• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.5
• /
• pp.343-354
• /
• 2020

Bi-stable mechanism is a system that has two different stable equilibrium positions within its range of motion. It has an ability to stay in two different positions without external power input and despite small disturbances. One of the most bi-stable applied mechanism is a morphing system, such as deployable structures, switch systems, and robot grippers. However, due to the complexity of mechanism and limitation of structure configuration, it is difficult to apply on a morphing system with rotating link mechanism. In this paper, an implementation method of rotational bi-stable mechanism using cylindrical permanent magnets is proposed. The magnetic field and the magnetic force were calculated from electromagnet model of the cylindrical permanent magnet. Based on the model, the force relation between two links containing the cylindrical permanent magnets was estimated. An array of cylindrical permanent magnets was selected for symmetric bi-stability, and an experiment on the link structure with the proposed bi-stable mechanism was performed to investigate the stability against a external torque.

• Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
• /
• 2001.11a
• /
• pp.45-45
• /
• 2001

종이 표변에 전분 사이징을 하는 목적은 종이가 액체에 대하여 침투저항성을 부여하 여 종이의 인쇄적성을 향상시키며 아울랴 종이의 표면적성과 종이강도 등의 물리적 특 성을 향상시키기 위해서 사용된다. 표면 사이징은 기본적으로 종이 표면에 전분을 이용 한 필름을 형성하여 종이 표면의 공극크기를 줄여 인쇄잉크 등과 같은 액체의 침투속 도를 늦여준다. 현재 국내에서 널리 사용되는 표면 사이징용 전분으로는 산화전분과 자 가변성용 일반전분이 있다. 자가변성용 전분은 효소나 APS로 전분의 chain 길이를 적 당한 점도로 잘라주는 것으로 전분 호액의 노화가 쉽게 일어나는 경향이 있다. 산화전 분은 전분회사에서 산화제를 이용하여 전분의 점도를 사용자의 요구에 따라 조절한 것 으로 water holdout이 개선되고 자가변성용 전분보다는 노화 안정성이 개선되지만 종 이 내부로의 칩투가 많이 일어나 전분 필름 강도가 약해지며 표면 강도 향상 효과가 적고 종이의 광학적 특성을 저하시키는 단점을 지니고 있다. 또한 약 10 ~ 20% 정도 사 용되는 파지의 재활용시 펄프 섬유에 흡착되지 않는 전분으로 인해 백수 내의 COD 및 B BOD를 증가시키는 원인이 된다.따라서 본 연구에서는 펄프 섬유와 친화력이 높아 지료 내첨용 지력증강제로 널리 사용되고 있는 양성 전분의 양이온 치환도 및 점도를 사이즈 프레스에 적합하게 조절 하여 백상지 제조업체의 라언에 적용하였다. 결과분석 항목으로는 파지 재활용에 따른 백수내 COD, 칼숨 이온함량 등의 백수 시스템의 변화와 종이의 물리적, 광학적 특성 및 ink jet 용지의 인쇄적성 등을 측정하여 산화전분과 비교하였다. 그 결과 약 20%의 C COD 감소 효과와 10%정도의 OPR 향상 효과를 얻을 수 있었다. 종이 물성의 경우 인 장강도와 뺏뺏이(stiffness) 및 지분 등을 측정한 결과 산화전분 보다 향상되었다. 특히 지분의 경우, 참여한 회사의 지분관련 complain이 약 80% 정도 감소하는 결과를 나타 내었다. 또한 백상지의 경우 ink jet 프린터에 많이 사용됨으로 ink jet 프린터의 인쇄 적성을 image analyzer로 측정한 결과 산화전분 보다 향상된 결과를 나타내었다.

