• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
• /
• pp.314-316
• /
• 1994

The operation of RC(Rod Consolidation) technology carry out highly radiation environment. It requires remote operation and automation for efficient handling and for minimizing radiation exposure to the operator. So we investigated up and down position control of shock absorber device in RC system. To verify the research experimentally, a RC system was set up and PI control method was applied. Fuzzy control method was also tested to further improve control behavior.

• 해양환경안전학회지
• /
• 제25권4호
• /
• pp.504-510
• /
• 2019

본 연구에서는 동력수상레저기구 조종면허의 기존 수기채점방식을 전자채점방식으로 전환할 수 있도록 실기시험항목을 분석하여 현재의 실기시험 시스템의 개념을 해치지 않는 범위 내에서 디지털화할 수 있는 방안을 모색하고, LiDAR센서와 WAVE통신을 통한 전자채점 시스템을 개발했다. 연구를 통해 얻은 결과는 다음과 같다. 첫째, 시험선에서는 LiDAR 및 시험관 평가입력장치를 통해 입력된 채점 데이터가 통합처리장치에서 WAVE통신을 통해 육상 관제센터로 전송되어 응시자의 데이터를 저장/관리할 수 있는 시스템을 구축 및 검증했다. 둘째, 사행 과제를 평가함에 있어서 기존에 목시관측 또는 막대기를 사용한 것을 대신하여 LiDAR를 이용함으로써 정확한 거리측정이 가능해졌고, 정확한 거리정보를 시험선 통합처리장치를 통해 시험관 평가입력장치에 신속하게 표출했다. 셋째, 시험선에서 취득한 평가점수 데이터를 육상 관제센터로 유실없이 고속으로 전송하기 위해 활용한 WAVE통신에서 원활한 전송 및 처리가 가능함을 확인했다.

• 제어로봇시스템학회논문지
• /
• 제8권9호
• /
• pp.757-763
• /
• 2002

A newly designed haptic interface enables an operator to control a remote robot precisely. It transmits position information to the remote robot and feeds back the interaction force from it. A control algorithm of haptic interface has been studied to improve the robustness and stability to uncertain dynamic environments with a proposed contact dynamic model that incorporates human hand dynamics. A simplified hybrid parallel robot dynamic model fur a 6 DOF haptic device was proposed to from a real time control system, which does not include nonlinear components. LQC/LTR scheme was adopted in this paper for the compensation of un-modeled dynamics. The recovery of the farce from the remote robot at the haptic interface was demonstrated through the experiments.

• 드라이브 ㆍ 컨트롤
• /
• 제19권4호
• /
• pp.62-69
• /
• 2022

Construction machinery is exposed to accidents such as collisions, narrowness, and overturns during operation. In particular, mobile crane is operated only with the driver's vision and limited information of the assistant worker. Thus, there is a high risk of an accident. Recently, some collision avoidance device using sensors such as cameras and LiDAR have been applied. However, they are still insufficient to prevent collisions in the omnidirectional 3D space. In this study, a rotating LiDAR device was developed and applied to a 250-ton crane to obtain a full-space point cloud. An algorithm that could provide distance information and safety status to the driver was developed. Also, deep-learning segmentation algorithm was used to classify human-worker. The developed device could recognize obstacles within 100m of a 360-degree range. In the experiment, a safety distance was calculated with an error of 10.3cm at 30m to give the operator an accurate distance and collision alarm.

• 한국위성정보통신학회논문지
• /
• 제12권4호
• /
• pp.50-55
• /
• 2017

본 논문에서 한국형 위성보정 시스템(KASS :Korea Augmentation Satellite System)을 구성하고 있는 위성통신국(KUS : KASS Uplink Station)의 RF시스템 감시제어장치에 대한 설계를 기술하였다. 한국형 위성보정 시스템은 KASS라 명명되어 APV-1급 SoL 서비스 수준의 SBAS 시스템 개발과 CAT-1급 시험운영 기술 개발을 목표로 한다. 위성통신국 RF 시스템의 감시제어장치에 대해 소프트웨어 및 하드웨어 개발 환경, 감시제어장치의 기능 및 알고리즘, 감시제어장치의 구조 및 사용자 인터페이스를 설계하였다. 감시제어장치 설계에 있어 이미 개발 활용되고 있는 통신해양기상위성 및 무궁화위성 5A/7호 관제시스템의 감시제어장치 설계를 활용하여 시스템의 안정도 및 신뢰성을 확보하였다. 또한 실제 운영자의 요구에 의한 사용자 인터페이스를 보다 편리하게 제공할 수 있도록 하였다.

