• 유공압시스템학회논문집
• /
• 제4권2호
• /
• pp.1-6
• /
• 2007

During the last few decades, excavation automation has been investigated to protect the operator from the hazardous working environment and to relieve the cost of the skilled operator. Therefore, a number of modelling and controller design methods of the hydraulic excavator are proposed in many literatures to realize the excavation automation. In this article, a geometric approach far the multi-body system modeling is adopted to develop the excavator mechanism model that contains 4 kinematic loops and 12 links. Considering a simple soil mechanism model with a number of uncertain soil parameters, an adaptive trajectory tracking control strategy based on the developed excavator model is proposed. The improved performance of the designed controller over the simple PID controller is validated via the simulation study.

• 한국정밀공학회지
• /
• 제27권12호
• /
• pp.48-58
• /
• 2010

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.

• 환경영향평가
• /
• 제9권2호
• /
• pp.155-161
• /
• 2000

Environmental impact assessment(EIA), the only preventive system to manage development projects destroying the nature and ecosystem systematically, has been accomplished since the late 1970. EIA connotes intrinsic limits predicting uncertain future with the aid of present data. Furthermore, EIA has been used as not decision-making tools but regulatory means. Therefore, EIA has been criticized severely. In order to present direction of development of EIA, we analyzed problems of management of EIA, and concluded measures as follows are needed. 1. Control of investigation of environmental impact statements 2. Development of evaluating methods and publication 3. Fostering of institute for research and investigation of EIA 4. Construction of harmony of environment and development 5. Upgrade of state of proxy executing EIA.

• 한국정밀공학회지
• /
• 제15권8호
• /
• pp.156-164
• /
• 1998

IMS is a more advanced manufacturing system than FMS. However, IMS do not have sufficient performance for the work in the various and uncertain environment, because of the difficulty of the work and occurrence of the unexpected condition. If IMS is hard to work properly, teleoperation system can support it by using the human's consideration and judgment. The master mechanism is a basic component of the teleoperation system and the development of the useful one is important for efficiency of the work. A master mechanism of exoskeleton type can increase the work efficiency, mobility and harmony between a working robot and an operator. This paper describes an arm-harness of exoskeleton type, which is able to drive a robot according to judgment. This device is applied to a robot system for evaluating the system performance through the experiment.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2002년도 추계학술대회 논문집
• /
• pp.554-557
• /
• 2002

This paper describes power potential field method for the collision-free path planning of stereo-vision based mobile robot. Area based stereo matching is performed for obstacle detection in uncertain environment. The repulsive potential is constructed by distributing source points discretely and evenly on the boundaries of obstacles and superposing the power potential which is defined so that the source potential will have more influence on the robot than the sink potential when the robot is near to source point. The mobile robot approaches the goal point by moving the robot directly in negative gradient direction of the main potential. We have investigated the possibility of power potential method for the collision-free path planning of mobile robot through various experiments.

• 대한안전경영과학회지
• /
• 제5권2호
• /
• pp.155-164
• /
• 2003

In this regard, the newly focused logistics information system makes reducing the expenses of whole logistic available by cutting down the expenses of materials, transportation and stock and also, it allows the company to cut down the procurement expense through the reduced lead-time and rationalize producing plans by eliminating the uncertain orders and fluctuation in procurement. It further more optimizes the efficiency of over all productions by meeting the dead line for delivery to the customers. In the recent environment of globalization where fierce competitions exist between manufacturers, logistics plays important role in the strategies of companies, and managements of companies try their best efforts in establishing the strategy to accomplish the innovative relationship between supply chain channels. Therefore, in this study, we try to suggest the model of consolidated logistics system that is integrated logistics information system with suggesting the better way of logistics and comparative analysis with logistics system to resolve the difficulties numbers of companies face after realizing what logistics information system is in Korea.

• 대한안전경영과학회:학술대회논문집
• /
• 대한안전경영과학회 2003년도 추계학술대회
• /
• pp.93-96
• /
• 2003

In this regard, the newly focused logistics information system makes reducing the expenses of whole logistic available by cutting down the expenses of materials, transportation and stock and also, it allows the company to cut down the procurement expense through the reduced lead-time and rationalize producing plans by eliminating the uncertain orders and fluctuation in procurement. It further more optimizes the efficiency of over all productions by meeting the dead line for delivery to the customers. In the recent environment of globalization where fierce competitions exist between manufacturers, logistics plays important role in the strategies of companies, and managements of companies try their best efforts in establishing the strategy to accomplish the innovative relationship between supply chain channels. Therefore, in this study, we try to suggest the model of consolidated logistics system that is integrated logistics information system with suggesting the better way of logistics and comparative analysis with logistics system to resolve the difficulties numbers of companies face after realizing what logistics information system is in Korea.

• 대한안전경영과학회:학술대회논문집
• /
• 대한안전경영과학회 2004년도 춘계학술대회
• /
• pp.61-65
• /
• 2004

As technique that can contribute in quality improvement in design process to overcome shortcoming of traditional quality control, call design or development department quality control activity that is achieved to reduce gun damage shuddering at circle minimizing change or side effect of product performance as off-line quality control. This paper discuss optimal process design of investment projects expansion and replacement investment on each line or individual in the production. Generally optimal plant design has add to a few method by Subsidiary means with use a especial method. And then in this paper, a Robust design is presented, which may be effective to the processes appraisal or improvement. We propose that should make a optimal plant design model for reducing field failure rate to assign by real data on different factors in plant system. Using this model, robust design of taguchi method used in this comprehensive method for reducing field failure rate in plant system.

• 제어로봇시스템학회논문지
• /
• 제22권11호
• /
• pp.883-887
• /
• 2016

Navigating an unknown environment is a challenging task for a robot, especially when a large number of obstacles exist and the odometry lacks reliability. Pose tracking allows the robot to determine its location relative to its previous location. The ICP (iterative closest point) has been a powerful method for matching two point clouds and determining the transformation matrix between the maps. However, in a situation where odometry is not available and the robot moves far from its original location, the ICP fails to calculate the exact displacement. In this paper, we suggest a method that is able to match two different point clouds taken a long distance apart. Without using any odometry information, it only exploits the features of corner points containing information on the surroundings. The algorithm is fast enough to run in real time.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 2000년도 춘계학술대회 학술발표 논문집
• /
• pp.191-194
• /
• 2000

최근의 삼풍백화점 붕괴사고 및 성수대교사고 등 대형사고의 원인을 살펴보면 건물의 안전진단 미비와 구조물의 안전관리 진단판정미비로 건축물의 붕괴를 예측하지 못한 결과이다. 이는 모든 불확실 시스템의 상태를 적당한 항목으로 판정 정규화한 계수값으로 나타내어 예방하지 못한 결과이다. 비단건축물 시스템뿐 아니라 실존 가시물(可視物)과 비가시물(悲歌視物)에 대해서도 비결정 상황의 상태표시계수를 예측하여 정규값으로 나타낼 필요가 있다. 즉, 교통도로의 교통량 특정, 통신신호의 수신율 측정 등을 최적화 예측할 수가 있게된다. 본 논문에서는 환경 및 시스템 출력값에 표시하여 어떤 결과를 가져오는지 확인하기 위하여 평면 상의 임의의 데이터의 조합으로부터 특정 데이타를 선택 최적화하는 과정을 실험화 하였다.