• 한국정밀공학회지
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• 제19권12호
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• 대한기계학회논문집A
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• 제29권8호
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• pp.1118-1122
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• 2005

The direct current potential drop (DCPD) method and the unloading compliance (UC) method with a crack opening displacement gauge were applied simultaneously to the Zr-2.5Nb curved compact tension (CCT) specimens to determine which of the two methods can precisely determine the crack initiation point and hence the crack length for evaluation of their fracture toughness. The DCPD method detected the crack initiation at a smaller load-line displacement compared to the UC method. As a verification, a direct observation of the fracture surfaces on the curved compact tension specimens was made on the CCT specimens experiencing either 0.8 to 1.0 mm load line displacement or various loads from $50\%\;to\;80\%$ of the maximum peak load, or $P_{max}$. The DCPD method is concluded to be more precise in determining the crack initiation and fracture toughness, J in Zr-2.5Nb CCT specimens than the UC method.

• 소성∙가공
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• 제22권8호
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• pp.470-476
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• 2013

The aim of the current study was to predict shape recovery behavior of Ni-Ti shape memory alloy (SMA) wire after loading-unloading and after wire drawing. The superelasticity of SMA was analyzed by a hyper-elastic model for the Mullins effect using ABAQUS. Firstly, tensile tests and loading-unloading tests of the Ni-Ti SMA wire with a diameter 1.0 mm were performed using an MTS servo-hydraulic tester. The parameters for the Mullins effect were computed by ABAQUS based on curve-fitting of the loading-unloading test data. The proposed FE-model predicted the shape recovery of Ni-Ti SMA after wire drawing. Finally, the effectiveness of the model was verified by drawing experiments. The wire drawing experiments using the Ni-Ti SMA were conducted on a drawing machine(1ton, 50mm/s). In order to evaluate the shape recovery of Ni-Ti SMA, the drawn wires are annealed for 30min at $450^{\circ}C$.

• 한국재료학회지
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• 제25권5호
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• pp.221-225
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• 2015

In-situ neutron diffraction has been employed to examine the effect of strain path on lattice strain evolution during monotonic and cyclic tension in an extruded Mg-8.5wt.%Al alloy. In the cyclic tension test, the maximum applied stress increased with cycle number. Lattice strain data were acquired for three grain orientations, characterized by the plane normal to the stress axis. The lattice strain in the hard {10.0} orientation, which is unfavorably oriented for both basal slip and {10.2} extension twinning, evolved linearly throughout both tests during loading and unloading. The {00.2} orientation exhibited significant relaxation associated with {10.2} extension twinning. Coupled with a linear lattice strain unloading behavior, this relaxation led to increasingly compressive residual strains in the {00.2} orientation with increasing cycle number. The {10.1} orientation is favorably oriented for basal slip, and thus showed a soft grain behavior. Microyielding occurred in the monotonic tension test and in all cycles of the cyclic test at an applied stress of ~50 MPa, indicating that strain hardening in this orientation was not completely stable from one cycle to the next. The lattice strain unloading behavior was linear in the {10.1} orientation, leading to a compressive residual strain after every cycle, which, however, did not increase systematically from one cycle to the next as in the {00.2} orientation.

• 설비공학논문집
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• 제22권10호
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• pp.672-678
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• 2010

The purpose of this study is to develop a stacking guidance system (SGS) of containers in the mobile harbor (MH). A mobile harbor is a floating structure especially designed for loading and unloading containers from and to a large container ship. A novel stacking guidance system was proposed for unloading the container in an effective way against possible vibrations of the floating body. The guidance system works as an aid for loading containers with a wider opening for easier stacking of a container into a moving storage cell due to waves. In order to determine the most effective inclination angle of the cell-guide, this study performed the dynamic analysis of the SGS equipped in the MH subject to fluctuations of the sea. The motions of the guidance system and a container loaded were calculated using ADAMS. The simulation results of the contact force between the two rigid bodies showed that a desirable angle of the cell-guide should be around 20 degrees from the vertical. This proposed SGS can considerably reduce the loading and unloading time, and will enhance the performance of the MH.

