• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.279-282
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• 1995

In this paper, a moving horizon control algorithm, which can be applied for a wide class of nonlinear systems with control and state constraints, is considered. In a neighborhood of the origin, a linear feedback controller is applied. Outside this neighborhood, a moving horizon control law is applied. The time taken to solve an optimal control problem is considered in the algorithm so that the proposed control law can be applied as an on-line controller.

• 전자공학회논문지SC
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• 제37권4호
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• pp.11-21
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• 2000

본 논문에서는 이동로봇이 작업환경 내에서 이동하는 물체를 실시간에 인지, 추적하기 위한 비젼센서 시스템을 제안한다. 제안하는 시스템은 하나의 직선광선을 카메라 영상의 중앙에 수평하게 투영되도록 하여 이동로봇의 경로에 투사하고 이 광선이 물체와 교차하여 생성하는 선분영상만을 취득, 해석함으로써 비젼센서를 이용하는 기존의 방법들이 영상전체를 이해하기 위해 필요로 하던 계산상의 복잡도를 줄이고 있다. 이동물체의 존재여부, 속도 및 위치는 2개의 연속된 영상에서 얻어진 선분영상의 위치 및 길이의 변형도를 일정한 기준치와 비교하여 결정하는 간단한 방법을 제안한다. 제안된 알고리즘은 보안 및 다수이동로봇의 제어분야에서 다양하게 응용될 수 있으며 실험을 통해 그 성능을 평가하였다.

• 대한전자공학회논문지
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• 제23권2호
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• pp.206-216
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• 1986

In this paper, the moving distance and velocity of a single moving object are measured by sampling three frames in a two-dimensional line sequence image. The brightness of each frame is analyzed, and the bit data of their pixel are rearranged so that the difference image may be extracted. The parameters for recognition of the object are the gray level of the object, the number of vertex points and the distance between the vertex points. The moving distance obtained from the coordinate which is constructed by the bit processing of the data in the memory map of a microcomputer, and the moving velocity is obtained from the moving distance and the time interval between the first and second sampled frames.

• 한국정밀공학회지
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• 제31권8호
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• pp.697-703
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• 2014

This paper is study of solving vibration problem occurred in moving hand of wafer transfer robot in semiconductor manufacturing line. Long settling time for decreasing vibration makes low production rate, and moreover the excessive vibration of hand sometimes breaks the wafer in a cassette. The ways of reducing the moving speed and changing the type of motion profile did not help for lessening vibration. Therefore, we analyzed the mechanical property of the hand such as natural frequency, and frequency component of the motion profile currently used in the manufacturing line. In several conditions of motion profile, we found the best condition of which the frequency component in near of natural frequency of the hand is minimal and this induced small vibration in moving hand. The results were verified theoretically and experimentally using frequency analysis.

• 대한가정학회지
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• 제20권3호
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• pp.9-18
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• 1982

In this study, we attempted to make an original pattern of clothing for an abnormal type of figure, especially for the type of kyphosis. We measured the curvature of the spine of a woman with kyphosis with a Martin measuring instrument and a silhouetter in the following ways. First, we counted the rate of shrinkage of the standard lines drawn on the surface of the body according as the body moved. Secondly, placing the front and back darts, the front and back shoulder darts and the side darts according to“Munhwa”pattern, we made cubic cuttings of four moving postures as well as the standing one. Thirdly, we superposed the developed patterns of the standing and the moving postures, measuring the position change and the amount of the chaange of the darts, and compared them. The results are as follows: 1) In the developed pattern of a cubic cutting of the basic pattern and the standing posture, the neckhole became larger than that of the basic pattern, and the waist line was lowered than that of the basic pattern because the center back line was shortened due to the curved backbone. 2) As for the change of the standard line according to the movement, we found that the waist line, the center front line, the center back line, the bust width line, the upper back width line and the back width line became longer. Special consideration must be given to the function of the clothing for an abnormal type of figure. 3) The difference of the measurements between the cubic cutting and the body measurement regardless of the body movement is due to a gap by an acute angle at the jutted place between the developed pattern and the body surface. We found that the body measurement of the upper back width line, the back width line and the bust line became larger. Consequently, in making an original clothing pattern, it is desirable that we must not place the front and the back waist darts at the jutted place on the back from the functional and the aesthetic viewpoint of clothing. It is also desirable that we must widen the neckhole because the shoulder angle is close to a straight line due to a jut of the upper back width line.

