• Journal of Biosystems Engineering
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• 제38권2호
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• 한국농림기상학회지
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• 제3권2호
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• pp.96-104
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• 2001

작물모형 등 생태계 관리용 의사지원수단의 적용공간이 점 단위에서 지역규모로 확대되는 추세에 따라 이들 모형의 구동변수로 가장 널리 이용되는 일 최고 및 최저기온 공간변이의 정확한 추정이 요구된다. 특히 고도변이가 심하고 지형이 복잡한 우리나라의 경우 국지기온의 결정인자가 다양하여 단순한 기존의 공간내삽기법을 개선할 필요성이 더욱 절실하다. 본 연구에서는 해발고도에 따른 일별 기온 변화양상을 분석하여 계절별 기온감율을 결정하고 이를 이용한 기온 공간내삽방법에 의해 일 최고 및 최저기온을 추정하여 그 추정오차를 기존 방법과 비교하였다. 먼저 기상청 63개 표준관측소에서 수집된 1999년 한 해 동안의 일 최고, 최저기온 값을 이들 관측지점의 위도, 경도, 해안 거리 및 표고에 회귀시켜 최적모형을 작성하고, 이 모형의 표고 편회귀계수를 기온감율로 간주하였다. 이 기온감율의 계절변동을 주기함수화 하여 거리가중에 의한 내삽과정에 표고편차의 영향을 추가하였다. 기상청 자동기상관측소 267개 지점에 이 방법을 적용하여 2000년 1월, 5월, 8월의 임의 날짜 최고 및 최저기온을 추정하고 이를 기존의 방법에 의해 추정된 결과와 비교한 결과, 오차평균, 절대오차평균, 그리고 평방근 오차평균 측면에서 연중 지속적인 개선효과를 보였다. 이 방법은 적용이 간편하고 추정간의 신뢰도가 높아 기존의 거리가중법이나 연평균 기온감율 적용법을 대신하여 하루 단위의 시간규모와 1km 이상 수 km 단위의 공간규모에서 실용적인 기온변이 추정법으로 사용할 수 있다.

• 한국환경보건학회지
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• 제38권2호
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• pp.128-135
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• 2012

Objectives: This study was aimed at determining the optimum coagulation dosage in a high turbid kaolin water sample using streaming current detection (SCD) as an alternative to the jar test. Methods: SCD is able to optimize coagulant dosing by titration of negatively charged particles. Kaolin particles were used to mimic highly turbid water ranging from 50 to 600 NTU, and polyaluminum chloride (PAC, 17%) was applied as a titrant and coagulant. The coagulation consisted of rapid stirring (5 min at 140 rpm), reduced stirring (20 min at 70 rpm), and settling (60 min). To confirm the coagulation effect, a jar test was also compared with the SCD titration results. Results: SCD titration of kaolin water samples showed that the dose of PAC increased as the pH rose. However, supernatant turbidity less than 1 NTU after coagulation was not achieved for high turbid water by SCD titration. Instead, a conversion factor was used to calculate the optimum PAC dosage for high turbid water by correlating a jar test result with that from an SCD titration. Using this approach, we were able to successfully achieve less than 1 NTU in treated water. Conclusions: For high turbid water influent in a water treatment plant, particularly during summer, the application of SCD control by applying a conversion factor can be more useful than a jar test due to the rapid calculation of coagulation dosage. Also, the interpolation of converted PAC dose could successfully achieve turbidity in the treated water of less than 1 NTU. This result indicates that an SCD system can be effectively used in a water treatment plant even for high turbid water during the rainy season.

• 한국항해항만학회지
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• 제30권1호
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• pp.105-111
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• 2006

LMTT는 항만 자동화를 위한 수평 이송이 가능하도록 설계된 셔틀카와 격자구조의 레일에 부착된 스테이터 모듈(stator module)로 구성된 PMLSM(Permanent Magnetic Linear Synchronous Motor)에 의해 구동된다. 본 연구에서는 순차적 표본방법에 기초하여 구성된 크리깅 근사모델을 이용하여 이동체의 구조최적설계를 수행하였다. 본 논문에서는 셀 요소로 유한요소 모델링된 이동체(mover)의 경량화 설계를 위하여 강도기준을 고려하고, 설계변수로는 가로빔, 세로빔, 휠 빔의 두께로 설정하였다. 순차적 크리깅모델에 의하여 구해진 최적해를 상용프로그램인 GENESIS를 이용하여 구해진 최적해와 비교, 검토하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 추계학술대회 논문집(제2권)
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• pp.143-147
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• 2006

컨테이너의 양 ${\cdot}$ 하역 작업 시 크레인을 정 위치에 고정시키고, 돌풍으로 인해 크레인이 레일방향으로 미끄러지는 것을 방지하는 장치가 레일클램프이다. 쐐기형 레일클램프는 풍속이 증가하면 쐐기작용에 의해 압착력이 증가하므로 구조적으로 안정성과 내구성이 있게 설계해야한다. 따라서 본 연구에서는 순차적 표본방법을 기반으로 하는 크리깅 모델을 이용하여 조 형상최적설계를 수행하였다. 크리깅은 표본점의 반응치를 기초로 내삽법에 의해 임의의 점에서의 반응치를 예측하는 근사기법의 하나이다. 이것은 최적설계 분야에서 자주 사용되는 근사기법인 반응표면법에 비해 반응치의 보다 정확한 예측이 가능하며 특히 비선형성이 강한 함수의 예측에 적합하다고 알려져 있다. 순차적 크리깅 모델에 의하여 구해진 최적해를 상용프로그램을 이용하여 구한 최적해와 비교하고 제안된 방법의 유용성을 검토하였다.