• 대한안전경영과학회:학술대회논문집
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• 대한안전경영과학회 2005년도 춘계학술대회
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• pp.199-212
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• 2005

Many countries of the world is driving forward development of large-scale hub port. They are now pushing ahead with setting up of effective marketing strategies to survive in keen competitions of the 21st century port industry. The port is of ever increasing importance for the bridge connecting sea and road transportation in handling international cargoes. The port, differently from general working places, is a closed area required for security, customs, and quarantine procedures. The loading and unloading is being done differently by ports, cargoes, and ships. To do loading and unloading, a lot of equipment and different types of labor are required, which flow is complicated and safe management is essential. As above mentioned the port is very unique and very deteriorated working place in its working environment. The purpose of this study is to propose ways to reduce and prevent from port accidents. As first step to do this, we have collected 923 accidents happened at Incheon Port during the period of 1994 to 2003. We have thoroughly analyzed characteristics, harmfulness, and risk of the loading/unloading they have done, as well as the accident frequency and relationship between the accidents. As second step to further analyze, We have employed DMAIC technology, an advanced process of 6 sigma presently in spotlight as the best program for management innovation. This analysis results in recognition of important accident characteristics, causes and effects analysis, critical causes of accident, and suggestions to decrease accidents.

• 대한조선학회논문집
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• 제33권1호
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• pp.124-134
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• 1996

본 연구에서는 LNG선의 화물하역 중 비상 상황시 펌프를 정지시키고 선박측의 긴급 차단 밸브 및 육상측의 정지 밸브를 폐쇄시킬 때, 관내 유체의 급격한 속도변화에 의하여 발생하는 비정상 유동 상태인 서지(Surge)현상의 원인을 고찰하고, 이 때 발생하는 상승압력과 유량의 변화를 계산하였다. 해석 결과에 의하면 서지현상에 의한 과도한 압력상승은 선박측의 긴급 차단 밸브 및 육상측의 정지 밸브의 종류와 이들의 폐쇄 시간, 그리고 배관 배치에 크게 영향을 받음을 알 수 있었다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2004년도 추계학술대회 논문집
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• pp.435-442
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• 2004

Tilting train allow the train to pass curve at higher speed without affecting passenger comfort. As the tilting trains run curve track about 30$\%$ higher than non-tilting trains, the centrifugal force and dynamic force will be higher. Therefore it is very important for tilting train to ensure safety against derailment, and to reduce the lateral track forces by applying light-weight design, optimized suspension design and steering mechanism. The 180 km/h Korean Tilting Train(TTX) which is now developing as a part of the Korean National R & D project, was designed and analytically verified to meet these special requirements. This paper describes the analytic study to verify the safety against derailment, especially on the wheel unloading in case of tilting actuation. The severest curve geometry and curving speed was assumed, the tilting control pattern was also assumed as trapezoidal force function applied to tilting bolster and bogie frame. For the comparison, the operation with the speed of tilting train without tilting actuation was numerically simulated and the operation with the balanced speed without tilting actuation was also numerically simulated. Through the numerical simulation of various operating case, we found that derailment quotients, wheel unloading and Q/P was not affected by tilting actuation and that the bogie of TTX was nicely designed to satisfy the safety against the derailment.

• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1051-1058
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• 2011

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. Especially, automation of pallet loading and unloading technique is useful for enhancing performance of logistics and reducing cost for automation system. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control, and so on. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. This paper presents a vision sensorbased autonomous loading and unloading for network-based unmanned forklift where system components are connected to a shared CAN network. Functions such as image processing and control algorithm are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. And the experimental results show that proposed architecture can be an appropriate choice for autonomous loading in the unmanned forklift.

• 대한안전경영과학회지
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• 제13권4호
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• pp.25-33
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• 2011

Workers in logistics centers also are exposed to serious musculoskeletal disorders the same as workers in general manufacturing due to operating forklifts and other labor duties. The frequency of these work related injuries decreases, workers' job satisfaction In addition, it causes many employees questioning a job change, which is regarded as the primary factor which drops the productivity. In this paper, we conducted a survey ti perceive the correlation between work related injuries in the fields of distribution centers and job satisfaction. Furthermore we made statistical analysis with our findings. The results of our analysis showed that the frequency of work related injuries due to workers' repetitive loading and unloading work is the primary factor which lowers job satisfaction. In order to improve aforementioned problem we propose first of all loading and unloading on pallet basis, second of all automation and computerization of logistics systems, and third of all ensurinf sufficient break time.