• 로봇학회논문지
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• 제19권3호
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• pp.236-243
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• 2024

This paper introduces a dual manipulator system designed to automate the packaging process of industrial coils, which exhibit higher variability than other structured industrial fields due to diverse commercial requirements. The conventional solution involves the direct-teaching method, where an operator instructs the robot on a target configuration. However, this method has distinct limitations, such as low flexibility in dealing with varied sizes and safety concerns for the operators handling large products. In this sense, this paper proposes a two-step approach for coil packaging: motion planning and assembly execution. The motion planning includes a Rapidly-exploring Random Tree algorithm and a smoothing method, allowing the robot to reach the target configuration. In the assembly execution, the packaging is considered a peg-in-hole assembly. Unlike typical peg-in-hole assembly handling two workpieces, the packaging includes three workpieces (e.g., coil, inner ring, side plate). To address this assembly, the paper suggests a suitable strategy for dual manipulation. Finally, the validity of the proposed system is demonstrated through experiments with three different sizes of coils, replicating real-world packaging situations.

• 한국산업보건학회지
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• 제11권3호
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• pp.190-197
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• 2001

Noise-induced hearing loss(NIHL) was the highest rate (43.5%~58.5% from 1996 to 1998) of positive findings through specific medical program in Korea. There were much more NIHL at workers of automobile manufacturing factories than other manufacturing factories. The specific aim of the present study was to determine the noise exposure of automobile press lines, according to their job titles, press line types(auto, semiauto), dosimeter parameters setting. There were a total 11 press lines sampled at a automobile manufacturing company. Among those press lines, 10 press lines were autolines with acoustic enclosure, one semiauto press line was no aucostic enclosure Noise exposure data were sampled for an work shift using noise dosimeter, which recorded both time-weighted average(TWA) and 1-min average. The mean OSHA TWA(Korea TWA with threshold 90) was $80.7dB(A){\pm}4.7dB(A)$ for leader, $82.8dB(A{\pm}4.5dB(A)$ for pallette man, $76.7dB(A){\pm}4.3dB(A)$ for press operators, $76.6dB(A){\pm}5.6dB(A)$ for crane operators, $77.1dB(A){\pm}2.8dB(A)$ for forklift drivers, whereas the mean NIOSH TWA was $88.9dB(A){\pm}1.7dB(A)$ for leader, $89.6dB(A){\pm}2.1dB(A)$ for pallette man, $86.7dB(A){\pm}1.8dB(A)$ for press operators, $88.5dB(A){\pm}2.0dB(A)$ for crane operators, $87.7dB(A){\pm}1.0dB(A)$ for forklift drivers. While L10 for NIOSH TWA samples was 84.8 dB(A) ~ 87.3 dB(A), L10 for OSHA TWA samples was 69.5 dB(A) ~ 77.4 dB(A). L10 means that the TWA for 90% of the samples exceeded L10. Among OSHA TWA(Korea TWA with threshold 90) samples for pallette man, 7.7 % exceeded 90 dB(A), the OSHA permissible exposure level, but OSHA TWA samples for the other job titles didn't. Among NIOSH TWA samples, the samples over 85 dB(A), the NIOSH recommended exposure limit, was 100% (leaders), 83.3 %(operators), 97.4%(palletteman), 100%(forklift drivers), 91.7 %(crane operator). The results of One-way random effects analysis of variance models shows that the difference between job titles was significant by OSHA TWA(p<0.05), but not significant by NIOSH TWA(p>0.05). NIOSH TWA samples were significantly higher than OSHA TWA samples(P<0.05). Regression analysis was used to obtain relationships between OSHA TWA samples and NIOSH TWA samples. In this case the coefficient of determination = 0.90, which shows the high degree association between two methods. Regression equation, NIOSH TWA = 0.552 * OSHA TWA + 42.13 dB(A), shows that if OSHA TWA is known, NIOSH TWA can be predicted by the equation. The mean TWA difference between threshold 80 dBA and 90 dBA was significant(p<0.01). While the TWA noise exposures were 7.7% above the Korea(OSHA) PEL, they were more than 83.3% over NIOSH REL. Automobile workers were exposed to noise level that could be potentially damaging to their hearing. It found that there is approximately 25% excess risk of hearing loss even if a worker is protected to the PEL in according to NIOSH study.

