 3 차원 처리기술, 가상현실 처리기술 등의 제약조건과 3차원 GIS를 가시화하기 위해서는 방대한 양의 데이터를 처리하기 위한 시간과 비용이 많이 과다하게 발생하는 문제점을 가지고 있다. 본 논문에서는 이러한 문제를 해결하고 웹 상에서 가상 캠퍼스(Virtual Campus)를 구현하기 위해 위성 및 항공으로부터 획득한 DEM 데이터를 VRML로 가시화하여 3차원으로 가시화된 지형 정보를 구하고, 모델링 툴을 이용하여 건물 및 도로에 대한 3차원의 캠퍼스 정보를 획득하게 된다. 이렇게 획득된 3차원의 정보를 보다 사실감 있는 질감과 재질을 표현하기 위하여 실물에 가까운 텍스처 맵핑 작업을 통해 웹 기반의 3차원 가상 캠퍼스를 구현할 수 있었다.