• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.11
• /
• pp.58-65
• /
• 2008

The study on dual arm robot manipulator which consists of two 6-DOF srms and one 2-DOF torso is introduced. This dual arm robot manipulator is designed for automation of assembly process in automotive manufacturing line. Each industrial 6-DOF arm can be used as a stand-alone type of industrial robot manipulator with 6-DOF and as a manipulator part of dual arm robot at the same lime. These structures help the robot maker willing to succeed in emerging market of dual arm robots have the high competitive power for the current industrial robot market and the emerging market of dual arm robot at the same time. The research results of the design concept, workspace analysis and the PC-based controller will be introduced.

• Journal of the Society of Naval Architects of Korea
• /
• v.48 no.4
• /
• pp.375-380
• /
• 2011

Loading/unloading at sea is necessitated as larger container ships are being used. It is also unavoidable to load/unload at sea during military operations. An experimental cable array robot system, which can be used for loading/unloading at sea, consisting of four cables operated by four motors is designed and built. Even though it has simple structure, it has a large pay-load/robot-weight ratio, flexibility and wide workspace and can be easily built at low cost. In order to plan and control the paths of end-effector, two interpolation methods are introduced and compared. Since the robot is entirely based on cable tension, an analysis of tension is also presented for monitoring and planning purpose.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.5
• /
• pp.464-472
• /
• 2006

This paper presents the two degree-of-freedom (DOF) planar parallel mechanism, called the $2{\underline{R}}RR-RP$ manipulator, whose degree-of-freedom is dependent on an additional passive constraining leg connecting the base and the platform. First, the kinematic analysis of the mechanism is performed: the inverse and forward kinematic problems are analytically solved, the workspace is systematically derived, and all of the singular configurations are examined. Then, in order to determine the geometric parameters the optimization of the mechanism is performed considering its dexterity, stiffness, and space utilization. Finally, the kinematic performances of the optimized mechanism are evaluated through the comparison study to the conventional 5-bar parallel manipulator.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.3
• /
• pp.273-283
• /
• 2008

This article describes a cooperative localization technique of multiple robots sharing position information of each robot. In case of conventional methods such as EKF, they need to linearization process. Consequently, they are not able to guarantee that their result is range containing true value. In this paper, we propose a method to merge the data of redundant sensors based on constraints propagation techniques on intervals. The proposed method has a merit guaranteeing true value. Especially, we apply the constraints propagation technique fusing wheel encoders, a gyro, and an inexpensive GPS receiver. In addition, we utilize the correlation between GPS data in common workspace to improve localization performance for multiple robots. Simulation results show that proposed method improve considerably localization performance of multiple robots.

• Proceedings of the Korean Institute of Building Construction Conference
• /
• 2013.05a
• /
• pp.14-15
• /
• 2013

Green Frame is precast concrete column-beam structure. There are three types on column connection. The coupler type which is one of the three, need to be improved because of unstability caused by pre-installation of column before casting the slab, and quality deterioration caused by lack of workspace. Therefore, in this study, new coupler connection type with thread rebar is suggested. The result of this study shall be used for the efficiency analysis of the new coupler connection.

• Proceedings of the Korean Geotechical Society Conference
• /
• 2010.03a
• /
• pp.1243-1249
• /
• 2010

Ground anchors can be good solution in large and deep excavation. Anchored supports generally provide larger workspace than strut supports and good performances. The major benefit provided by these anchored systems was the open excavation area created by eliminating horizontal or raked struts, which generally inhibit rapid construction within the site area. In loose soils, however, anchors are sometimes hard to get high pullout anchor capacity, so that the spacing of anchor both horizontally and vertically is frequently controlled, in which the construction costs of anchors are increased. In order to increase anchor capacity, therefore, conceptual introduction of the multi-strand anchor is presented in this paper. Also, this study shows an numerical study of predicting the load transfer of the multi-strand anchor and a beam-column analysis was performed by a Elastic-Plastic beam theory.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.1 s.94
• /
• pp.211-218
• /
• 1999

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot’s trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. In this paper, we solve the inverse kinematic problem of a binary parallel robot manipulator using neural network and test the validity of this structure using some arbitrary points m the workspace of the robot manipulator. As a result, we can show that the neural network can find the nearest feasible points and corresponding binary states of the joints of the robot manipulator

• Mass Spectrometry Letters
• /
• v.4 no.1
• /
• pp.18-20
• /
• 2013

Headspace solid phase micro-extraction gas chromatography/flame ionization detection (HS-SPME-GC/FID) method was compared with headspace gas chromatography/mass selective detection (HS-GC/MS). Organic solvent-spiked urine as well as urine samples from workspace was analyzed under optimal condition of each method. Detection limit of each compound by HS-SPME-GC/FID was $3.4-9.5{\mu}g/L$, which enabled trace analysis of organic solvents in urine. Linear range of each organic solvent was $10-400{\mu}g/L$, with fair correlation coefficient between 0.992 and 0.999. The detection sensitivity was 4 times better than HS-GC/MS in selected ion monitoring (SIM) mode. Accuracy and precision was confirmed using commercial reference material, with accuracy around 90% and precision less than 4.6% of coefficient of variance. Among 48 urine samples from workplace, toluene was detected from 45 samples in the range of $20-324{\mu}g/L$, but no other solvents were found. As a method for trace analysis, SPME HS GC/FID showed high sensitivity for biological monitoring of organic solvent in urine.

• IE interfaces
• /
• v.15 no.1
• /
• pp.82-88
• /
• 2002

A study was conducted to develop user-centered kitchen furniture and workspace to reduce fatigue and to prevent housewives's disorders such as low back pain and musculoskeletal disorders from housekeeping activities. A questionnaire survey and interview were performed on 150 households those live in 32Pyung-type($105m^2$) apartment in Seoul vicinity. Also actual housekeeping activities for 24 hours were video-taped for further motion analysis. Results of the study revealed that housewives complained the inconvenience and small size of storage space, and worksurface height as the most important problems to be considered for redesign. And they responded, if feasible, sitting is preferred over standing while they are working. After adapting a sit/stand chair in the kitchen, a physiological experiment measuring heart rate(HR) and oxygen consumption($VO_2$) as response variables was conducted to examine the effects of sit/stand chair in reducing physiological demand during housekeeping activities. The results showed that working on sit/stand chair reduced energy expenditures by maximum of 30% and 31.0% in terms of HR and $VO_2$, respectively. Also rearrangement of kitchen structure based on motion analysis showed that walking distance during daily housekeeping activities can be reduced by 5.5% on the average. Hence, it is concluded that adapting a sit/stand chair in the kitchen could reduce fatigue and occupational disorders of housewives from extended housekeeping activities.

• Journal of Ocean Engineering and Technology
• /
• v.22 no.4
• /
• pp.78-83
• /
• 2008

In recent years, small boats used for marine leisure have been steadily increasing because of the increase in national income and the desire for marine leisure. But the repair of such small boats in dry dock has pointed out many faults in small FRP-shipbuilding in terms if workspace and manpower. Lifting a boat from the water to land is done with a crane or by hand using a sling around the bottom of the boat. But dry dock work is limited by the scale of the boat, which corresponds to the crane capacity, with carelessness making it possible to capsize a boat and endanger life. The purpose of this study was the development of a marine docking system that would improve economical efficiency and safety, for which we carried out concept design, model tests, structural analysis, etc.