• 한국산학기술학회논문지
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• 제11권6호
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• pp.2269-2275
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• 2010

유전자 알고리즘은 매개변수와 유전자 연산자 그리고 계획과 같은 다양한 요인들에 의해 영향을 받으며, 전통적인 방법을 통한 문제의 해결은 효율적이지만 전체적으로는 실행 가능성의 문제와 결과의 도출에 걸리는 시간의 문제가 있을 수 있다. 이에 따라 전통적인 유전자 알고리즘은 다양한 방법으로 수정 및 적용되어 질 수 있다. 본 연구는 Travelling Salesman 문제를 해결하기 위해 초기에 정렬된 인자를 사용하여 수정된 유전자 알고리즘을 적용하였다. 본 연구를 통한 접근 방법은 초기 문제의 크기를 줄이며 또한 빠른 복합 수렴을 달성하였다. 또한 제안된 방법은 객체지향 접근을 사용한 시뮬레이터를 통해 테스트 되었고 그 결과는 제안된 방법의 타당성을 입증하였다.

• Asian-Australasian Journal of Animal Sciences
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• 제21권9호
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• pp.1227-1232
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• 2008

Carcass characteristics data of Hanwoo (N = 1,084) were collected from two stations of the National Livestock Institute of Animal Science (NIAS), Korea and records from thirteen individual cow-calf operators were analyzed to estimate variance and covariance components and the effect of different slaughter endpoints. Carcass traits analyzed were cold carcass weight (CWT, kg), REA (rib eye area, cm2), back fat thickness (mm) and marbling score (1-7). Four different models were examined. All models included sex and contemporary group as fixed effects and the animal's direct genetic potential and environment as random effects. The first model fitted a linear covariate of age at slaughter. The second model fitted both linear and quadratic covariates of age at slaughter. The third model fitted a linear covariate of body weight at slaughter. The fourth model fitted both linear covariates of age at slaughter and body weight at slaughter. Variance components were estimated using the REML procedure with Gibb's sampler. Heritability estimate of CWT was in the range of 0.08-0.11 depending on the model applied. Heritability estimates of BF, REA and MS were in the ranges of 0.23-0.28, 0.19-0.26, and 0.44-0.45, respectively. Genetic correlations between CWT and BF, between CWT and REA, and between CWT and MS were in the ranges of -0.33 - -0.14, 0.73-0.84, and -0.01- 0.11, respectively. Genetic correlations between REA and BF, between MS and BF and between REA and MS were in the ranges of -0.82 ~ -0.72, 0.04~0.28 and -0.08 ~ -0.02, respectively. Variance and covariance components estimated varied by model with different slaughter endpoints. Body weight endpoint was more effective for direct selection in favor of yield traits and body weight endpoints affected more of the correlated response to selection for the traits of yield and quality of edible portion of beef.

• 방사성폐기물학회지
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• 제10권2호
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• pp.87-96
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• 2012

원자력시설 유지보수 및 해체시 다관절 매니퓰레이터 이상동작에 대한 작업자의 반응특성과 안전속도 수준을 다루고 있다. 매니퓰레이터 팔의 속도, 오류 가능성, 오류 형태와 같은 여러 가지 작업 조건에 따라 작업자의 반응시간, 고장 경보(false alarm), 실패(miss) 횟수 등에 대한 작업자의 반응 특성을 분석하였다. 매니퓰레이터 팔의 속도와 이상동작 형태는 반응시간에 영향을 주지만, 이상동작 가능성에 영향을 미치지 않았고, 두 요인 이상의 교호작용은 대체로 영향이 없었다. 매니퓰레이터 팔의 속도변화에 따른 반응시간 특성은 이상동작 형태에 따라 다르지만 대체로 약간 증가하는 추세를 보였다.