• 한국음향학회:학술대회논문집
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• 한국음향학회 2004년도 추계학술발표대회논문집 제23권 2호
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• pp.221-224
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• 2004

A theoretical model has been studied to describe the sound radiation analysis for structure vibration noise of vehicle tires under the action of random moving line forces. When a tire is analyzed, it had been modeled as curved beams with distributed springs and dash pots that represent the radial , tangential stiffness and damping of tire, respectively. The reaction due to fluid loading on the vibratory response of the curved beam is taken into account. The curved beam is assumed to occupy the plane y=0 and to be axially infinite. The curved beam material and elastic foundation are assumed to be lossless Bernoulli-Euler beam theory including a tension force, damping coefficient and stiffness of foundation will be employed. The expression for sound power is integrated numerically and the results examined as a function of Mach number, wave-number ratio and stiffness factor. The experimental investigation for structure vibration noise of vehicle tire under the action of random moving line forces has been made. Based on the Spatial Transformation of Sound Field techniques, the sound power and sound radiation are measured. Results strongly suggest that operation condition in the tire material properties and design factors of the tire govern the sound power and sound radiation characteristics.

• 한국조리학회지
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• 제13권3호
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• pp.263-277
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• 2007

In order for a cook to cook, there should be a space called a kitchen; moreover, to prepare good food, there should be good kitchen facilities in the kitchen. With good facilities, the cook can save time and have higher productivity. On the other hand, with poor facilities, equipment and utensils, the cook can get demotivated, have poor capability, suffer from high stress and possibly can cause some diseases. Therefore, better facilities are essential for cooking environment. The purpose of this study is to find out how significant the job stress is according to the demographic characteristics. Also, how kitchen facilities and moving line influence the job stress. In order to answer above questions, 278 copies of questionnaire were made and given to cooks at hotels with five star or similar ranks. Using SPSS Win 12.0 the statistics package, frequency, factor and reliability analysis were conducted. Then, regression analysis was carried out. As a result of the test, difference analysis on statistic characteristics was partly found. In addition, facilities and moving line affected job stress. Also, working area in the kitchen inversely influenced the job stress.

• 소성∙가공
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• 제20권6호
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• pp.439-449
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• 2011

The temperature distribution and subsequent permanent deformation of SS400 carbon steel plate subjected to an induction-based line heating process were studied by a numerical method involving coupled 3-D electromagnetic-thermal-structural analysis. The numerical study revealed that the amount of permanent deformation is strongly related to the Joule loss caused by such process conditions as input power and moving speed of the heat source. To validate the numerical analysis results, line heating experiments were carried out with a high frequency(HF) induction heating(IH) equipment capable of bending thick plate with the moving accuracy of ${\pm}0.1mm$ in heating coil position. The amount of permanent deformation increased with decreasing moving speed and increasing input power.

• 소음진동
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• 제5권2호
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• pp.169-181
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• 1995

A theoretical model has been studied to describe the sound radiation analysis for structural vibration noise control of tire under the action of random moving line forces. When a tire is analyzed, it has been modeled as a curved beam with distributed springs and dash-pots which represent the radial, tangential stiffness and damping of tire, respectively. The reaction due to fluid loading on the vibratory response of the curved beam is taken into account. The curved beam is assumed to occupy the plane y = 0 and to be axially infinite. The material of curved beam and elastic foundation are assumed to be lossless, and governed by the law of Bernoulli-Euler beam theory. The expression for sound power is integrated numerically and its results examined as a function of Mach number(M), wavenumber ratio(.gamma.) and stiffness factor(.PSI.). The experimental investigation for structural vibration noise of tire under the action of random moving line forces has been made. Based on the STSF(Spatial Transformation of Sound Field) techniques, the sound power and sound radiation are measured. The experimental results show that operating condition, material properties and design factors of the tire have a great effect on the sound power and sound radiation characteristics.

• 반도체디스플레이기술학회지
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• 제9권2호
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• pp.55-60
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• 2010

Ink transfer process from the printing roll to the moving web was investigated using a CFD technique for the application in R2R printed electronics. In line with the requirement that the web handling speed needs to be increased further for the cost competitiveness, the effects of web moving velocity with relatively complex roll patterns were analyzed. To make the present analysis more realistic, the numerical geometry and the ink properties were selected to match those of the real printing production system. Our numerical results showed that both web handling speed and complex printing-roll patterns influenced the shape of the transferred ink. As the web moving speed approaches towards 30mpm, a significant distortion of the shape of the transferred ink occurred. In the range of pattern width smaller than 100 microns, a phase distortion was also found to occur in all the printing-roll patterns considered in the present work but the ratio of the phase distortion to the line width gets smaller as the width becomes smaller. Thus, the web handling speed and the shape of printing-roll pattern will be important elements for the better printing quality under 100 micron line width range.