• KIPS Transactions on Software and Data Engineering
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• v.12 no.10
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• pp.445-454
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• 2023

Recently, various fault diagnosis studies are being conducted utilizing data from collaborative robots. Existing studies performing fault diagnosis on collaborative robots use static data collected based on the assumed operation of predefined devices. Therefore, the fault diagnosis model has a limitation of increasing dependency on the learned data patterns. Additionally, there is a limitation in that a diagnosis reflecting the characteristics of collaborative robots operating with multiple joints could not be conducted due to experiments using a single motor. This paper proposes an LSTM diagnostic model that can overcome these two limitations. The proposed method selects representative normal patterns using the correlation analysis of vibration and current data in single-axis and multi-axis work environments, and generates residual patterns through differences from the normal representative patterns. An LSTM model that can perform gear wear diagnosis for each axis is created using the generated residual patterns as inputs. This fault diagnosis model can not only reduce the dependence on the model's learning data patterns through representative patterns for each operation, but also diagnose faults occurring during multi-axis operation. Finally, reflecting both internal and external data characteristics, the fault diagnosis performance was improved, showing a high diagnostic performance of 98.57%.

• Journal of the Korean Data and Information Science Society
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• v.14 no.2
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• pp.237-245
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• 2003

MDS(multi-dimensional scaling) for preference data is a graphical tool which usually figures out how consumers recognize, evaluate certain products. This article is mainly concerned with an optimal scaling for MDS when target configuration is available. Rotation of axis and SUR(seemingly unrelated regression) methods are employed to get a new configuration which is obtained as close to the target as we can. Methodologies developed here are also illustrated via a real data set.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.10a
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• pp.243-247
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• 1997

기존의 복합 Turning Center 보다 비구심상태에서의 가공, 3축밀링가공 및 3축/4축 동시 Milling가공 등의 특징을 갖고 복잡한 형상과 기능을 갖도 있는 부품 생산용 각형 FMS/C의 기본기계가 될 다기능 복합가공기[최대가공경 310mm *최대가공길이600mm, 6축제어(4축동시가공), ATC Magazine 20개, 주축18.5KW, 제2주축 15KW 회전수36-1,600RPM의 강력, 고속, 정밀 다기능 복합가공기]를 제2차 선도기술개발사업을 통해 개발을 추진하고 있다.

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2008.04a
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• pp.83-84
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• 2008

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.3
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• pp.34-40
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• 2001

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a decentralized adaptive fuzzy sliding mode scheme is developed for control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for decentralized control of a 3-axis PUMA arm will also be included.

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2006.04a
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• pp.57-58
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• 2006

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.137-141
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• 1988

A sampled data controller for the quadruped walking robot is presented. To provide systematic design procedure, the relation between PI gain of velocity controller and sampling rate is analyzed with the ISE performance index and the time responses. The position controller for one-leg, 3-axis, was developed under consideration of compactness and expendability. And several experiments were performed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.729-734
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• 2001

A 3-dimentional finite element model for vibration analysis of steam-turbine blade groups is presented, employing the 3-dimentional incompatible brick element with 8 nodes. The skew coordinate system is introduced in the model for considering multi-axis symmetry and specialty of displacement constrain condition of blade groups. Vibration characteristics of blade groups are analyzed, and compared with experimental results.

• Proceedings of the KAIS Fall Conference
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• 2005.05a
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• pp.79-82
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• 2005

본 논문에서는 PCB의 제작 공정에 있어 기준구멍을 가공하기 위한 다축드릴머신의 PCB와 드릴날 간의 충돌시험을 구하여 설계에 반영한다. 이는 PCB 가공을 대량생산에 적합하고 정확성을 높이기 위해 PCB용 다축드릴 머신을 설계함에 있어 해석결과를 이용하여 안전성확보와 제작단가를 절감할 수 있다.

• 한국정보디스플레이학회:학술대회논문집
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• 2009.10a
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• pp.1554-1556
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• 2009

In this paper, we propose a system to adjust specific color of image. The HSV of R/Y/G/C/B/M regions can be modified individually. The color reproduction can be preferred color, true color, or stander color for customer requirement.