• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2003년도 춘계학술대회
• /
• pp.923-928
• /
• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of Mechanical Science and Technology
• /
• 제16권1호
• /
• pp.83-93
• /
• 2002

This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Nuclear Engineering and Technology
• /
• 제48권3호
• /
• pp.733-743
• /
• 2016

The purpose of this study is to present a rational depreciation method for a pyroprocess cost calculation. Toward this end, the so-called advanced decelerated depreciation method (ADDM) was developed that complements the limitations of the existing depreciation methods such as the straight-line method and fixed percentage of declining-balance method. ADDM was used to show the trend of the direct material cost and direct labor cost compared to the straight-line or fixed percentage of the declining-balance methods that are often used today. As a result, it was demonstrated that the depreciation cost of the ADDM, which assumed a pyroprocess facility's life period to be 40 years with a deceleration rate of 5%, takes up 4.14% and 27.74% of the pyroprocess unit cost ($781/kg heavy metal) in the $1^{st}$ and final years, respectively. In other words, it was found that the ADDM can cost the pyroprocess facility's capital investment rationally every year. Finally, ADDM's validity was verified by confirming that the sum of the depreciation cost by year, and the sum of the purchasing cost of the building and equipment, are the same.

• 복식
• /
• 제54권2호
• /
• pp.149-165
• /
• 2004

In this study, the photographic and anthropometric measurements of men in the 20's were made. and pattern making professionals visually evaluated their side photos to classify lateral views. These data were analyzed by being compared with existing research results to select objective standards, and body types were classified according to the selected standard. In addition, body features were defined according to lateral views based on measurement items and indices, and standard lines and determining factors for visual evaluation which determines lateral views were revealed. Back length - front length size smaller than 1.5cm was named as the lean-back type, 1.5∼3.9cm was named as the straight type. and that larger than 3.9cm was named as the bend-forward type. In the straight type, the bisection point of waist depth was located at a similar place to tragion level vertical line. In the lean-back type, the point was at the front of tragion level vertical line. In the bend-forward type, the point was at the back of tragion level vertical line.

• 한국지능시스템학회논문지
• /
• 제17권7호
• /
• pp.952-956
• /
• 2007

산업현장에서는 공장 자동화의 발전에 따라 많은 로봇들이 사람을 대신하고 있다. 일반적으로 산업 현장에서 사용되는 로봇은 고정밀도의 감속기를 필요로 한다. 고정밀의 제어를 위해서는 cycloid 치형 혹은 인벌류트 치형을 가진 감속기를 사용하게 된다. 이러한 감속기는 낮은 백래쉬와 높은 감속비를 가지면서 동시에 치형의 높은 강성을 필요로 한다. 본 논문에서는 새로이 고안한 직선 치형을 가진 로봇 감속기(RSR) 치형의강성을 FEM 해석을 통해 실제로 적용이 가능한지 여부를 시뮬레이션 해보았으며, 실제로도 적용이 가능함을 알 수 있었다.

• 대한두개안면성형외과학회지
• /
• 제20권4호
• /
• pp.255-259
• /
• 2019

Craniofacial cleft is a rare disease, and has multiple variations with a wide spectrum of severity. Among several classification systems of craniofacial clefts, the Tessier classification is the most widely used because of its simplicity and treatment-oriented approach. We report the case of a Tessier number 3 cleft with wide soft tissue and skeletal defect that resulted in direct communication among the orbital, maxillary sinus, nasal, and oral cavities. We performed soft tissue reconstruction using the straight-line advanced release technique that was devised for unilateral cleft lip repair. The extension of the lateral mucosal and medial mucosal flaps, the turn over flap from the outward turning lower eyelid, and wide dissection around the orbicularis oris muscle enabled successful soft tissue reconstruction without complications. Through this case, we have proved that the straight-line advanced release technique can be applied to severe craniofacial cleft repair as well as unilateral cleft lip repair.

