• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• 한국의류학회지
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• 제26권7호
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• pp.993-1004
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• 2002

This study was designed to examine the aesthetic characteristics of traditional wedding dress in Japan based on the internal$.$external aesthetics. They were extruded external and internal aesthetics based on pattern, color and fitting. The results of this study can be summarized as follows; Decorative characteristics in external aesthetics extracted into three factors; fantasticism, movement, amusement. The fantasticism was based on the omitted pattern, painting gold. The movement was presented through irregular composition, fitting method, and silhouette. The amusement was expressed through the composition focus on a near view and pattern reminded of bring up the image. Fitting characteristics in external aesthetics extracted into four factors; grace, cubic effect, optical illusion, and tradition. The pace was expressed through the weight, formativeness, and layered look The cubic effect was presented through spacing of belt and H-line silhouette. The optical illusion was based on the straight line of seam, V-pleats and straight silhouette of fitting, and high-waisted belt. The tradition expressed through the unchanged form since Heian-dynasty. Internal aesthetics were characterized by the naturalism and the moderation. The naturalism was presented through the natural pattern which based on subjective feeling, indignity and position of wearing man, and color based on taste. The necessaries, or pressed artificial moderation, were expressed through the clothing silhouette by simplicity.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1841-1846
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• 2003

The mobile platform-manipulator discussed in this paper is a three link manipulator mounted on a mobile platform. This mobile manipulator is used for welding operation and it is able to operate in a narrow space. The task of the torch, which is mounted at the end effector of the manipulator, is to track along the seam line and the task of the mobile platform is to move the origin point of the manipulator in order to go away from the singularity of the manipulator’s configuration. In this paper, the path planning for the motion of two subsystems (i.e., the manipulator and the mobile platform) was presented by the decentralized control method. Two controllers for the mobile platform and the manipulator were designed, and the relationship between the independent controllers is its state information. The simulation results are also presented to demonstrate the effectiveness of the control method.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2000년도 봄 학술발표회 논문집
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• pp.117-124
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• 2000

This paper presents the construction planning and the detail design of a 16.2 km long railroad tunnel in a mountainous area. Major design conditions for railroad are the single track, loop-typed alinement, and a maximum grade of 24.5$\textperthousand$. A underground station(double track) with a length of 1.1km is located in the middle of the line for train cross-passing. Tunnel is excavated in highly complex geological conditions including faulted areas, abandoned mine works areas, and various rock types such as sandstone, shale, limestone, and coal seam partly. Drilling and blasting method was adopted because it is more flexible than TBM(Tunnel Boring Machine) as a result of risk assessment for geological conditions in this area. Two working adits were planned to adjust the construction schedule and can be used for ventilation and maintenance in operation phase. New material and concept were introduced to the tunnel drain design. They are expected to improve tunnel drain condition and capability. Rational tunnel support design was tried to consider the various tunnel size and purpose and to use the geological investigation results.

• 복식
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• 제20권
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• pp.49-62
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• 1993

The purpose of this research was to utilize of Pattern Design System(P.D.S) by using AM-300 The conclusion were like these : 1. A coat of basic pattern was selected by design sketch. 2. The basic pattern was input into computer by digitizing. 3. The basic pattern was change into designed shape by using various skills. This system were enabled to draw straight lines, curves, delete lines, sections of lines, extend lines, cut pattern into sections, measure line or section reproduce whole pattern shape of section, rotate and mirror pattern and complete patterns. 4. Automatic grading of finished master pattern have been developed by creation and modification of grading rules of basic pattern. 5. Production pattern added seam allowance, not-ches was generated by P.D.S menu option. 6. Finished pattern design was plotted out 100% and 20% size by AM-300 Plotter. This results will be the basic materials to develop the CAD SYSTEM if some problems were improve. Furthermore, the utilization of P.D.S is expected to be developing in pattern making process.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2009년도 추계학술대회 논문집
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• pp.135-138
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• 2009

Quality evaluation of laser welded MCFC separator panels with large active area was performed. Lap joint was applied to produce stable air-tight seam weld by employing Nd:YAG laser. Results showed that surface contamination played a key role to form weld defects at the joint interface. However, there was no evidence that weld width at the lap joint changed after the stack operation time of 2,890h. Test results also revealed that the reinforcement values which were measured on the weld line after long time operation, were stable.

