• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.14-19
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• 1998

In this paper, a target approachable force-guided control with adaptive accommodation for the complex assembly is presented. The complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of the manufacturing automation and various robot applications. To make CA successful, both the bounded wrench condition and the target approachability condition should be satisfied simultaneously during insertion. By applying the convex optimization technique, an optimum target approaching twist can be determined at each instantaneous contact state as a global minimum solution. Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning nor contact analysis which requires the geometry of the part and the environment. Finally, a VME-bus based real-time control system is built to experiment various CA task. T-insertion task as a planar CA and double-peg assembly task as a spacial assembly were successfully executed by implementing the new force-guided control with adaptive accommodation.

• 대한방사선기술학회지:방사선기술과학
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• 제39권4호
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• pp.643-649
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• 2016

사이클로트론을 이용하여 $^{18}F^-$동위원소를 생산하는 경우 가속된 양성자 빔은 사이클로트론의 금속부품들과 반응하여 방사화를 일으킨다. 그 중에서도 빔과 주요하게 반응하는 표적집합체를 구성하는 표적실, 표적창에 장반감기의 핵종이 많이 발생한다. 이러한 표적집합체의 방사화 핵종을 잘 이해하는 것은 사이클로트론 운영자와 유지 보수 작업자를 위해서 매우 중요하다. 본 연구에서는 IBA(Ion Beam Application)사 사이클로트론 Cyclone 18/9 기기의 표적집합체 유지보수 작업자의 방사선 안전지침을 마련하기 위해서 사이클로트론 가동 후 표적집합체에 발생되는 주요 핵종을 분석하고, 또한, 사이클로트론 가동정지 직후부터의 선량감소율을 실험적으로 측정하였다. $^{18}F^-$동위원소 생산 후 표적집합체의 잔류 방사화 핵종의 종류 및 방사능농도를 확인하기 위하여, 표적실내 잔류물질 및 표적창 하버포일 시료를 채취하여 고순도 게르마늄(HPGe) 감마핵종분석기로 측정하여 분석하였다. 또한, 사이클로트론 가동직후 사이클로트론에서 발생되는 선량률을 시간에 따라 측정하였다. 감마핵종분석과 선량률감소에 대한 데이터는 추후 사이클로트론 운영의 방사선안전을 위한 데이터로 활용될 수 있을 것으로 기대된다.

• Journal of Microbiology and Biotechnology
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• 제29권1호
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• pp.1-10
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• 2019

Gram-negative pathogens, such as Klebsiella pneumoniae, Pseudomonas aeruginosa, and Acinetobacter baumannii, pose a serious threat to public health worldwide, due to high rates of antibiotic resistance and the lack of development of novel antimicrobial agents targeting Gram-negative bacteria. The outer membrane (OM) of Gram-negative bacteria is a unique architecture that acts as a potent permeability barrier against toxic molecules, such as antibiotics. The OM is composed of phospholipids, lipopolysaccharide (LPS), outer membrane ${\beta}-barrel$ proteins (OMP), and lipoproteins. These components are synthesized in the cytoplasm or in the inner membrane, and are then selectively transported to the OM by the specific transport machines, including the Lol, BAM, and Lpt pathways. In this review, we summarize recent studies on the assembly systems of OM components and analyze studies for the development of inhibitors that target these systems. These analyses show that OM assembly machines have the potential to be a novel attractive drug target of Gram-negative bacteria.

• 로봇학회논문지
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• 제19권3호
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• pp.236-243
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• 2024

This paper introduces a dual manipulator system designed to automate the packaging process of industrial coils, which exhibit higher variability than other structured industrial fields due to diverse commercial requirements. The conventional solution involves the direct-teaching method, where an operator instructs the robot on a target configuration. However, this method has distinct limitations, such as low flexibility in dealing with varied sizes and safety concerns for the operators handling large products. In this sense, this paper proposes a two-step approach for coil packaging: motion planning and assembly execution. The motion planning includes a Rapidly-exploring Random Tree algorithm and a smoothing method, allowing the robot to reach the target configuration. In the assembly execution, the packaging is considered a peg-in-hole assembly. Unlike typical peg-in-hole assembly handling two workpieces, the packaging includes three workpieces (e.g., coil, inner ring, side plate). To address this assembly, the paper suggests a suitable strategy for dual manipulation. Finally, the validity of the proposed system is demonstrated through experiments with three different sizes of coils, replicating real-world packaging situations.

• Applied Science and Convergence Technology
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• 제24권5호
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• pp.125-131
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• 2015

We investigated the thermal characteristics of rotating anode X-ray tube to develop it for digital radiography by using computer simulation. The target which is the area of the anode struck by electrons is the most important component to get a long life of X-ray tube. So we analyze the thermal characteristics of the target and rotor assembly according to their emissivity by using ANSYS transient thermal simulation and then compare with the measured data of the target temperature operating in aging process of X-ray tube. Especially, keeping the lead coated layer as the role of metal lubricant on ball bearing enables to prevent the noise in rotating anode. The simulation result showed that its temperature was under the melting point of the lead in X-ray tube for digital radiography with 1.2 mm large focal spot 0.6 mm small focal spot and 150 kV tube voltage. We also investigated the relationship between the diameter of the anode shaft and the temperature of the anode and rotor assembly. It has been confirmed that the smaller anode shaft could be good for the rotor thermal characteristics.

