• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1137-1145
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• 2007

Palletizing tasks are necessary to promote efficient storage and shipping of boxed products. These tasks, however, involve some of the most monotonous and physically demanding labor in the factory. Thus, many types of robot palletizing systems have been developed, although many robot motion commands still depend on the teach pendant. That is, the operator inputs the motion command lines one by one. This is very troublesome and, most importantly, the user must know how to type the code. We propose a new GUI(Graphic User Interface) for the palletizing system that is more convenient. To do this, we used the PLP "Fast Algorithm" and 3-D auto-patterning visualization. The 3-D patterning process includes the following steps. First, an operator can identify the results of the task and edit them. Second, the operator passes the position values of objects to a robot simulator. Using those positions, a palletizing operation can be simulated. We chose a widely used industrial model and analyzed the kinematics and dynamics to create a robot simulator. In this paper we propose a 3-D patterning algorithm, 3-D robot-palletizing simulator, and modified trajectory generation algorithm, an "overlapped method" to reduce the computing load.

• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.223-228
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• 2011

In this paper, we proposed a technique to recognize three states in stance phase of gait cycle. Walking assistive devices are used to help the elderly people walk or to monitor walking behavior of the disabled persons. For the effective assistance, they adopt an intelligent sensor system to understand user's current state in walking. There are three states in stance phase; Loading Response, Midstance, and Terminal Stance. We developed a foot pressure sensor using 24 FSRs (Force Sensing/Sensitive Resistors). The foot pressure patterns were integrated through the interpolation of FSR cell array. The pressure patterns were processed to get the trajectories of COM (Center of Mass). Using the trajectories of COM of foot pressure, we can recognize the three states of stance phase. The experimental results show the effective recognition of stance phase and the possibility of usage on the walking assistive device for better control and/or foot pressure monitoring.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.392-395
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• 2003

In the maritime container terminal, LMTT (Linear Motor-based Transfer Technology) is horizontal transfer system for the yard automation, which has been proposed to take the place of AGV (Automated Guided Vehicle). The system is based on PMLSM (Permanent Magnetic Linear Synchronous Motor) that is consists of stator modules on the rail and shuttle car (mover). Because of large variant of mover's weight by loading and unloading containers, the difference of each characteristic of stator modules, and a stator module's trouble etc., LMCPS (Linear Motor Conveyance Positioning System) is considered as that the system is changed its model suddenly and variously. In this paper, we will introduce the soft-computing method of a multi-step prediction control for LMCPS using DR-FNN (Dynamically-constructed Recurrent Fuzzy Neural Network). The proposed control system is used two networks for multi-step prediction. Consequently, the system has an ability to adapt for external disturbance, cogging force, force ripple, and sudden changes of itself.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.968-973
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• 1991

Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.484-489
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• 1998

In this paper, we examine the displacement characteristics of the parallel leaf spring mechanism with large-deflective elastic hinges, and the validity of this mechanism as a translational and rotational mechanism is confirmed with multi-input system. This study is focused on the linear driving force as an input force, which is applied to the large-deflective elastic mechanism, and the displacement characteristics are discussed with theoretically and experimentally. The motions of this mechanism due to large-deflective hinges are changed by the position of loading force regardless of a single driving force. The numbers of degree of freedom are increased with the hinges, and we can be used to a multiple driving force in order to obtain many types of Output.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.244-247
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• 1999

This paper presents a methodology of the technique for controlling DC motor drive by implementation of 2-quadrant operating mode which can ensure the torque controlling and speed with response time less than 2 seconds at all loading conditions. By implementation of BRM technique, energy is fed with definite values of BRM 256 bits, with different patterns of high accuracy, and fixing scan time at 0.667 ms, the ripple is less than 1%, thus high efficiency can be achieved, from the consequence of the accuracy of energy feeding at low current. The stability of the whole system can be determined from circle criterion by root locus method . The instant reverse direction of rotation can be done by decreasing the energy to the lowest level while motor is running with no load and variable load at the speed about 100-120 rpm and 50-60 rpm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.694-699
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• 2005

This paper deals with a control technique of eliminating the transient vibration of a geared mechanical system. This technique is based on a model-based control with a rotational speed sensor in order to establish the damping effect at the driven machine part. A rotational speed sensor is installed in a driven gear, namely a bull gear. A control model is composed of a reduced-order mechanical part expressed as a transfer function between the rotational speed of the motor and that of the bull gear. This control model estimates a load speed after the rotational speed of the bull gear is acted on the transfer function. The difference between the estimated load speed and the motor speed is calculated dynamically and it is added to the velocity command to suppress the transient vibration generated at the load. This control technique is applied to a dies driving spindle of a form rolling machine. In this paper, the performance of this control method is examined by simulations. The settling time of the residual vibration generated at the loading inertia can be shortened down to about 1/2 of the uncompensated vibration level.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.259-262
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• 1996

This paper proposes an approach in modeling a 4x60inch Allis Chalmers Hydrocone Crusher [1] hydroset and presents some numerical simulation results. The mining and quarry industry is one of the industries which extensively use hydrocone crushers, which are a family of cone crushers, for rock size reduction. Field studies have proved that if proper control and management of these machines is undertaken, they can yield an increased production output of more than 30%, in addition substantial savings in both energy consumption per unit ton produced and manpower can be easily realized. In order to achieve these economic benefits, high performance from these machines is expected. Implementing automatic control for such machines would be a great leap towards achieving both economic benefits and more effective fool-proof predictive maintenance. But, unfortunately, for such a control system to be designed, it necessary to make a mechatronical model of this plant. The plant model is able to give us an insight into variations of both the plant gap setting (displacement) and system pressure due to variable loading arising from the crushing process.

• 한국전산구조공학회논문집
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• 제34권6호
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• pp.409-415
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• 2021

COVID-19 대유행으로 인해 병원, 진료소, 검역소 및 의료 연구 기관을 포함한 의료 시설에서 매일 수많은 의료 폐기물이 발생함에 따라 의료폐기물 처리가 심각한 문제가 되고 있다. 이전에는 전통적인 소각방법이 사용되었지만 매립지 부족 및 관련 환경 문제로 인해 공중 보건이 위험에 처해 있다. 이런 문제를 극복하기 위해 멸균분쇄용 파쇄기를 개발하였다. 본 연구에서는 유해 및 감염성 의료폐기물에 대한 작동 성능을 결정하기 위해 분쇄용 파쇄 시스템의 설계 및 수치해석을 수행하였다. 파쇄기의 부품은 CAD 소프트웨어를 이용하여 모델링하였으며, ABAQUS를 사용하여 유한요소해석을 수행하였다. 정적, 동적 및 피로하중 조건 하에서 파쇄기 절단 날의 해석을 수행하였으며, 의료 폐기물을 분쇄하는데 필요한 절단력을 기반으로 절단 날의 형상이 효과적임을 입증하였다. 모달 해석을 통해 구조물의 동적 안정성을 검증하였다. 또한, 절단 날의 수명을 예측하기 위해 고주기 피로해석을 통해 S-N 선도를 생성하였다. 이를 통해 적절한 분쇄용 파쇄 시스템이 멸균 장치와 통합되도록 설계하여 의료 폐기물의 양과 처리 시간을 줄임으로써 환경 문제와 잠재적인 건강 위험을 극복하는 방안을 제시하였다.