• Journal of Coastal Disaster Prevention
• /
• v.5 no.4
• /
• pp.193-201
• /
• 2018

The recent increase in size and speed of ships resulted in the existing maritime routes becoming narrow relative to the size of new ships. At the same time, as the improvement and optimization in marine transportation take place and the construction of structures in seas and harbor improvements pick up speed, there is an increasing probability of marine accidents. Due to these environmental changes, the need to professionally analyze the effect of marine structures on navigation arose to ensure safety of ships and a law was enacted and introduced for the Maritime Traffic Safety Audit (MTSA). In this study, a Qualitative assessment for verifying the effectiveness of MTSA was carried out with case analysis and analysis model in other similar audit scheme. It is expected that an analyzed result for effectiveness of MTSA will be a steppingstone for enhancing the MTSA and keeping maritime traffic safety as its own purpose.

• Journal of the Korea Safety Management & Science
• /
• v.23 no.4
• /
• pp.93-104
• /
• 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.

• The Journal of Korea Robotics Society
• /
• v.8 no.1
• /
• pp.20-28
• /
• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• IEIE Transactions on Smart Processing and Computing
• /
• v.3 no.4
• /
• pp.195-204
• /
• 2014

This paper presents the depth evaluation for object detection by automated assembling robots. Pattern distortion analysis from a structured light system identifies an object with the greatest depth from its background. An automated assembling robot should prior select and pick an object with the greatest depth to reduce the physical harm during the picking action of the robot arm. Object detection is then combined with a depth evaluation to provide contour, showing the edges of an object with the greatest depth. The contour provides shape information to an automated assembling robot, which equips the laser based proxy sensor, for picking up and placing an object in the intended place. The depth evaluation process using structured light for an automated electronics assembling robot is accelerated for an image frame to be used for computation using the simplest experimental set, which consists of a single camera and projector. The experiments for the depth evaluation process required 31 ms to 32 ms, which were optimized for the robot vision system that equips a 30-frames-per-second camera.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.29 no.12 s.243
• /
• pp.1645-1652
• /
• 2005

Pick-and-place systems using suction cups have been being widely used and continuously developed in production automation. There are, however, some drawbacks in constructing such systems. One of them is that it generates high level noise due to air compressors. And the system must have complex constitutions of mechanical component such as air compressors, air tubes, air valves, etc. Moreover, it needs continuous air supply to maintain vacuum in suction cups. If there is a failure in any suction cup, the total suction system may fail owing to air leakage. To overcome these drawbacks, we propose PMS (Permanent Magnet Suction) mechanism which has permanent magnets for vacuuming suction cups with no air compressor. The basic concept of PMS mechanism is to rotate permanent magnets with fixed angle. Simple rotation of permanent magnets changes the direction of the magnetic force applied at the suction cups. Since each suction cup has no direct connection with any of the others, the air leakage at one suction cup is not critical. The proposed suction mechanism was designed and fabricated. With some experiments, the feasibility and performance of the PMS mechanism was shown. The strong points of the PMS mechanism are in its simple structure, generating low noise, high energy efficiency, and no need of continuous energy supply.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
• /
• 2004.11a
• /
• pp.35-39
• /
• 2004

In a shipyard, there exist various critical decision making components pertaining to various production hindrances. The most prominent one is best-fit spatial arrangement for the minimal spatial occupancy with better pick-ability for the erection of the ship in the dock. During the present research, a concept have been conceived to evade the gap between the identification oj inter-relationships among a set of blocks to be included on a pre-erection area, and a detailed graphical layout of their positions, is called an Optimal Block Relationship Diagram A research has been performed on generation of optimal (or near Optimal) that is, with minimal scrap area. An effort has been made in the generation of optimal (or near-optimal) Optimal Block Relationship Diagram with the Goldberg's Genetic Algorithms with a representation and a set of operators are 'trained' specifically for this application. The expected result to date predicts very good solutions to test problems involving innumerable different blocks to place. The suggested algorithm could accept input from an erection sequence generator program which assists the user in defining the nature and strength of the relationships among blocks, and could produce input suitable for use in a detailed layout stage.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.36 no.1
• /
• pp.47-54
• /
• 2012

We developed a novel method of fluidic self-assembly to replace the conventional pick-and-place method. This method is cheaper and more effective than the previous method. For this research, we compared mathematical models with experimental results using the parameters of the drag force, the capillary force, and the restoring force for effective chip assembly, and the results for the alignment to the substrate. We obtained a 96.5% attach rate and $5^{\circ}$-misalignment to the substrate in a 500 ${\mu}m$ solder ball.

• Journal of the Semiconductor & Display Technology
• /
• v.19 no.2
• /
• pp.105-109
• /
• 2020

Today's placement machines can pick and place thousands of components per hour with a very high degree of accuracy. The packaged semiconductor chips are inserted into a carrier at regular intervals, covered with a tape to protect the chips from external impact, and supplied in a roll form. These packaging processes also progress rapidly in a consistent direction, affecting the peelback strength between the cover tape and carrier depending on the main process conditions. In this paper, we analyzed the main process variables that affect peelback strength in the reel tape packaging process for packaging semiconductor chips. The main effects and interactions were analyzed. The peelback strength range required in the packaging process was set as the nominal the best characteristics, and the optimum process condition satisfying this was derived.

• Proceedings of the Korean Institute of Interior Design Conference
• /
• 2005.05a
• /
• pp.255-256
• /
• 2005

For the students who specialize in interior design irrespective of their color susceptibility, it is prerequisite to precede a systematic curriculum in the first place on how to put the color theory to practical use. Therefore, this curriculum has its purpose to let the students study on how to put to practical use of their understanding of color as one of the finishing materials for interior design. The 16-weekschool days has been segmented into a theoretical study and practical training, This thesis has summed up the basic instance of the color theory, the first of the three basicpractical courses and presented its results to the students. In due course of this curriculum, the students were recommended to pick up one photo image of their selection out of which they could make out color palette based on their analysis of the photo image, so that they could study on how to apply their color palette to a three dimensional space. Firstly, through this course, they could experience the process for a color image that they had so far sensed subjectively and vaguely to become an objective inevitable result. Secondly, they studied on the process of how a two-dimensionalcolor image could be applied for a three-dimensional space. It is significant of this curriculum in the sense that the students become prepared through this study course with essential knowledge applicable to various interior designs in their future.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.11
• /
• pp.4212-4219
• /
• 2010

The purpose of this study is to examine three bird-watching science museums near the Yellow-sea area. The bird-watching science museum is similar to conventional science museum in terms of exhibiting objects, but in detail the bird-watching science museum is specialized in bird-watching and study it's ecology. So the sight should be near the place where the bird can be seen easily and the building should be built in ecological way. Now establishing museum in local area as a community development is pretty popular in Korea. as tourism purpose. But the main purpose of bird-watching museum should be educational and cultural way and next tourism. So in this study I tried to pick designing point of architecture and exhibition of bird-watching museum.