• 한국군사과학기술학회지
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• 제23권3호
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• pp.229-236
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• 2020

A crush switch assembly(CSA) connected to an impact fuze provides electrical signal for detonation of the loaded main charge when an impact with the target is detected. Because the CSA experiences continuous changes in flight environment such as changes in velocity, vibration, and stresses, it is necessary to accurately predict the behavior of the fuze to maintain functionality during flight and to detonate when necessary. In this paper, random vibration analysis for flight environment and impact analysis on target hit are performed using FEA. Then, high speed impact tests are performed with the original and scaled down models to ensure operation validation of the manufactured products. The test results are then compared with M&S results to verify the capability of currently modeled CSA.

• 한국빅데이터학회지
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• 제7권1호
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• pp.99-111
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• 2022

불확실성과 복잡성이 존재하는 제조시스템의 생산성 분석과 의사결정을 위하여 시뮬레이션 기법이 활용될 수 있다. 이러한 시스템의 시뮬레이션을 위해 대상의 특성을 반영하는 입력 모델링 과정이 필요하다. 하지만 건설기계 조립라인과 같은 수작업 중심과 긴 리드타임을 가지는 복잡한 환경에서는 시뮬레이션에 활용할 데이터의 수집이 제한된다. 본 연구는 입력 데이터의 수집이 어려운 환경에서 동영상 데이터를 이용한 시뮬레이션 입력 모델링 절차를 제안한다. 동영상 데이터 기반 작업분석을 통해 측정시간을 정미시간과 표준시간으로 산정하고, 시뮬레이션의 입력 분포로 활용할 수 있다. 제안하는 절차로 산정된 확률분포를 시뮬레이션에 이용하여 대상 시스템의 주요 생산성 지표를 분석하였다. 본 연구에서 제안하는 절차는 데이터가 적은 상황에서 시뮬레이션을 활용한 생산성 분석으로 의사결정 보조에 도움을 줄 것으로 기대된다.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.228-237
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• 1996

On the basis of a brief introduction of the mechanized dry farming in Heilongjiang Province, the author states the developing process from the combination of single technics of farm machinery and agronomy to the technical assembly of high yield cultivation technics and its mathematical expression. According to the main temperature accumulated zones, 5 typical comprehensive technical assembly models for the mechanized cultivation technics and their agricultural machinery systems have been listed. They are, the Heihe " 261" wheat and soybean model : the Yi'an big ridge double row film mulching corn model : the Yongchang high yield mechanized soybean and other grain crops six year rotation model for Keshan state farms. The author conclude that the application of mechanized high yield cultivation technical assembly is the key point to transform the Heilongjiang province from big agriculture to strong agriculture, we have to take " high yield , high quality , high efficiency , s stain -ability and earning foreign currency" as the general target and carry out the corresponding policy and measures for the further development of agricuture.

• Nuclear Engineering and Technology
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• 제45권1호
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• pp.81-88
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• 2013

Neutron spectrum analyses of spallation neutrons are conducted in the accelerator-driven system (ADS) facility at the Kyoto University Critical Assembly (KUCA). High-energy protons (100 MeV) obtained from the fixed field alternating gradient accelerator are injected onto a tungsten target, whereby the spallation neutrons are generated. For neutronic characteristics of spallation neutrons, the reaction rates and the continuous energy distribution of spallation neutrons are measured by the foil activation method and by an organic liquid scintillator, respectively. Numerical calculations are executed by MCNPX with JENDL/HE-2007 and ENDF/B-VI libraries to evaluate the reaction rates of activation foils (bismuth and indium) set at the target and the continuous energy distribution of spallation neutrons set in front of the target. For the reaction rates by the foil activation method, the C/E values between the experiments and the calculations are found around a relative difference of 10%, except for some reactions. For continuous energy distribution by the organic liquid scintillator, the spallation neutrons are observed up to 45 MeV. From these results, the neutron spectrum information on the spallation neutrons generated at the target are attained successfully in injecting 100 MeV protons onto the tungsten target.

• 대한산업공학회지
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• 제32권2호
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• pp.104-110
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• 2006

When a new facility such as automobile assembly line is designed, computer simulation is often used to estimate its actual throughput level. If it falls short of the target throughput level, then the design must be modified to increase the throughput capacity. For complex facilities having parallel processes and network of material flows, the modification procedure is not trivial. Even if the capacity of a particular bottleneck process is increased, the target throughput may not be achieved because the bottleneck may move to another process. Furthermore, each process has a different set of options with different cost to increase the capacity. In this study, we present a systematic procedure of determining the cost-effective set of options which achieves the target throughput.