• 로봇학회논문지
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• 제14권1호
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2008년도 추계학술대회 논문집
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• pp.218-221
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• 2008

Hot Press Forming (HPF), an advanced sheet forming method in which a high strength part can be produced by forming at high temperature and rapid cooling in dies, is one of the most successful forming process in producing components with complex geometric shape, high strength and a minimum of springback. In order to obtain effectively and accurately numerical finite element simulations of the actual HPF process, the flow stress of a boron steel in the austenitic state at elevated temperatures has been investigated with Gleeble system. To evaluate the formability of the thermo- mechanical material characteristics in the HPF process, the FLDo defined at the lowest point in the forming limit diagrams of a boron steel has been investigated. In addition, the simulation results of thermo-mechanical coupled analysis of an automobile one-piece lower-arm part are compared with the experimental ones to confirm the validity of the proposed simulations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.92-95
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• 2004

This study proposes an industrial rehabilitation robot system which can exercise two joints in 3 dimensional spaces. The robot kinematics analysis and the results of studies on each joint for the rehabilitation robot could verify possibility of rehabilitation motion to exercise a joint. The force and torques sensor not only measures a rehabilitation performance of subjects between the abnormal limb and the manipulator, but also carries out an important function of safety device to prevent accidents. Also, limit sensors and emergency stop switch are used for high safety in this system. In this real test, the possibility of rehabilitation robot system is evaluated by C&R ARM I which is similar to upper-limb.

• 대한기계학회논문집B
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• 제20권7호
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• pp.2367-2374
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• 1996

A generalized Scheil equation for the solute redistribution in the absence of the back diffusion during the dendritic solidification of binary alloys is derived, in which coarsening of the secondary dendrite arms is taken into account. The obtained equation essentially includes the original Scheil equation as a subset. Calculated results for typical cases show that the coarsening affects the microsegregation significantly. The eutectic fraction predicted for coarsening is considerably smaller than that for fixed arm spacing. The most important feature of the present equation in comparison with the Scheil equation lies in the fact that there exists a lower limit of the initial composition below which the eutectic is not formed. Based on the generalized Scheil equation and the lever rule, a new regime map of the eutectic formation on the initial composition-equilibrium partition coefficient plane is proposed. The map consists of three regimes: the eutectic not formed, conditionally formed and unconditionally formed, bounded by the solubility and diffusion controlled limit lines.

• Journal of Advanced Research in Ocean Engineering
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• 제4권3호
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• pp.115-123
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• 2018

This study was carried using the new approach method to design appropriately the Loading Arm length and the alarm setting according to ship movements on Loading and Unloading marine Berth. The quasi-static mooring analysis was performed to estimate 110,000DWT ship's movements based on environmental conditions such as wind, current and wave. The mooring motion of the ship is very important to determine the loading arm scope, and in this case, the operation condition is performed on the ship without considering the damaged condition of the mooring line because the ship movement in case of damage is larger than intact, and all operations are stopped, the loading arm being released due to control system. From the result of mooring analysis, motion displacements, velocities and accelerations were simulated. They were used to simulate the maximum drifting speeds and distances. The maximum drifting speeds were checked to be satisfied within drifting speed limits. The total maximum drifting distances were simulated with alarm steps of the new approach method. Finally, the loading arm envelopes using the total maximum drifting distances were completed. Therefore, it was confirmed that the new approach method for loading arm envelopes and alarm settings was appropriate from the above results. In the future, it will be necessary to perform the further advanced dynamic mooring analysis instead of the quasi-static mooring analysis and to use the precise computer program analysis for various environments and ship movement conditions.

• 한국정밀공학회지
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• 제19권9호
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• pp.125-132
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• 2002

We use a compound-cam twin arm structure and random tool access method to achieve a faster ATC (Automatic Tool Changer) system for the accurate position and rotation control of a tool magazine and an exchange am. Based on the data obtained from various sensors, it is possible to follow the sequence of commands in each control step for an exchange arm. However, it is not so easy to reduce the exchange time of the system because of the slow responses of the sensors and execution mode delays of PLC (Programmable Logic Controller) scan time. In this paper, we propose a new programmed limit-switch position control method to obtain the shortest possible delays for the random tool access method and compound-cam twin arm structure. With some experimental results, we have achieved below 0.9sec tool exchange time with the proposed method.

