• Journal of Biosystems Engineering
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• 제35권1호
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• pp.31-36
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• 2010

A small unmanned helicopter was suggested to replace the conventional spray system. Aerial application using an agricultural helicopter helps precise and timely spraying, and reduces labor intensity and environmental pollution. In this research, a rotor system (SW05) was developed and its lift capability was evaluated. Lift force for the dead weight of the helicopter was obtained at the grip pitch angle of $12^{\circ}$. As the pitch angle increased to $14^{\circ}$ and $16^{\circ}$, the payload increased to 176 N and 216 N, respectively. Compared with SW04 airfoil performance in the total lift, the SW05 airfoil showed nearly the same capacity, but the payload of the SW05 was reduced because of the increased dead weight. A rated flight condition was defined as lifting mean payload of 294 N with the grip pitch angles of $16{\sim}17^{\circ}$ at the rotor rotating speed of 850~950 rpm for the adjusted engine power. The fuel consumption would be 4.8~6.0 L/hr, and the air temperature of cooling fan should be kept below $160^{\circ}C$.

• 대한안전경영과학회지
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• 제23권4호
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• pp.93-104
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• 2021

In this paper, we propose a method for diagnosing overload and working load of collaborative robots through performance analysis of machine learning algorithms. To this end, an experiment was conducted to perform pick & place operation while changing the payload weight of a cooperative robot with a payload capacity of 10 kg. In this experiment, motor torque, position, and speed data generated from the robot controller were collected, and as a result of t-test and f-test, different characteristics were found for each weight based on a payload of 10 kg. In addition, to predict overload and working load from the collected data, machine learning algorithms such as Neural Network, Decision Tree, Random Forest, and Gradient Boosting models were used for experiments. As a result of the experiment, the neural network with more than 99.6% of explanatory power showed the best performance in prediction and classification. The practical contribution of the proposed study is that it suggests a method to collect data required for analysis from the robot without attaching additional sensors to the collaborative robot and the usefulness of a machine learning algorithm for diagnosing robot overload and working load.

• 산업기술연구
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• 제16권
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• pp.113-121
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• 1996

In the early developmental stages of robotics,hydraulics played an important role. As the power-to-weight ratio of electric motors increased, they eventually replaced hydraulic actuators in robot manipulators. Recently, however, task requirements have dictated that the manipulator payload capacity increase to accomodate greater payload, greater length, greater reaction forces, and hydraulic actusators are being studied as an effective form of robot actuation again. For efficient control of hydraulic actuators, the knowledge of its dynamic equation is essential. However, the dynamic equation of hydraulic actuators are nonlinear, and the dynamic coefficients are time varying. In this paper, an estimation algorithm of the dynamic coefficients of the hydraulic piston dynamics are formulated. Simulation results are presented to show the possibility of the parameter estimation.

• International Journal of Computer Science & Network Security
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• 제23권7호
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• pp.141-148
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• 2023

During the medical data transmissions, the protection of the patient information is vital. Hence this work proposes a spatial domain watermarking algorithm that enhances the data payload (capacity) while maintaining the authentication and data hiding. The code is distributed at every pixel of the digital image and not only in the regions of non-interest pixels. But the image details are still preserved. The performance of the proposed algorithm is evaluated using several performance measures such as the mean square error (MSE), the mean absolute error (MAE), and the peak signal to noise Ratio (PSNR), the universal image quality index (UIQI) and the structural similarity index (SSIM).

• 한국정보통신설비학회:학술대회논문집
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• 한국정보통신설비학회 2006년도 하계학술대회
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• pp.274-279
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• 2006

대부분의 컬러 영상들은 코드북의 일부분만으로 표현할 수 있는 영상의 영역이 상당히 크므로 이러한 특징을 이용하는 효율적인 Reversible 워터마킹 기법을 제안한다. 팔레트(컬러맵) 영상에서의 워터마킹 기술에 대한 연구는 많이 있지만 Reversibility에 대한 관심은 상대적으로 낮았다. 제안하는 기법은 가상적으로 확장한 코드북에 의한 압축 영역에서 동작한다. 확장된 코드북은 높은 Payload 용량을 가진다. Reversibility를 구현하면서 왜곡(Distortion)과 삽입용량(Embedding capacity)사이의 절충점을 실험을 통해 보인다.