• Journal of Biosystems Engineering
• /
• 제39권4호
• /
• pp.389-399
• /
• 2014

Purpose: This study was aimed at developing a tractor-driving simulator for the safety training of agricultural tractor operators. Methods: The developed simulator consists of five principal components: mock operator control devices, a data acquisition and processing device, a motion platform, a visual system that displays a computer model of the tractor, a motion platform, and a virtual environment. The control devices of a real tractor cabin were successfully converted into mock operator control devices in which sensors were used for relevant measurements. A 3D computer model of the tractor was also implemented using 3ds Max, tractor dynamics, and the physics of Unity 3D. The visual system consisted of two graphic cards and four monitors for the simultaneous display of the four different sides of a 3D object to the operator. The motion platform was designed with two rotational degrees of freedom to reduce cost, and inverse kinematics was used to calculate the required motor positions and to rotate the platform. The generated virtual environment consisted of roads, traffic signals, buildings, rice paddies, and fields. Results: The effectiveness of the simulator was evaluated by a performance test survey administered to 128 agricultural machinery instructors, 116 of whom considered the simulator as having potential for improving safety training. Conclusions: From the study results, it is concluded that the developed simulator can be effectively used for the safety training of agricultural tractor operators.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2009년도 춘계학술대회 논문집
• /
• pp.1164-1171
• /
• 2009

2004년 4월 우리나라에 고속열차를 운행한지 5년이 되었다. 프랑스 TGV 열차를 한국형 지행과 환경에 최적으로 개량한 열차가 KTX 열차이다. 고속열차에 대한 연구와 개발로 차량의 외형적 장치 설계는 독자적인 설계 능력을 갖추었으나, 고속열차 열차제어진단장치 설계는 모방의 수준에 머물려 있다. KTX의 열차의 진단제어데이터를 분석하기 위해 VME 분석장비를 사용하여 수집하는 방법과 제어데이터구조를 분석하여, 열차제어진단장치에 대한 운용능력과 설계능력을 갖추어야 한다. 다양한 고속열차가 선로에 운용됨에 따라 철도운용자에게 필요한 다양한 열차제어진단에 대한 사전 대비를 함으로서, 고속열차 안전운행과 운용정비 절감을 위해 필요하다. 단일화된 열차제어진단 설계로 한국형고속열차 제작 능력뿐만 아니라, 운용능력 향상으로 고속철도 운영국가로서 위상이 확립되어야 한다.

• Journal of Periodontal and Implant Science
• /
• 제34권3호
• /
• pp.639-646
• /
• 2004

Dental phobia is the most prevalent fear in all age groups, across gender, and in all countries. One of the primary identified sources is the fear of dental injections in the dental phobia or the high dental fear and anxiety groups. The purpose of this study was to clinically evaluate the computer controlled anesthetic device and to compare it with traditional methods of dental anesthetic delivery. Fifty(mean age : 25.6 yrs) systemically and periodontally healthy volunteers participated in this study. The subjects were given contralateral buccal and palatal injections. One side was injected with the computer-controlled anesthetic device with a microprocessor and an electric motor to precisely regulate flow rate during administration : The experimental group. The control side was injected with a standard manual syringe, in which flow rate and pressure are operator-dependent and can't be controlled accurately : The control group. The subjects described their perceived pain experiences with two subjective scales. The results of this study were as follows: 1. The computer-controlled anesthetic device was significantly less painful than conventional syringe injection 2. The female subjects reported more pain than the male subjects. But, there were no statistical differences. 3. The anesthetic effect of both methods did not show any difference. In this study, it may be concluded that pain levels decreased significantly when the computer-controlled anesthetic device was used.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.382-387
• /
• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2011년도 춘계학술대회 논문집
• /
• pp.808-813
• /
• 2011

There are hundreds of thousands call center workers wearing acoustic device. However, researches and noise exposure measurements on the noise transmitted from acoustic devices have seldom been performed due to the difficulty of measurement and to the absence of the measuring method in Korea. The aim of this study is to set up management measures to protect hearing loss on the call operator by acquiring measurement data of noise transmitted from the headset Noise exposure measurements of 17 operators were performed in 7 call centers and Head and Torso Simulator method in compliance with the ISO Standard 11904-2 was used for the measurement of noise transmitted from the headset Sound pressure levels(SPL) transmitted from the headset were 73.2~86 dB(A). The operator exposed to the highest SPL set up his volume control at 9 which was the highest volume level. The volume control level, adjustable from 1 to 9, could be identified 12 out of 17 operators and the range of volume levels was 4.5~9. As a result of Pearson Correlation Analysis, the correlation between volume level and SPL transmitted from the headset showed high relation as significance at the 0.672 level(p<0.05). To protect hearing loss of call center operators, it is more practical and effective measure to limit the volume level below the noise exposure level, i.e. 85 dB(A), rather than to carry out noise monitoring considering cost-effective aspect.