• 정보처리학회논문지:소프트웨어 및 데이터공학
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• 제2권5호
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• pp.347-352
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• 2013

임펄스 잡음 제거 기법들에서 윈도우의 크기는 매우 중요한데, 보통 잡음의 밀도에 따라 적당한 크기의 윈도우를 사용한다. 이때 윈도우가 너무 작으면 잡음을 충분히 제거하지 못하며, 너무 크면 영상 내의 에지나 미세한 형태를 제대로 복원하지 못하고 흐릿하게 만들 수 있다. 또한 잡음이 있는 중앙 화소를 복원하기 위해 이러한 윈도우 내의 모든 화소들이 이용된다. 본 논문에서는 이러한 기존 방법과 달리 작은 크기의 윈도우를 사용하고 잡음이 없이 깨끗한 화소만을 사용하여 임펄스 잡음을 제거하는 새로운 반복적인 알고리즘을 제안한다. 제안된 방법은 모든 잡음 화소가 새로 계산된 추정치로 대체될 때까지 반복된다. 잡음 화소에 대해 최적의 값을 유추하기 위해 제안된 방법에서는 무잡음 화소를 이용한 유전자 프로그래밍 (GP) 기반의 추정자를 제안하는데, 이것은 윈도우 내의 무잡음 화소와, 산술 연산자 및 랜덤 상수들로 이루어진다. 실험을 통해 제안된 방법이 영상 내의 미세한 형태들을 잘 유지하면서 임펄스 잡음을 효과적으로 제거할 수 있음을 알 수 있었는데, 특히 심하게 잡음이 가해진 데이터의 복원에 매우 효과적임을 알 수 있었다.

• 지식경영연구
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• 제20권3호
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• pp.173-193
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• 2019

Reward-based crowdfunding is a funding platform that allows funds to be raised to early operators who have lack of funds, and is seen as an outstanding infrastructure that is going to lead the fourth industrial revolution in that it is a field of realization of new technologies and creative ideas by start-ups. Reward-based crowdfunding has grown in line with the trend of the fourth industrial revolution, and funding success cases are taking place in various industries that culture/art to technology/IT, including as a new means of knowledge management in a rapidly changing industrial environment. The study focused on the fact that consumer's donation purposes may also vary depending on the category of projects classified as reward-based crowdfunding. Because consumer payment decisions and motivation of consumer purchasing behavior are classified according to the purpose of purchase, the previous papers that the goal gradient effect that the main motivation of consumer donation for reward-based crowdfunding introduced vary depending on project category of utilitarian and hedonic. In this study, consumer's daily donation data is collected by Indiegogo which is a leading reward-based crowdfunding company using web-crawling and the model was defined as propensity score matching (PSM) and random effect model. The results showed that the goal gradient effect occurred in utilitarian project category, but no goal gradient effect for the hedonic project category. Furthermore, this paper developed the study of motivation of consumer donation and contributes theoretical foundation by the results consumer donation may vary depending on the project category; also, this paper has implications for an effective marketing strategy depending on the project category leaves real meaning to the projector.

• 국제학술발표논문집
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• The 8th International Conference on Construction Engineering and Project Management
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• pp.463-481
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• 2020

Cutter suction dredgers (CSDs) are widely used in various dredging constructions such as channel excavation, wharf construction, and reef construction. During a CSD construction, the main operation is to control the swing speed of cutter to keep the slurry concentration in a proper range. However, the slurry concentration cannot be monitored in real-time, i.e., there is a "time-lag effect" in the log of slurry concentration, making it difficult for operators to make the optimal decision on controlling. Concerning this issue, a solution scheme that using real-time monitored indicators to predict current slurry concentration is proposed in this research. The characteristics of the CSD monitoring data are first studied, and a set of preprocessing methods are presented. Then we put forward the concept of "index class" to select the important indices. Finally, an ensemble learning algorithm is set up to fit the relationship between the slurry concentration and the indices of the index classes. In the experiment, log data over seven days of a practical dredging construction is collected. For comparison, the Deep Neural Network (DNN), Long Short Time Memory (LSTM), Support Vector Machine (SVM), Random Forest (RF), Gradient Boosting Decision Tree (GBDT), and the Bayesian Ridge algorithm are tried. The results show that our method has the best performance with an R² of 0.886 and a mean square error (MSE) of 5.538. This research provides an effective way for real-time predicting the slurry concentration of CSDs and can help to improve the stationarity and production efficiency of dredging construction.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제16권4호
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• pp.421-426
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• 2010