• 대한가정학회지
• /
• 제35권1호
• /
• pp.401-414
• /
• 1997

This study examined the transition of costume in middle and high school girls after the abolition of school-uniform. Fashion photographs of $\ulcorner$Junior$\lrcorner$a Korean magazine for girls were used for the investigation. Skirts used mainly were changed in order of pleat tight flare and tight skirt And skirt length was changed in order of knee midi knee and mini. Slim baggy and straight pants together showed high frequency but after 1992 straight pants were used mainly. And pants of ankle length was prevalent. In jacket Hip line natural waist and H-line silhouette dominated. Silhouette of one-piece dress was changed in order or X line H line and A line. Semi fit and natural waist were prevalent. And length was changed in order of midi knee and mini. The coat of H line Loose semi fit and Knee length was the most frequently appeared style. Waist line of coat was changed in order of natural low no natural waist. In skirt blue white black and black were mainly in spring summer fall and winter respectively. In pants blue was used mainly regardless of the season, In jacket blue in spring and black in other seasons were used. In one-piece derss blue in spring red in summer black in fall and winter were used mainly. Black coat was used mainly. Therefore blue was the most frequently used color by middle and high school girls.

• International Journal of Railway
• /
• 제5권3호
• /
• pp.103-113
• /
• 2012

Infrastructure costs could be greatly reduced if the need for bridges and tunnels was reduced, or if the line could be shortened. Tilting trains might be a less costly alternative to building new tracks with large curve radii, because tilting trains can negotiate tighter curves without having to decrease their speeds. Tracks built for tilting trains would be cheaper, as they require fewer bridges and tunnels. This paper compares the construction costs of two different options for the new Dodam-Yeoncheong section on the Central line, which includes 148.65 km of new electrified double-track with a design speed of 250 km/h. The first option is to straighten the high-speed line. The second option is to build a line with small radii curves and run tilting trains on the line. In the first option, tunnels would account for about 51% of the new section. In comparison, the second option would have shorter curves and fewer tunnels and bridges which would reduce construction costs. Furthermore, alignment modifications could be made to several segments on the straight line, making the most of the existing roadbed. The analysis concluded that the line suited to tilting trains would be 95.7 million USD cheaper to build the straight route. That is a savings of 2.8% of the total project cost. However, this option would increase the total travel time of the route by 1.2 minutes, which means it is not necessarily the best choice.

• 한국정보통신학회논문지
• /
• 제18권12호
• /
• pp.2831-2838
• /
• 2014

논문에서는 정규화된 우세한 기울기 벡터들을 기반으로 직선 획들을 추출하고, 직선 획들의 교차영역의 형태와 세기에 의한 변형에 강건한 오프라인 필기 순서도 기호인식 알고리즘을 제안한다. 제안된 알고리즘에서는 먼저 곡선으로만 구성되는 연결기호들을 별도의 특징을 사용하여 인식하고, 직선 획들이 있는 다른 기호들은 정규화된 우세한 기울기 벡터 군집의 최소 외접사각형들을 구하여 직선 획들을 추출하고, 이들 사각형들의 교차영역 형태와 세기를 구하여 순서도 기호를 인식한다. 제안된 알고리즘의 타당성을 확인하기 위하여 컴퓨터 프로그램의 순서도에 주로 사용되는 10종류의 순서도 기호 198개를 취득하여 실험한 결과 99.5%의 인식률을 얻었고, 변형에 강건하게 순서도 기호들이 인식됨을 알 수 있어서 제안된 알고리즘이 오프라인 필기 순서도 기호인식에 매우 효과적임을 확인하였다.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2005년도 추계종합학술대회
• /
• pp.195-199
• /
• 2005

현재 조선 산업의 대형 블록제작 용접공정에서 용접용 캐리지(Carriage)를 이용한 반자동 용접 방법이 많이 사용되고 있다. 여기서의 캐리지는 수평 필렛 용접에서 용접 토치를 이송해 주는 장치이지만, 로봇 용접방법처럼 용접선을 추적하는 기능이 없어 곡선용접에는 사용이 불가능하며, 단순히 직선용접에만 사용할 수 있다. 또, 용접선을 추적하는 기능이 없기 때문에 직선용접에서도 용접오류가 자주 발생하여 이를 수정하는데 많은 시간과 비용이 소요되고 있다. 이에 본 논문에서는 현재 사용하고 있는 캐리지에 스트레인 게이지를 이용한 용접선 추적 센서와 80C196KC 마이크로컨트롤러를 추가 설치하여 직선 및 곡선용접에서 용접선을 자동으로 추적할 수 있는 시스템을 개발하여 사선 모형 및 컨테이너 박스 모형 용접선을 제작하여 추적현상에 대해 고찰하여 보았다.