• 로봇학회논문지
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• 제11권4호
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• pp.242-247
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• 2016

A robot manipulator handling a heavy weight requires high-capacity motors and speed reducers, which increases the cost of a robot and the risk of injury when a human worker is in collaboration with a robot. To cope with this problem, we propose a collaborative manipulator equipped with a counterbalance mechanism which compensates mechanically for a gravitational torque due to the robot mass. The prototype of the manipulator was designed on the basis of a four-bar linkage structure which contains active and passive pitch joints. Experimental performance evaluation shows that the proposed robot works effectively as a collaborative robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.1255-1256
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• 2013

• 한국자동차공학회논문집
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• 제7권8호
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• pp.190-198
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• 1999

Continuously controlled semi-active suspension system may improve ride and handling properties. Here, as a mechanism to control the fluid flow solenoid valve mechanism is introduced and added to the basic passive damper to create damping forces of the shock absorbers. The system may produce continuously controlled damping forces in both solenoid valve only and combination with passive shock absorber including fluid flow is studied, and then the combined model is added to the full vehicle model to evaluate its ride and handling performance. Finally, the simulation results are compared to the vehicle models having similar suspension system.

• 한국정보처리학회논문지
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• 제6권3호
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• pp.553-561
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• 1999

The facility of schema evolution is necessary in object-oriented database applications. There exist several versions of schema and instances created under different versions of the schema concurrently in the database. This base proposes a mechanism for supporting accessing instances regardless of versions of the schema in schema evolution environments in object oriented databases. There is trade-off between the flexibility of schema modification operations and the system overhead for supporting such schema modifications. Access handling routines are provided to the undefined attributes in each version of the class. Access handling routines are also defined for each pair of semantics rather than defining backdate/update functions for each pair of versions of a class. Thus, this mechanism supports the change of semantics with reduced user and system overhead.

• Advances in Computational Design
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• 제4권3호
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• pp.197-210
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• 2019

Motion generation of a four-bar linkage is a type of mechanism synthesis that has a wide range of applications such as a pick-and-place operation in manufacturing. In this research, the use of meta-heuristics for motion generation of a four-bar linkage is demonstrated. Three problems of motion generation were posed as a constrained optimization probably using the weighted sum technique to handle two types of tracking errors. A simple penalty function technique was used to deal with design constraints while three meta-heuristics including differential evolution (DE), self-adaptive differential evolution (JADE) and teaching learning based optimization (TLBO) were employed to solve the problems. Comparative results and the effect of the constraint handling technique are illustrated and discussed.

• 전자공학회논문지
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• 제51권4호
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• pp.90-97
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• 2014

상황인지 시스템은 상황 데이터의 변화에 따라 적절한 서비스를 해주는 시스템이다. 하지만 일상에 적용되지 못하는 이유로 예외 발생 가능성을 들 수 있다. 데스크탑 컴퓨팅 프로그램에서는 C++/C#/JAVA등 프로그래밍 언어에서 예외 처리를 지원하지만 상황인지 시스템에서는 다양한 장비들이 연결되어 있어 개발자의 부담이 커지고 처리의 시점이나 위치를 결정하기 어렵기 때문이다. 따라서 본 논문에서는 프로그래머가 예외를 다루는 데에 있어서 다수의 장비를 지속적으로 탐지할 수 있도록 장비의 의미구조와 AspectJ를 이용한 상황인지 시스템의 예외 탐지 및 처리 방법을 제안한다.

• 한국정밀공학회지
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• 제18권5호
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• pp.84-89
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• 2001

The alignment of the rollers carrying the web is found to be one of important factors to the lateral behavior of the moving web and to the quality of the final web products. But, the perfect alignment of the rollers is not always possible and the web itself can be cambered. Thus the control of lateral behavior of the moving web is critical in the most of web handling systems. The web guiding system that adjusts the angle of the alignment between two adjacent rollers is commonly used in industry. But, in this paper a new web guiding system is proposed by using the lateral dynamics of the moving web induced by a tilted roller in normal direction of a web. The computer simulation study was carried out to verify the steering performance of the suggested guiding system. Computer simulation study shows that the performance of the new guiding mechanism is better than that of an existing guiding mechanism.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2002년도 가을 학술발표회 논문집
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• pp.131-138
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• 2002

The fuel handling machine handles the core assembly in refueling period of the reactor, it is necessary to predict the motion and structural integrity of it. The kinetic analysis of the fuel handling machine was carried out for the refueling motion. The reaction forces at the joints of machine were calculated with IDEAS code considering the weight of the machine and the loading force of the core assembly, Also, the structural analysis for the machine modeled by lumped-mass and beam elements was performed by using ANSYS code. The stresses and deformations were calculated for the equivalent static force based on the kinetic analysis and the seismic loads. The calculated displacements and stresses are quite low compared with allowable limits.

• 정보화연구
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• 제9권1호
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• pp.1-10
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• 2012

To promote process effectiveness and efficiency, it is necessary that port logistics employ automated equipments for handling containers. There exists a system for automatically managing the container flow, called Control Module. However, it has limitation to assign the execution order to the machine and monitor the container flow in real time process. Business process management (BPM) provides a suitable and effective framework to address this problem including controlling and monitoring the flow of each container. Since the nature of container handling process is different with the common process in BPM that is conducted by human performer, it is necessary to adjust the BPM framework in the domain of port logistic management. This study presents a BPM framework corresponds with both human-based and machine-based activity to enhance the efficiency of port process flow including container flow. This framework is introduced as an integrated approach and mechanism of BPM application into the container handling system for the purpose of port logistics process automation.

• Journal of Mechanical Science and Technology
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• 제16권12호
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• pp.1664-1672
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• 2002

Gantry mechanisms have been widely used for precision manufacturing and material handling in electronics, nuclear, and automotive industries. Dual-drive servo mechanism is a way to increase control bandwidth, in which two primary axes aligned in parallel are synchronously driven by identical servo motors. With this mechanism, a flexible coupling (compliance mechanism) is often introduced in order to avoid the damage by the servo mismatch between the primary drives located at each side of gantry. This paper describes the design guidelines of the dual-drive servo mechanism with focus on its dynamic characteristics and control ramifications. That is, the effect on the system bandwidth which is critical on the system performance, the errors and torques exerted on guide ways in case of servo mismatch, the vibration characteristics concerned with dynamic error and settling time, and the driving force required at each axis for control are thoroughly investigated.