무선 메쉬 네트워크는 쉬운 설치와 향상된 커버리지로 인해 많은 관심과 연구가 진행되고 있다. 예를 들면 메쉬 네트워크에서 throughput을 향상시키는 라우팅 프로토콜에 관한 연구나, 메쉬 링크의 품질을 측정하는 방법 등 다양하다. 하지만 이러한 연구들 중 대부분은 메쉬 라우터의 위치가 고정되어 있다고 가정한다. 하지만 실내 메쉬 네트워크의 경우 관리자가 메쉬 네트워크를 독점적으로 관리하기 때문에 설치 시에 메쉬 라우터를 설치할 위치를 마음대로 결정할 수 있다. 따라서 처음부터 메쉬 네트워크의 성능을 고려하여 메쉬 라우터를 설치하는 것은 성능향상에 필수적이다. 이 논문에서는 유전자 기반 최적화 알고리즘을 바탕으로 메쉬 네트워크의 특성 (간섭, 패킷 전달 토폴로지 등)을 고려한 메쉬 라우터 위치선정 기법을 제시한다. 기존에 메쉬 네트워크는 아니지만 다양한 무선 내트워크에서 기지국이나 AP등을 설치하는 문제가 연구되었고, 메쉬 네트워크의 고정된 메쉬 라우터 집합에서 게이트웨이를 선택하는 문제등이 연구되었지만, 메쉬 라우터의 위치를 선택하는데 있어서, 메쉬 라우터들의 위치나 메쉬 라우터 상에서의 패킷 전송 토폴로지에 의한 간섭을 고려한 연구는 없었다. 다양한 시뮬레이션을 통해 이 논문에서 제시된 기법이 랜덤 선택 기법에 비해 30-40%의 향상을 달성하였음을 보였다.

• The Korean Journal of Ecology
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• 제24권2호
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• pp.101-109
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• 2001

We created an environmental forest on the basis of ecological design around the incineration plant of Jindo Engineering and Construction Co., Ltd., which is located in Jeongwang-dong, Siheung-si, Kyunggi-do. To get ecological information of this site, physico-chemical properties of soil on salt marsh, which is located close to the syudy site and of forest soil transported from other sites for ecological restoration were analyzed. Texture of salt marsh and transported soils were loam and sandy loam, respectively. pH, organic matter, T-N, available P, and exchangeable K and Na contents of salt marsh and transported forest soils were 6.7 and 5.4, 4.1 and 0.4%, 1.0 and 0.3mg/g, 46.7 and 6.8ppm, 521 and 207ppm, and 3.8 and 0.5mg/g, respectively. Introduced plants were selected among the dominant species of forests and the species composing the potential natural vegetation around the present study site. Those plants were selected again by considering the tolerances to air pollution and to salt, and their availability. Selected trees were Pinus thunbergii, Sophora japonica, Celtis sinensis, Quercus aliena, Q. serrata, Q. dentata, and Q. acutissima. Selected sub-trees were Albizzia julibrissin, Koelreuteria poniculata, and Styrax japonica and shrubs were Rhododendron yedoense var. poukhanense, R. mucronulatum, Callicarpa japonica, Euonymus alatus, E. japonica, and R. schlippenbachii. On the other hand, introduction of herbs was not considered except for Liriope platyphylla, which was ornamentally planted in one site. Planting bed of mound type was adopted to provide the fine drainage system. Mound was designed to furnish litter, A, B, and C layers simuating the profile of forest soil. Slope of mound was mulched by rice straw of 2cm in thickness to prevent for sliding of litter and soil in cases of strong wind or heavy rain. Height of mound was designed to secure more than 1 m by combining A and B layers. Narrow zones, in which mound with stable slope degree cannot be prepared, was designed to equip the standard soil depth with the introduction of stone for supporting. On the other hand, plants with shallow root system were arranged in some zones, in which satisfactory soil depth cannot be ensured. Plants were arranged in the order of tree, sub-tree, and shrub from center to edge on the mound to make a mature forest of a dome shape in the future. Dispersion of plants was designed to be random pattern rather than clumped one. Problems on creation of the environmental forest by such ecological design were found to be management or inspection by non-specialized project operators and inspecting officers, and regulations for construction without ecological background. Alternative plans to solve such problems were suggested.