• 로봇학회논문지
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• 제15권4호
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• pp.398-403
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• 2020

Robot's throwing control is difficult to accurately calculate because of air resistance and rotational inertia, etc. This complexity can be solved by using machine learning. Reinforcement learning using reward function puts limit on adapting to new environment for robots. Therefore, this paper applied deep reinforcement learning using neural network without reward function. Throwing is evaluated as a success or failure. AI network learns by taking the target position and control policy as input and yielding the evaluation as output. Then, the task is carried out by predicting the success probability according to the target location and control policy and searching the policy with the highest probability. Repeating this task can result in performance improvements as data accumulates. And this model can even predict tasks that were not previously attempted which means it is an universally applicable learning model for any new environment. According to the data results from 520 experiments, this learning model guarantees 75% success rate.

• 소성∙가공
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• 제26권5호
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• pp.293-299
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• 2017

In this paper, finite element stamping analysis was carried out for the front lower arm to examine the applicability of solid element with damage theory to predict shear fracture phenomena induced by sheared edge as well as deformation mechanisms. Mechanical properties related to deformation and damage theory were determined from tensile test. Shear fracture was predicted by normalized Cockcroft-Latham model with initial imposition of the damage value along the sheared edge. Simulation results illustrated that the analysis with solid element and damage theory predicted edge profile, strain distribution, and forming load more accurately than the analysis with shell element. Simulation with solid element can also predict the shear fracture more exactly comparing to analysis with shell element and forming limit curve.

• 한국지능시스템학회논문지
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• 제25권6호
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• pp.578-584
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• 2015

본 연구에서 자동화된 기립 및 복귀 시스템이 적용된 직립주행이 가능한 이동로봇용 구동 플랫폼이 개발되었다. 종래 대부분의 이동로봇은 정역학적으로 안정된 평면형의 4륜 혹은 3륜 구동형으로 구성되어 있는데, 이러한 형태의 이동로봇은 방향 전환을 위해서 독립구동형 혹은 조향형 차륜을 갖추고 있다. 이동로봇이 매우 협소한 지형에서 직각으로 굽은 통로를 주행할 때, 이동로봇은 전후진을 반복하는 등 복잡한 조향동작을 필요로 하거나, 극단적인 경우, 물리적인 조향이 불가능한 경우에 처하게 된다. 직립주행이 가능한 이동로봇은 점유면적이 작은 직립된 상태로 몸체의 형상을 변형시켜 해당 지형을 원활하게 통과할 수 있다. 본 연구에서 기립(복귀)동작, 확인동작, 평형제어 순으로 각 단계가 수동으로 조작되었던 기립제어 단계가 몸체의 기울기 각도 검출로 자동화되어, 단일 자동제어로 조작되는 차륜형 역진자 시스템이 제안되었다.

• Journal of Electrical Engineering and Technology
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• 제12권1호
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• pp.317-328
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• 2017

This paper presents design and specific absorption rate analysis of a 2.4 GHz wearable patch antenna on a conventional and electromagnetic bandgap (EBG) ground planes, under normal and bent conditions. Wearable materials are used in the design of the antenna and EBG surfaces. A woven fabric (Zelt) is used as a conductive material and a 3 mm thicker Wash Cotton is used as a substrate. The dielectric constant and tangent loss of the substrate are 1.51 and 0.02 respectively. The volume of the proposed antenna is $113{\times}96.4{\times}3mm^3$. The metamaterial surface is used as a high impedance surface which shields the body from the hazards of electromagnetic radiations to reduce the Specific Absorption Rate (SAR). For on-body analysis a three layer model (containing skin, fats and muscles) of human arm is used. Antenna employing the EBG ground plane gives safe value of SAR (i.e. 1.77W/kg<2W/kg), when worn on human arm. This value is obtained using the safe limit of 2 W/kg, averaged over 10g of tissue, specified by the International Commission of Non Ionization Radiation Protection (ICNIRP). The SAR is reduced by 83.82 % as compare to the conventional antenna (8.16 W/kg>2W/kg). The efficiency of the EBG based antenna is improved from 52 to 74 %, relative to the conventional counterpart. The proposed antenna can be used in wearable electronics and smart clothing.