• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.2 no.3
• /
• pp.303-308
• /
• 1998

As the technology of industrial automation using robot system grows the rapid advance, productivity improvement and decrease in number of maintenance, management occur in many fields. Therefore, more various and intelligent robot motions are needed without human being help. Considering this situation, the need of robot with various, fast and safe acting sensors are demanded. In these sensings, the slippage sensing gives us specific information between ripper and object while grasps the object. In this paper, we proposed new slippage sensing algorithm for various and intelligent robot motion. So, optimal grasping force control and compensation of position error is possible for an adaptive task execution using adaptive control.

• Journal of Korean Society of Occupational and Environmental Hygiene
• /
• v.7 no.2
• /
• pp.289-297
• /
• 1997

Work-related low back pain(below LBP) is one of the major cause of morbidity, disability, limitation of activity and economic loss. Therefore the work-related LBP is one of the major issue in the field of industrial safety and health. This study was performed for detecting the risk factors and proposing the effective control programs of work-related LBP. The subjects were male workers employed at the welding and metal factory. The data was collected by self-reported questionnaire, interview and checking abdomen muscular and grasping power for two days on October, 1993. The contents of questionnaire were as follow: the experience of LBP, general characteristics, physical characteristics, employment status, type of work and working environment. The number of cases was 104 with a history of work-related LBP, so the prevalence of work-related LBP was 35.0%, and the number of controls was 140 without any history of LBP. As a result, marital status, educational level, abdomen muscular power, tenure, category of job, satisfaction of job, working posture, satisfaction for table and chair and lifting materials showed a statistical significance between the case and control groups. 284 Lifting jobs were quantified by NIOSH lifting equation method and ergonomic computer modelling methods. There were no significant differences in the action limit and disc compression force between group with LBP and without LBP. But in the lifting frequency and cumulative disc compression force there were significant differences. Therefore work-related LBP should be prevented by the ergonomic and environmental control.

• The Journal of Korea Robotics Society
• /
• v.6 no.2
• /
• pp.130-140
• /
• 2011

This paper proposes an optimal posture for the task-oriented movement of dual arm manipulator. A stability criterion function which consists of three kinds of feature-representative parameters has been utilized to define the optimal posture. The first parameter is the force which is applied to the object. The torque of each joint and position of arm are attained from the current sensor and encoder, respectively. From these two data, the applied force to an object is estimated using sum of vectors of the joint torques estimated from the measured current. In order to investigate the robustness of each posture, the variation of the end-effector from the encoder information has been utilized as the second parameter. And for the last parameter for the optimality, the total energy consumption has been used. The total consuming energy of each posture can be computed from the current information and the battery voltage. The proposed robot structure consists of a mobile inverted pendulum and dual manipulators. In order to define the optimal posture for the each object, external disturbances are applied to the mobile inverted pendulum robot and the first and second parameters are investigated to find the optimal posture among the pre-selected most representative postures. Finally, the proposed optimal posture has been verified by the proposed stability criterion function which consists of total force to the object, the fluctuation of the end-effector position, and total energy consumption. The effectiveness of the proposed algorithms has been verified and demonstrated through the practical simulations and real experiments.

• Journal of the Korean Society of Industry Convergence
• /
• v.20 no.3
• /
• pp.233-243
• /
• 2017

This paper proposes a structure of direct-printed flexible tactile-sensor. These flexible tactile sensors are based on pressure-sensing materials that allow pressure to be measured according to resistance change that in turn results from changes in material size because of compressive force. The sensing material consists of a mixture of multi walled carbon nanotubes (MWCNTs) and TangoPlus, which gives it flexibility and elasticity. The tactile sensors used in this study were designed in the form of array structures composed of many lines so that single pressure points can be measured. To evaluate the performance of the flexible tactile sensor, we used specially designed signal-processing electronics and tactile sensors to experimentally verify the sensors' linearity. To test object grasp, tactile sensors were attached to the surface of the fingers of grippers with three degrees of freedom to measure the pressure changes that occur during object grasp. The results of these experiments indicate that the flexible tactile sensor-based robotic gripper can grasp objects and hold them in a stable manner.

• The Journal of Korea Robotics Society
• /
• v.18 no.1
• /
• pp.99-109
• /
• 2023

In this paper, the cinch bag typed fruit harvesting gripper was proposed. This gripper is focused on preventing problems that we found from the related research and setting the breakthrough as a design condition according to the harvest failures of other related studies. The cover part is designed to overcome the surrounding obstacles of target fruits such as tomato, Korean melon, and sweet pepper. The measurement of maximum load showed that the well-grasped target object, such as a spherical object with 65 mm of diameter, is unable to slip in a range of 0 kg to 10 kg. The fact that the gripper allows from 4 cm to 6 cm of positional error was shown in the measurement of positional error tolerance. And the cover part of this gripper showed that the suggested gripper can grab a target object without being obstructed by leaves and stems. Finally, it was proved that the gripper satisfied the design conditions through the measurement of contacting force, which showed it is appropriate for grasping an actual fruit without damage.