• KIPS Transactions on Software and Data Engineering
• /
• v.10 no.5
• /
• pp.179-186
• /
• 2021

Manipulation of complex objects with an anthropomorphic robot hand like a human hand is a challenge in the human-centric environment. In order to train the anthropomorphic robot hand which has a high degree of freedom (DoF), human demonstration augmented deep reinforcement learning policy optimization methods have been proposed. In this work, we first demonstrate augmentation of human demonstration in deep reinforcement learning (DRL) is effective for object manipulation by comparing the performance of the augmentation-free Natural Policy Gradient (NPG) and Demonstration Augmented NPG (DA-NPG). Then three DRL policy optimization methods, namely NPG, Trust Region Policy Optimization (TRPO), and Proximal Policy Optimization (PPO), have been evaluated with DA (i.e., DA-NPG, DA-TRPO, and DA-PPO) and without DA by manipulating six objects such as apple, banana, bottle, light bulb, camera, and hammer. The results show that DA-NPG achieved the average success rate of 99.33% whereas NPG only achieved 60%. In addition, DA-NPG succeeded grasping all six objects while DA-TRPO and DA-PPO failed to grasp some objects and showed unstable performances.

• Proceedings of the KIEE Conference
• /
• 2006.07d
• /
• pp.1995-1996
• /
• 2006

검출기 안내관은 노내 핵계측 계통의 중성자 분포 측정을 위한 이동형 검출기의 이동경로를 제공할 뿐만 아니라 원자로 냉각수 계통의 압력경계를 유지하는 안전성 등급의 중요한 설비이다. 그러나, 인출과 삽입을 위한 검출기 안내관 취급은 의외로 낙후되어 작업자의 인력에만 의존하고 있는 실정이며, 원자로 격납용기 내부에 위치한 고방사선 지역에서 작업이 수행되고 있는 실정이다. 따라서 노내 핵계측 계통의 검출기 안내관의 안정적인 관리를 위해 검출기 안내판을 일정한 힘으로 인출하고 삽입할 수 있는 자동화시스템의 개발이 이루어지고 있다. 전력연구원에서 개발한 안내관 취급기구는 롤러에 의해 안내관을 파지하고, DC 모터 구동에 의해 안내관을 인출하고 삽입하는데, 본 논문에서는 안내관 취급 기구의 제어 시스템 구성과, 롤러와 안내관 사이에 발생하는 슬립을 고려한 제어기 구조를 제안하고, 실험을 통해 구현한 제어 시스템의 효용성을 보인다.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1997.10a
• /
• pp.492-495
• /
• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• Korean Journal of Microbiology
• /
• v.35 no.4
• /
• pp.253-257
• /
• 1999

Effects of polyamines such as cadaverine, putrescine, spermidine and spermine on the self-splicig inhibition of the T4 phage thymidylate synthase(td) intron by spectinomycin have been investrigated. Without polyamine 7mM spectinomycin caused 40% reduction of the splicing rate. Cadaverine reduced the splicing rate over the concentrations of 0.1 to 5 mM. Putrescine at 0.5 mM increased the splicing rate by 13%. Spermidine at 0.5 mM enhanced the splicing rate by 11% while spermine at 0.01 mM enhanced the splicing rate by 16%. Of the all polyamines tested, spermine exhibited the maximum activation effect to counteract the splicing inhibition by spectinomycin. This effect appears to be due to the role of polyamine in stabilizing the conformation of td intron ribozyme essential for the catalytic function.

• The Journal of Korea Robotics Society
• /
• v.15 no.2
• /
• pp.107-114
• /
• 2020

In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.1
• /
• pp.99-104
• /
• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• The Journal of Korea Robotics Society
• /
• v.6 no.3
• /
• pp.220-229
• /
• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.14 no.4
• /
• pp.81-88
• /
• 2005

This paper attempts to derive the dynamic model of handling tasks in finger robot which grasps stable and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, the roblems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. The effect of geometric constraints of area-contacts between the link's end-effector and the object is analyzed and the model based on the differential-algebraic equations is presented. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation and the experiment that the control system gives the performance improvement in the dynamic stable grasping and nimble manipulating of the dual fingers robot with soft tips.