• 한국산업융합학회 논문집
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• 제25권5호
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• pp.909-915
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• 2022

In this paper, a robot automation technology for chemical tank lorry unloading is presented. Handling chemical coupler between tank lorry and ACQC system may be hazardous or toxic to human operators, therefore robot automation is essential. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, compliance between male and female couplers should be introduced with 6-axis compliance device with F/T sensing. The proposed robot automation system consists of a collaborative robot, 6-ax is compliance device with F/T sensing, linear gripper, and robot vision. The position/force control algorithm and experimental results for assembling chemical couplers are presented.

• 한국산업간호협회지
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• 제6권2호통권20호
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• pp.45-46
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• 1999

• 제어로봇시스템학회논문지
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• 제19권5호
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• pp.450-456
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• 2013

This paper suggests the target tracking method improved for the collaboration of the quad rotor type UAV (Unmanned Aerial Vehicle) and omnidirectional Unmanned Ground Vehicle. If UAV shakes or UGV moves rapidly, the existing method generates a phenomenon that the tracking object loses the tracking target. To solve the problems, we propose an algorithm that can track continually when they lose the target. The proposed algorithm stores the vector of the landmark. And if the target was lost, the control signal was inputted so that the landmark could move continuously to the direction running out. Prior to the experiment, Proportional and integral control were used in 4 motors in order to calibrate the Heading value of the omnidirectional mobile robot. The landmark of UGV was recognized as the camera adhered to UAV and the target was traced through the proportional-integral-derivative control. Finally, the performance of the target tracking controller and proposed algorithm was evaluated through the experiment.

• Journal of Power Electronics
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• 제17권5호
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• pp.1211-1222
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• 2017

In order to decrease the parameter sensitivity of deadbeat direct torque control (DB-DTC), an improved deadbeat direct torque control method for surface mounted permanent-magnet synchronous motor (SPMSM) drives is proposed. First, the track errors of the stator flux and torque that are caused by model parameter mismatch are analyzed. Then a sliding mode observer is designed, which is able to predict the d-q axis currents of the next control period for one-step delay compensation, and to simultaneously estimate the model parameter disturbance. The estimated disturbance of this observer is used to estimate the stator resistance offline. Then the estimated resistance is required to update the designed sliding-mode observer, which can be used to estimate the inductance and permanent-magnetic flux linkage online. In addition, the flux and torque estimation of the next control period, which is unaffected by the model parameter disturbance, is achieved by using predictive d-q axis currents and estimated parameters. Hence, a low parameter sensitivity DB-DTC method is developed. Simulation and experimental results show the validity of the proposed direct control method.

• 한국초등과학교육학회지:초등과학교육
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• 제36권3호
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• pp.181-192
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• 2017

In this study, the effects of the small group collaborative learning on students' achievement, the retention of the achievement, communication anxiety, and science learning motivation were investigated. The aptitude-treatment interaction between the level of students' self-directed learning ability and the intervention was also examined. Two classes (38 students) from an elementary school were respectively assigned to a control group and a treatment group. A self-directed learning ability test, a communication anxiety test, and a science learning motivation test were administered as pretests. The intervention lasted for 8 class periods. After instruction, an achievement test, the communication anxiety test, and the science learning motivation test were administered. An achievement retention test were also administered after four weeks. The results indicated that there were significant treatmentaptitude interaction effects in the achievement test scores and the achievement retention test scores. In the communication anxiety and the science learning motivation, however, any significant difference was not found between the scores of the treatment group and the control group. Educational implications are discussed.

• Nuclear Engineering and Technology
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• 제56권1호
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• pp.147-159
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• 2024

Plutonium-238 has always been considered as the one of the promising radioisotopes for space nuclear power supply, which has long half-life, low radiation protection level, high power density, and stable fuel form at high temperatures. The industrial-scale production of ²³⁸Pu mainly depends on irradiating solid ²³⁷NpO₂ target in high flux reactors, however the production process faces problems such as large fission loss and high requirements for product quality control. In this paper, a conceptual design study of producing ²³⁸Pu in a multi-purpose high flux reactor was evaluated and analyzed, which includes a sensitivity analysis on ²³⁸Pu production and a further study on the irradiation scheme. It demonstrated that the target structure and its location in the reactor, as well as the operation scheme has an impact on ²³⁸Pu amount and product quality. Furthermore, the production efficiency could be improved by optimizing target material concentration, target locations in the core and reflector. This work provides technical support for irradiation production of ²³⁸Pu in high flux reactors.