• 대한전기학회논문지
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• 제45권1호
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• pp.123-130
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• 1996

Due to high payload capacity and high length-to -cross-section ratio requirements, long-reach manipulator systems are expected to exhibit significant structural flexibility. To avoid structural vibrations during operations, various types of input shaping filtering methods have been investigated. A robust notch filtering method and an impulse shaping filtering method were investigated and implemented. In addition, two very different approaches have been developed and compared. One new approach, referred to as a

• 한국기계가공학회지
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• 제18권5호
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• pp.23-28
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• 2019

In recent years, medium- to large-scale transportation machinery and machine tool manufacturing process lines have shown a trend toward centralization, softening, lightening, and slimming to reduce costs and increase productivity. This has increased the demand for vertical articulated robots. When developing and introducing a heavy weight-handling robot that can be easily applied to existing production lines, it is expected to have a great effect in securing industrial competitiveness by solving industrial issues such as the decreased productivity and increased risk of accidents due to work involving heavy lifting. In this study, we design a 6-axis robot mechanism with a heavy load-handling capacity of 700kg or more for large-sized materials of various types supplied in small quantities.

• 한국위성정보통신학회논문지
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• 제11권3호
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• pp.104-109
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• 2016

해외 제작으로 개발된 무궁화위성의 상용 중계기 기술을 시작으로 위성통신의 중계기술은 Ku 대역 및 Ka 대역의 우주인증용 탑재체 구성부품의 개발을 거쳐 천리안위성 1호에 국내 기술로 개발된 Ka 대역 탑재체를 성공적으로 탑재하여 운용함으로써 발전을 거듭하고 있다. 군용 위성통신은 능동중계기인 Dehop/Rehop 중계기를 탑재한 무궁화위성 5호의 아나시스(ANASIS) 체계로써 시작되어, 항재밍/저피탐 기능을 갖춘 대전자전 중계기(DAT)와 통신용량 증가에 유연하게 대처할 수 있는 디지털 중계기(DCAMP)의 탑재가 개발 중에 있다. 본 논문에서는 국내에서 개발되는 정지궤도 위성의 개발현황을 살펴보고, 탑재 개발되었던 상용 및 군용의 중계기술을 토대로 국내 군 위성통신의 개발 방향을 논하고자 한다. 제한된 주파수 자원을 고려할 때, 평시에는 다양한 중용량의 군 위성통신 신호를 중계하고 준 전시에는 모드를 변경하여 지능적인 고기동 전술 재밍 신호에 대응할 수 있는 전장적응형 간섭회피의 겸용 중계기술이 주요할 것이다. 이러한 주파수 도약 및 중용량 겸용의 중형급 군 통신위성이 국내의 자립 기술로써 개발될 수 있는 기반이 마련되고 있다고 사료가 된다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권8호
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• pp.1964-1981
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• 2012

In this paper a reversible data hiding scheme based on histogram shifting of host image blocks is presented. This method attempts to use full available capacity for data embedding by dividing the image into non-overlapping blocks. Applying histogram shifting to each block requires that extra information to be saved as overhead data for each block. This extra information (overhead or bookkeeping information) is used in order to extract payload and recover the block to its original state. A method to eliminate the need for this extra information is also introduced. This method uses maximum gap that exists between histogram bins for finding the value of pixels that was used for embedding in sender side. Experimental results show that the proposed method provides higher embedding capacity than the original reversible data hiding based on histogram shifting method and its improved versions in the current literature while it maintains the quality of marked image at an acceptable level.

• 로봇학회논문지
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• 제15권1호
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• pp.48-54
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• 2020

Home robot arms require a payload of 2 kg to perform various household tasks; at the same time, they should be operated by low-capacity motors and low-cost speed reducers to ensure reasonable product cost. Furthermore, as robot arms on mobile platforms are battery-driven, their energy efficiency should be very high. To satisfy these requirements, we designed a lightweight counterbalance mechanism (CBM) based on a spring and a wire and developed a home robot arm with five degrees of freedom (DOF) based on this CBM. The CBM compensates for gravitational torques applied to the two pitch joints that are most affected by the robot's weight. The developed counterbalance robot adopts a belt-pulley based parallelogram mechanism for 2-DOF gravity compensation. Experiments using this robot demonstrate that the CBM allows the robot to meet the above-mentioned requirements, even with low-capacity motors and speed reducers.