• 한국자동차공학회논문집
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• 제17권1호
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• pp.190-196
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• 2009

This study proposes a structural design method for the upper control arm installed at the rear side of a SUV. The weight of control arm can be reduced by applying the design and material technologies. In this research, the former includes optimization technology, and the latter the technologies for selecting aluminum as a steel-substitute material. Strength assessment is the most important design criterion in the structural design of a control arm. At the proto design stage of a new control arm, FE (finite element) analysis is often utilized to predict its strength. This study considers the static strength in the optimization process. The inertia relief method for FE analysis is utilized to simulate the static loading conditions. According to the classification of structural optimization, the structural design of a control arm is included in the category of shape optimization. In this study, the kriging interpolation method is adopted to obtain the minimum weight satisfying the strength constraint. Optimum designs are obtained by ANSYS WORKBENCH and the in-house program, EXCEL-kriging program. The optimum results determined from the in-house program are compared with those of ANSYS WORKBENCH.

• 한국수자원학회논문집
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• 제51권5호
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• pp.451-459
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• 2018

역거리법에 포함된 지수 값을 제곱으로 고정하지 않고 변수로 취급하여 강수량 자료를 바탕으로 지수 값의 최적치를 산출하였다. 이를 위해서 한강 상류부, 한강 하류부, 금강 상류부, 낙동강 중류부 등 4개 Group으로 나누고 각 Group 내 7개 관측소에 대하여 총 52개의 Case를 분석하였다. 각 Group에서 기준 관측소 1개와 주변관측소 4개를 조합한 Case별로 거리 지수 값의 최적치를 구하였다. 이 최적치를 산출하기 위해서 황금비 분할조사법을 적용하였고 강수 자료는 10년(2004~2013년) 간의 시우량 자료를 사용하였다. 이와 같이 구한 최적치를 최근 3년(2014~2016년) 간에 대하여 검증하였다. 본 연구에서 구한 최적의 거리 지수 값은 4개 Group에서 평균적으로 각각 3.280, 1.839, 2.181, 2.005로 나타났고 전체 평균하면 2.326이었다. 그리고 최적의 지수 값을 적용한 역거리법은 지수 값을 제곱으로 한 기존 역거리법과 비교하여 우수함을 보였다.

• 대한기계학회논문집A
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• 제29권2호
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• pp.333-340
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• 2005

Feedrate is one of the factors that have the significant effects on the productivity, qualify and tool life in the cutting mechanism as well as cutting velocity, depth of cut and width of cut. In this study, in order to realize the high-efficient machining, a new feedrate optimization method is proposed based on the concept that the optimum feedrate can be derived from the allowable cutting power since the cutting power can be predicted from the cutting parameters as feedrate, depth of cut, width of cut, chip thickness, engagement angle, rake angle, specific cutting force and so on. Tool paths are extracted from the original NC program via the reverse post-processing process and converted into the infinitesimal tool paths via the interpolation process. And the novel NC program is reconstructed by optimizing the feedrate of infinitesimal tool paths. Especially, the fast feedrate optimization is realized by using the Boolean operation based on the Goldfeather CSG rendering algorithm, and the simulation results reveal the availability of the proposed optimization method dramatically reducing the cutting time and/or the optimization time. As a result, the proposed optimization method will go far toward improving the productivity and qualify.

• Structural Engineering and Mechanics
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• 제53권4호
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• pp.703-723
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• 2015

In this paper optimization of volume fraction distribution in a thick hollow cylinder with finite length made of two-dimensional functionally graded material (2D-FGM) and subjected to steady state thermal and mechanical loadings is considered. The finite element method with graded material properties within each element (graded finite elements) is used to model the structure. Volume fractions of constituent materials on a finite number of design points are taken as design variables and the volume fractions at any arbitrary point in the cylinder are obtained via cubic spline interpolation functions. The objective function selected as having the normalized effective stress equal to one at all points that leads to a uniform stress distribution in the structure. Genetic Algorithm jointed with interior penalty-function method for implementing constraints is effectively employed to find the global solution of the optimization problem. Obtained results indicates that by using the uniform distribution of normalized effective stress as objective function, considerably more efficient usage of materials can be achieved compared with the power law volume fraction distribution. Also considering uniform distribution of safety factor as design criteria instead of minimizing peak effective stress affects remarkably the optimum volume fractions.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.387-392
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• 2005

Double-deck train have studied in the next generation train in KRRI. Double-deck train have more seat capacities compared with single deck vehicles and is a efficient, reliable and comfortable alternative train. Because of heavy weight, weight minimization of double-deck train carbody is imperative to reduce cost and extend life-time of train. Weight minimization problem of the double-deck train car-body is required to decide 66 design variables of thicknesses for large aluminum extruded panel while satisfying stress constraints. Design variables are too many and one execution of structural analysis of double-deck train carbody is time-consuming. Therefore, we adopt approximation technique to save computational cost of optimization process. Metamodels such as response surface model (RSM) and kriging model are used to approximate model-based optimization is described. RSM is easy to obtain and expressed explicit function, but this is not suitable for highly nonlinear and large scaled problems. Kriging model employs an interpolation scheme and is developed in the fields of spatial statistics and geostatistics. Target of this design is to find optimum thickness of AEP to minimize weight of doulbe-deck train carbody. In this study, meta model techniques are introduced to carry out weight minimization of a double-deck train car-body.