• 한국지능정보시스템학회:학술대회논문집
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• 한국지능정보시스템학회 2003년도 춘계학술대회
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• pp.400-409
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• 2003

Collaborative filtering (CF) recommendation is a knowledge sharing technology for distribution of opinions and facilitating contacts in network society between people with similar interests. The main concerns of the CF algorithm are about prediction accuracy, speed of response time, problem of data sparsity, and scalability. In general, the efforts of improving prediction algorithms and lessening response time are decoupled. We propose a three-step CF recommendation model which is composed of profiling, inferring, and predicting steps while considering prediction accuracy and computing speed simultaneously. This model combines a CF algorithm with two machine learning processes, SOM (Self-Organizing Map) and CBR (Case Based Reasoning) by changing an unsupervised clustering problem into a supervised user preference reasoning problem, which is a novel approach for the CF recommendation field. This paper demonstrates the utility of the CF recommendation based on SOM cluster-indexing CBR with validation against control algorithms through an open dataset of user preference.

• 한국산업융합학회 논문집
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• 제26권4_1호
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• pp.545-551
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• 2023

In this paper, a robot automation methodology for chemical drum assembly in semiconductor industries are presented. Robot automation is essential to resolve safety issues in which operators are directly or indirectly exposed to chemicals or fumes in assembling dispense heads on chemical drums. However, the chemical drum assembling process involves complex and difficult tasks, such as mating male/female keycodes and fastening screws with large-diameter, which may be very difficult to be performed by a single-arm robot with a commercial rigid F/T sensor. In order to solve the problems, a method for assembling a chemical drum using dual-arm collaborative robot system, compliance F/T sensor, robot vision and gripper is presented.

• 대한안전경영과학회지
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• 제10권2호
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• pp.133-141
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• 2008

The need for total enterprise management that covers from accepting orders, design, cost, procurement, manufacture, and delivery has been recently raised in order for efficient project management of small and medium size plant construction enterprises. This trend is reflected in the introduction of EPM(Enterprise Project Management) solutions by some shipbuilding enterprises and large construction corporations. In step with the trend, small and medium size plant construction enterprises are enabled to provide knowledge base in terms of reducing cost and production period and managing portfolio for accepting orders and attaining contract by inducing customized EPM This study presents a design of customized EPM based on a case study of a company. It exhibits a collaborative/collaboration resource-supply model which can be universally applied to small and medium size job-order production enterprises. The research discusses that under the assumption that information is shared internally between departments on planning, supply, manufacture, and quality control in order to create collaborative environment and close participation is created externally between suppliers and orderers, productivity can be improved in cost reduction through planning efficient collaborative supply model.

• 한국지능시스템학회논문지
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• 제21권6호
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• pp.743-748
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• 2011

본 논문에서는 지능형 영상 감시 시스템을 위한 다수의 네트워크 카메라를 이용한 협동 추적 알고리즘을 제안한다. 이를 위하여 각의 카메라는 모션 템플릿 기법을 통하여 영상내의 움직임 물체를 추출하고, 추출된 움직임 물체의 이동방향을 추정한다. 움직임 물체가 추출되면 칼만 필터를 이용하여 움직임 물체의 정확한 좌표를 추정한다. 움직임 물체의 이동방향과 카메라의 상태를 이용하여 가장 효율적인 협동추적 카메라를 선정하고, 각 카메라의 공간정보를 이용하여 PTZ 변수를 설정하고 협동요청을 한다. 협동요청을 받은 카메라는 설정된 PTZ 변수를 이용하여 움직임 물체를 협동 추적하고 확대영상을 획득한다. 실험을 통하여 제안된 협동추적 알고리즘의 성능분석 및 그 응용 가능성을 확인한다.