• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.130-136
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• 2021

In recent years, much study has been conducted in robotic grasping. The grasping algorithms based on deep learning have shown better grasping performance than the traditional ones. However, deep learning-based algorithms require a lot of data and time for training. In this study, a grasping algorithm using an artificial neural network-based graspability estimator is proposed. This graspability estimator can be trained with a small number of data by using a neural network based on the residual blocks and point clouds containing the shapes of objects, not RGB images containing various features. The trained graspability estimator can measures graspability of objects and choose the best one to grasp. It was experimentally shown that the proposed algorithm has a success rate of 90% and a cycle time of 12 sec for one grasp, which indicates that it is an efficient grasping algorithm.

• Steel and Composite Structures
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• v.41 no.5
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• pp.761-773
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• 2021

This study presents a 3D non-linear finite element (FE) assessment of dynamic soil-structure interaction (SSI). The numerical investigation has been performed on the time domain through a Finite Element (FE) system, while considering the nonlinear behavior of soil and the multi-directional nature of genuine seismic events. Later, the FE outcomes are analyzed to the recorded in-situ free-field and structural movements, emphasizing the numerical model's great result in duplicating the observed response. In this work, the soil response is simulated using an isotropic hardening elastic-plastic hysteretic model utilizing HSsmall. It is feasible to define the non-linear cycle response from small to large strain amplitudes through this model as well as for the shift in beginning stiffness with depth that happens during cyclic loading. One of the most difficult and unexpected tasks in resolving soil-structure interaction concerns is picking an appropriate ground motion predicted across an earthquake or assessing the geometrical abnormalities in the soil waves. Furthermore, an artificial neural network (ANN) has been utilized to properly forecast the non-linear behavior of soil and its multi-directional character, which demonstrated the accuracy of the ANN based on the RMSE and R² values. The total result of this research demonstrates that complicated dynamic soil-structure interaction processes may be addressed directly by passing the significant simplifications of well-established substructure techniques.

• Journal of Aerospace System Engineering
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• v.1 no.2
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• pp.27-36
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• 2007

The Damage Tolerant Design is developed to help alleviate structural failure and cracking problems in aerospace structures. Recently, the Damage Tolerant Design is required and recommended for most of aircraft design. In this paper, the damage tolerant design is applied to tilt rotor UAV. First of all, the fatigue load spectrum for the tilt rotor UAV is developed and fatigue analysis is performed for the flaperon joint which has FCL (fatigue critical location). Tilt rotor UAV has two modes: helicopter mode when UAV is taking off and landing; fixed wing mode when the tilt rotor UAV is cruising. To make fatigue load spectrum, FELIX is used for helicopter mode. TWIST is used for fixed wing mode. Fatigue analysis of flaperon joint is performed using fatigue load spectrum. E-N curve approach is used for picking crack initiation point. The LEFM(Linear Elastic Fracture Method) is considered for analyzing crack growth or propagation. Finally, including the crack initiation and propagation, the fatigue life is evaluated. Therefore the Damage Tolerant Design can be done.

• Mass Spectrometry Letters
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• v.7 no.2
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• pp.45-49
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• 2016

An UHPLC-ESI-qTOF-MS analytical method was developed for cyclopeptide alkaloids in the seeds of Ziziphus jujuba var. spinosa (Semen Ziziphi Spinosae), which is a commonly used herb in Chinese and Korean traditional medicines. Considering the basicity of cyclopeptide alkaloids, a specific separation method was developed for an UHPLC system. The compounds were detected by DAD and ESI-qTOF-MS, and their fragmentation patterns were also acquired by MS^E technologies. Peak-picking of major compounds was performed with nine previously isolated compounds and two reference standard compounds. Tandem MS fragmentation behaviors of type-Ia and -Ib cyclopeptide alkaloids were investigated with the acquired data to develop a strategy for dereplication of other cyclopeptide alkaloid compounds in Z. jujuba var. spinosa. Two more cyclopeptide alkaloids were tentatively identified with UHPLC-ESI-qTOF-MS using this method.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.10-10
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• 2017

우리나라 고추 재배는 ha당 총 노동투하시간 2,436 hr 중 수확작업시간은 954 hr으로 총 노동투하시간의 39.2%를 점유하고 있어 수확작업의 생력화를 위해 고추수확작업의 기계화가 절실히 필요하다. 고추 수확의 기계화를 위해 국내 T사에서 자주식 고추 수확기를 개발 중에 있다. 현재 고추를 기계로 채취하게 되면 많은 양의 줄기달린 고추가 유입되므로 수확 후 분리하는 작업에 있어 많은 인력과 시간이 소요되는 실정이다. 따라서 본 연구에서는 드럼 회전 타입의 2차 탈실부 요인시험 장치를 제작하여 드럼의 회전속도, 드럼과 급치 사이 간격에 대해 요인시험을 수행함으로써 자주식 고추수확기 2차 탈실부의 적정 작업조건을 파악함에 목적을 두었다. 탈실부 요인시험 장치는 급치가 부착된 3개의 드럼 형태의 탈실부와 이송벨트로 구성된다. 공시재료인 고추는 광주광역시 남구 승촌동 소재의 개인농가에서 Plastic 온실로 재배된 '천상' 품종을 사용하였다. 본 요인시험은 드럼의 회전속도(40, 70, 100, 130 rpm)와 드럼과 급치 사이 간격(2, 5, 10 mm)으로 요인을 설정하여 시험을 수행하였다. 시험은 각 요인 당 3반복으로 실시하였으며, 투입되는 시료는 줄기달린 고추를 3가지의 형태로 구분하여 제작하였다. 각 요인에 따라 고추의 탈실률, 손상률에 대해 통계프로그램인 SAS를 이용하여 분석하였다. 드럼의 회전속도에 따른 요인시험결과, 손상 대비 탈실률로 비교했을 때 회전속도 40 rpm에서 탈실률 47.69%, 손상률 8.33%로 성능이 가장 낮았으며, 회전속도 70 rpm에서 탈실률 63.89%, 손상률 12.96%로 성능이 가장 높았다. 드럼과 급치 사이의 간격에 따른 요인시험결과, 간격이 클수록 탈실률 및 손상률이 줄어드는 경향을 보였으며, 5 mm일 때 성능이 가장 높았다. 반복이 있는 이원배치법을 이용하여 분석한 결과, 고추 탈실률과 손상률은 드럼의 회전속도와 드럼과 급치 사이 간격 모두에서 유의차가 발생한다고 나타났다. 요인시험 결과를 종합적으로 고려해 보았을 때, 드럼 회전속도 70 rpm, 드럼과 급치 사이 간격 5 mm에서 가장 높은 성능을 보였다. 고추 탈실률이 낮고, 손상률이 높아 탈실장치로서의 기능에 어려움이 있을 것으로 보이므로 추후 급치 타입의 변경 등 탈실장치의 보완 및 개선이 필요할 것으로 판단된다.