• Design & Manufacturing
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• v.15 no.1
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• pp.57-65
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• 2021

Pump cap is a product that is widely used due to its ease of use and simple operation. These pump caps are applied to heterogeneous functional cosmetics and are being developed as dual pump caps. However, the conventional dual pump cap has a problem in that it is inconvenient to use and leakage occurs. In addition, it is formed of a plurality of materials, and there is a problem that is difficult to recycle. Lately, since the problem of environmental pollution is getting serious, the dual pump cap, which is difficult to recycle, cannot be used. Currently, eco-friendliness has been considered in Korea, and there are no dual pump cap containers with excellent sealing performance. Therefore, in this study, a dual pump cap container made of eco-friendly material was designed. In addition, finite element analysis was performed to verify the design feasibility of the product.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.5
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• pp.230-238
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• 2023

Small and medium-sized food manufacturing enterprises are largely reliant on manual labor, from inputting raw materials to palletizing the final product. Recently, there has been a trend toward smartness and digitization through the implementation of robotics and sensor data technology. In this study, we examined the effectiveness of improvement through 3D simulation on two repetitive work processes within a food manufacturing company. These processes involve workers whose speed cannot match the capacity of the applied equipment. Two manual processes were selected: the weighing and packing process performed by workers after skewer assembly, and the manual batch process of counting randomly delivered frozen foods, packing (both internal and external), and palletizing. The production volume, utilization rate, and number of workers were chosen as verification indicators. As a result of the simulation for improving the 3D process, production increased by 13.5% and 56.8% compared to the existing process, respectively. This was particularly evident in the process of applying palletizing robots. In both processes, as the utilization rate and number of input workers decreased, robots could replace tasks with high worker fatigue, thereby reducing work overload. This study demonstrates the potential to visually compare the process flow improvement using 3D simulations and confirms the possibility of pre-validation for improvement.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.164-170
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• 2013

Quadrotor UAV (Unmanned Aerial Vehicle) is a flying robotic platform which has drawn lots of attention in the recent years. The attraction comes from the fact that it is able to perform agile VTOL (Vertical Take-Off Landing) and hovering functions. In addition, the efficient modular structure composed of four electric rotors makes its design easier compared to other single-rotor type helicopters. In many cases, a quadrotor often utilizes vision systems in order to obtain altitude control and navigation solution in hostile environments where GPS receivers are not working or deniable. For carrying out their successful missions, it is essential for flight control systems to have fast and stable control responses of heading angle outputs. This paper presents a Fuzzy Logic based lateral PI controller to stabilize and control the quadrotor vehicle equipped with vision systems. The advantage of using the fuzzy based PI controller lies in the fact that it could acquire a desired output response of a heading angle even in presence of disturbances and uncertainties. The performance comparison of the newly proposed Fuzzy-PI controller and the conventional PI controller was carried out with various simulation results.

• The Transactions of the Korean Institute of Power Electronics
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• v.18 no.3
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• pp.256-262
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• 2013

In the large system such DC distribution for building, the method that a number of modules converters operation in parallel is commonly used. When parallel operation, circulating current is directly related to the loss of the entire system. Accordingly, each module to share the same current is the most important for the safety of the power system. In this paper, control method for reducing circulating current in parallel operation is proposed. furthermore response and operation of steady-state with parallel system was verified by simulation and experiment results.

• IE interfaces
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• v.25 no.1
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• pp.87-95
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• 2012

Very special and tentative considerations including emotional aspects are required to apply any new mechanism and methodologies for manufacturing fields due to several reasons. This study reviews the characteristics of manufacturing collaborations through specific cases applied digital engineering to enhance the collaboration performance in manufacturing domains. Two cases of collaboration related with automotive manufacturing process are analyzed to extract meaningful insights for better collaboration model suggestions. The first case deals the robot simulation to find out advance errors in jig and fixture design during the various welding process of body-in-whites. The effective communication protocol to share their idea and agreed schedules are essential for this collaboration. More severe requirement of collaboration between R&D and manufacturing departments are studied in the second case for e-coating process. The invisible barriers among different departments are lowered by the process application of Computer Aided Engineering which can make sure their own interesting effectively. Those technical and managerial suggestions can be used when the information system and standard process are sought to implement and update not only when innovation projects are executed.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1786-1790
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• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.552-557
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• 2004

This paper presents a disturbance observer based on an $H_{\infty}$ controller synthesis for the trajectory control of a hydraulic excavator. Compared to conventional robot manipulators driven by electrical motors, the hydraulic excavator has more nonlinear and coupled dynamics. In particular, the interactions between an excavation tool and the materials being excavated are unstructured and complex. In addition, its operating modes depend on working conditions, which make it difficult to not only derive the exact mathematical model but also design a controller systematically. In this study, the approximated linear model obtained through off-line system identification is used as nominal plant model for a disturbance observer. A disturbance observer based tracking controller which considers the effect of disturbance and model uncertainty is synthesized in $H_{\infty}$ frameworks. Simulation results are used to demonstrate the applicability of the proposed control scheme.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.349-354
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• 2015

This paper presents the stability conditions of the Takagi-Sugeno (T-S) fuzzy sampled-data filter. The error system between the T-S fuzzy system and fuzzy filter is presented. In the sense of the Lyapunov stability analysis, the stability conditions are given, which can be represented in terms of linear matrix inequalities (LMIs). The proposed stability conditions utilize the different approach from the conventional methods, and have better performance than that of the conventional ones. The simulation example is given to show the effectiveness of the proposed method.

• Journal of Welding and Joining
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• v.27 no.5
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• pp.62-67
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• 2009

Welding deformation during the assembly process is affected by not only local shrinkage due to rapid heating and cooling, but also root gap and misalignment between parts to be welded. Therefore, the prediction and control of welding deformation have become of critical importance. In this study, it was focused on the development of the 3-axis apparatus for real-time measurement of the welded deformation. To achieve the objective, a D-H algorithm has been carried out to check the behavioral and performance evaluation for the developed robot. The sequence experiments were taken the base materials of $400{\times}200{\times}4.5mm$ plate for butt welding. The real-time experimental measurements are in good agreement with the measured results.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.3
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.