• 한국레이저가공학회:학술대회논문집
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• 한국레이저가공학회 2005년도 춘계학술발표대회 논문집
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• pp.3-8
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• 2005

The robot systems are widely used in the welding manufacturing. The essential tasks to operate the welding robot are the acquisition of the position and/or shape of the parent metal. For the seam tracking or the robot automation, many kinds of contact and non-contact of the system which monitors the shape of the welding part is described. This system uses the line-type structured laser diode and the visual sensor. It includes the correction of radial distortion which is often found in the image from the camera with short focal length. Direct Linear Transformation (DLT) is used for the camera calibration. The three dimensional shape of the parent metal is obtained after simple linear transformation. Therefore, the system operates in real time. Some experiments are carried out to evaluate the performance of the developed system.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2005년도 추계학술발표대회 개요집
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• pp.138-140
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• 2005

Plasma arc welding(PAW) technology is a proven process that has already been adopted by other industrial fields and recently has been considered to join the tank structure of LNG carrier. The purpose of this study is to introduce PAW process for the root welding of stainless steel pipes instead of TIG welding. There are distinctive features of the PAW compared to TIG welding; higher energy density that can increase welding speed by more than twofold, and longer arc length that can be controlled to trace seam line easily because of allowable gap between workpiece and torch. However, PAW process is also very sensitive to the root gap and misalignment due to the characteristics of long and narrow arc shape. So, we have done various experiments to establish the allowable fit-up condition by changing welding parameters including arc length, with or without filler metal, groove shape, and obtained satisfactory result.

• Journal of Welding and Joining
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• 제14권4호
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• pp.7-15
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• 1996

아크 용접 공정을 자동화하고 무인화하는 것은 용접 품질향상 및 생산성 향상 에 기여할 뿐만 아니라 용접숙련공의 감소문제에도 대처할 수 있기 때문에 중요한 것이라 생각된다. 그것을 위해 아크용접 분야에도 로봇의 도입이 급격히 증가하고 있는 추세이다. 그러나 현재 현장에 도입된 로봇은 주로 off-line으로 그 기능을 수행 하고 있기 때문에 생산성 향상 및 용접 품질향상 면에서 그 기능을 충분히 발휘하고 있지 못하고 있는 실정이다. 이런 단점을 극복하기 위해서는 센서의 도입과 그것을 이용하여 용접시스템을 퍼드백 루프로 구성할 필요가 있고 용접선 추적(seam tracking), 용융지 형상제어, 아크 길이 제어 등은 그 예라고 할 수 있다. 본논문에서 는 그동안 국내에서는 심도있게 취급되지 않았던 용융지 형상 제어시스템과 그것을 구성하기 위해 많이 사용되고 있는 비전센서에 관하여 서술한다.

• 한국의상디자인학회지
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• 제18권1호
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• pp.169-181
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• 2016

This study analyzed the characteristics and patterns of men's drawers panties to get basic data for their design. For this, drawers panties in 7 different brands (4: domestic brands, 3: imported brands) in terms of a front-center shape were collected, and the shape of men's drawers panties, characteristics of the materials, dimensions & type of patterns by the part and front-center patterns were analyzed. The study results found the followings: First, in terms of the shape of men's drawers panties, the front-center part were designed to rest the penis and scrotum in a natural and comfortable manner without a pee slit. They were seamless on the sides except for one product with side seams. Second, the drawer panties were made of elastic polyurethane materials. Specifically, domestic brand items used warm, elastic and durable nylon, polyester and rayon and polyurethanes while imported brands were mostly made of absorbent and sanitary polyurethanes. Third, regarding a size of drawer panties by part, imported brands were large in waist circumference. In terms of waist breadth at the front center, there was difference depending on an oval type. In addition, the front length at the front center differed by product, revealing difference in three-dimensional effect at the front center. The side length also differed greatly by product, which means that there might be a great difference in wear comfort. Fourth, in terms of the patterns of men's drawers panties, there was difference in side seams, center back seam and front-center patterns. Among a total of 7 products, only one product had side seams, and center back seams were found in two products only. Fifth, in terms of front-center patterns, the drawer panties can be divided into three types, creating three-dimensional effect not to give any pressure on the crotch: i) the cutting line only at the bottom of the front center part where the penis is rested, ii) puff created at the front center by adding a transverse line to the center line, iii) cutting transverse line to separate the penis from the testicles.