• Journal of the Korea institute for structural maintenance and inspection
• /
• v.8 no.4
• /
• pp.165-174
• /
• 2004

This study is about a horizontal load test of buoyance anchor installed in the section where underground water level happens in the depth of 5m under the ground when the ground is excavated, because the section as a excavation section of high speed railway ${\bigcirc}{\bigcirc}$ station is near a rivers and because the section always has a reservoir of full water level on the left. Therefore, in this study we will appraise the long-term stability of the structure permanently being taken buoyance by the underground water level, through the spot test of the buoyance anchor installed in the section where underground water level happens. For that, Bar Type anchor is used, which can get enough pulling-out force by a method to resist buoyance by using friction force against the ground by high strength steel rod or steel wire. Anti-buoyance anchor is installed on the bottom slab of underground structure being taken horizontal force by the braking and accelerating of high speed train. And, It is aimed to analyze and grasp the review result of stability for the horizontal force that happens at the parking and stopping of high speed train, by executing horizontal load test for the grasping of the movements characteristic of buoyance anchor.

• The Journal of Engineering Geology
• /
• v.27 no.1
• /
• pp.41-49
• /
• 2017

In this study, we tried to confirm the influence range in the ground due to Bulbed, Reinforcement change and ground conditions change through numerical analysis. By checking the increase width of the reinforcement effect accompanying the increase of Bulbed, grasping the trend accompanying the change of the ground conditions and deciding soil nail Reinforcement and Bulbed, so that economical construction will be carried out It can be judged that it can be utilized as basic material. In this paper, we analyzed the Displacement due to positional load of reinforcement by utilizing MIDAS GTS NX which is a universal numerical analysis program. In addition, it is necessary to ensure the diameter star economy of Bulbed size and Reinforcement by comparing / analyzing whether the Bulbed relaxation region of Reinforcement represents arbitrary characteristics in the ground in Sandy soil, Weathered granite soil ground due to soil nail pullout load Numerical analysis was conducted to select criteria that can be done.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.13 no.10
• /
• pp.798-804
• /
• 2003

One of the methods that are used to compare and verify the supporting performance of the spacer grids developed is the vibration characteristic test. A modal test in this paper is performed for a dummy rod 3,847 mm tall supported by eight New Doublet (ND) spacer grids. For the vibration test in air, nine accelerometers, one displacement sensor and one shaker are used for acquiring signals, and an I-DEAS TDAS software Is employed for analyzing the signals. Also, a finite element (FE) analysis is performed by a beam-spring simple model and a contact model simulating the contact phenomenon between the rod and the ND spring. And then, the results of the modal testing are compared with those of the FE analysis. The natural frequencies as well as the mode shapes obtained by the experiment have a greater similarity to the results by the contact model than the previous beam-spring model. In audition, for grasping whether or not the modal parameters are influenced by where shaking spot is, two kinds of tests are performed : one is for the shaker attached at the fourth span (center), the other is for the shaker at the fifth span that is one span nearer to the bottom of the rod. The latter shows higher MAC than the former Finally, the vibration displacements are measured in the range of 0.l12∼0.214 mm for the excitation force of 0.25∼0.75 N.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.22 no.5
• /
• pp.459-467
• /
• 2012

In this work, the configuration of a haptic gripper featuring magnetorheological(MR) brakes is proposed and an optimal design of the MR brakes for the haptic griper is performed considering the required braking torque, the uncontrollable torque(zero-field friction torque) and mass of the brakes. Several configurations of MR brake is proposed such as disc-type, serpentine-type and hybrid-type. After the configurations of the MR brakes are proposed, braking torque of the brakes is analyzed based on Bingham rheological model of the MR fluid. The zero-field friction torque of the MR brakes is also analyzed. An optimization procedure based on finite element analysis integrated with an optimization toolbox is developed for the MR brakes. The purpose of the optimal design is to find optimal geometric dimensions of the MR brake structure that can produce the required braking torque and minimize the mass of the MR brakes. In addition, the uncontrollable torque of the MR brakes is constrained to be much smaller than the required braking torque. Based on the developed optimization procedure, optimal solution of the proposed MR brakes are achieved and the best MR brake is determined. The working performance of the optimized MR brake is then investigated.

• Korean Journal of Environmental Biology
• /
• v.30 no.2
• /
• pp.77-89
• /
• 2012

With the advent of the genomics era powered by DNA sequencing technologies, life science is being transformed significantly and biological research and development have been accelerated. Environmental biology concerns the relationships among living organisms and their natural environment, which constitute the global biogeochemical cycle. As sustainability of the ecosystems depends on biodiversity, examining the structure and dynamics of the biotic constituents and fully grasping their genetic and metabolic capabilities are pivotal. The high-speed high-throughput next-generation sequencing can be applied to barcoding organisms either thriving or endangered and to decoding the whole genome information. Furthermore, diversity and the full gene complement of a microbial community can be elucidated and monitored through metagenomic approaches. With regard to human welfare, microbiomes of various human habitats such as gut, skin, mouth, stomach, and vagina, have been and are being scrutinized. To keep pace with the rapid increase of the sequencing capacity, various bioinformatic algorithms and software tools that even utilize supercomputers and cloud computing are being developed for processing and storage of massive data sets. Environmental genomics will be the major force in understanding the structure and function of ecosystems in nature as well as preserving, remediating, and bioprospecting them.