• Journal of the Korean Society for Precision Engineering
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• v.13 no.3
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• pp.34-41
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• 1996

This work deals with finding a suitable position correction algorithm of industrial robot based on measuring particular points, which calculates two dimensional correction quantities and the must allow visually acceptable door-chassis assembly task. Three optimizing algorithms corresponding to three differ- ent error based performance indices are compared and selected to the best one, in terms of the predefined total uniformity, line uniformity and computational time. The selected algorithm(Total Error Minimization) is implemented for a simple door-chassis model to show its effectiveness.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.8
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• pp.37-43
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• 2018

A developer solves problems with isolating failures if faults are detected when inspecting missiles using the missile assembly test set (MATS) and then resumes the testing. In order to identify faults, it is necessary to analyze the data coming from the equipment, but the information received may not be sufficient, depending on the inspection environment. In this case, the developer repeats the test until the problem is reproduced or checks the performance of each piece of equipment that is related to the fault. When this task is added, schedule management becomes problematic, and development costs rise. To solve this problem, we need to design a MATS in a systematic way to increase fault coverage while satisfying the required reliability. By designing the necessary processes for each procedure, it is possible to reduce the fault identification time when a fault is detected during operations. But it is not possible to guarantee 100% fault coverage, so we provide another method by comparing costs and effects. This paper describes a development method to enhance the reliability of the missile assembly test set; it describes the expected effects when it is adapted, and describes the limitations of this method.

• Journal of Korea Multimedia Society
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• v.13 no.11
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• pp.1715-1727
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• 2010

Although a hand haptic interaction which provides direct and natural sensation is the most natural way of interacting with VR environment, the hand haptic interaction has still limitations with respect to the complexity of articulated hand and related hardware capabilities. Particularly, virtual assembly simulation which refers to the verification process of digital mockup in product development lifecycle is one of the most challenging topics in virtual reality applications. However, hand haptic interaction is considered as a big obstacle, because difficulty initial grasping and non-dextrous manipulation remain as unsolved problems. In this paper, we propose that common hand haptic interactions involves two separate stages with different aspects. We present the hand haptic interaction method enables us to stably grasp a virtual object at initial grasping and delicately manipulate an object at task operating by one's intention. Therefore, proposed method provides the robustness using grasping quality and dextrous manipulation using physically simulation. We conducted experiments to evaluate the effectiveness of our proposed method under different display environments -monoscopic and stereoscopic. From 2-way ANOVA test, we show that the proposed method satisfies two aspects of hand haptic interaction. Finally, we demonstrated an actual application of various assembly simulation for relatively complex models.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.33 no.2
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• pp.103-114
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• 2023

Objectives: This study was conducted to evaluate hand-arm vibration (HAV) exposure levels due to the use of power hand tools and to evaluate the determinants in the automobile assembly process. Methods: The exposure level to HAV was evaluated for 30 work lines in five assembly processes (body, engine, chassis, door, and design) that use air-powered tools and battery-powered tools and operate in circulation for two hours. The 2-hr equivalent energy vibration acceleration, A (2), of the task was measured. The 8-hr equivalent energy vibration acceleration, A (8), was estimated in consideration of the number of tasks that can be performed per day by each process. In addition, a survey on the working environment was conducted with workers exposed to vibration. Results: The geometric mean of the HAV exposure level, A (2), for a total of 30 tasks was 2.51 m/s², and one case was 10.30 m/s², exceeding TLV (2hr). The HAV exposure level of A (8) was evaluated from 1.03 m/s² to 5.36 m/s². A (2) showed a statistically significant difference (P<0.01) for each process, and the chassis process (GM=3.90 m/s²) was the highest. The larger the tool size and the longer the tool length, the higher was the vibration acceleration when using a battery-powered tool than an air-powered tool (P<0.01). Battery-powered tool users showed higher dissatisfaction on all items than did air-powered tool users. Conclusions: As a result of this study, it is necessary to implement a program to reduce the HAV exposure levels.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.8 no.1
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• pp.1-23
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• 1998

Work-related Low Back Pain(LBP) is one of tile most important Issues in the field of industrial safety and health. Particularly, manual lifting is known as a major cause of work-related LBP and impairment. Total number of 163 manual lifting tasks in motor assembly processes were investigated. The 1981 and the 1994 equations developed by National Institute for Occupational Safety and Health(NIOSH) were applied to evaluate potential hazards of lifting-related LBP. Comparisons between the 19R I and 1994 NIOSH criteria were made. The relationships between the NIOSH criteria and lifting-related LBP were also analyzed. The results of this study are as follows: 1. The values of Action Limit(AL) by the NIOSH 1981 lifting equation. Recommended Weight Limit(RWL) by the 1994 equation and the weight of the load handled at each manual lifting task were shown log-normal distributions. 2. LI'(the weight of tile load/AL) and LI(the weight of the load/RWL) were calculated estimate the physical stress imposed by each individual lifting task. As a result. 76.7% of the total LI' value exceeded 1 and 12.9% exceeded 3, and 84.7% of the total LI values exceeded 1 and 20.9% exceeded 3. 3. Bus 2 Department showed the highest rate of LI'>1 and LI>1 and Bus 1 Department showed the highest rate of LI'>3 and LI>3 4. In general, the RWLs by the 1994 equation were found lower than the ALs by the 1981 equation. It is assumed to he resulted from the fact that the 1994 equation includes methods evaluating asymmetrical lifting tasks and lifts of objects with less then optimal hand-container couplings, and also covers a larger range of work durations and lifting frequencies than the 1981 equation. 5. Significant correlations were found between LI' and incidence of LBP (R=0.734, p<0.05). LI and incidence of LBP(R=0.671. p<0.10) and load-weights and incidence of LBP(R=0.797, p<0.05). 6. Control measures are required to achieve the value of LI less than 1 for some tasks having high LI values. Engineering control is highly recommended for some tasks having the value of LI above 3.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.9
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• pp.3876-3881
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• 2012

In typical master/slave teleoperation systems, a human operator generally manipulates the master to control the slave through the visual information like camera image. However, the operator may get into trouble due to the limited visual information depending on the camera positions and the delay on the visual information because of low communication bandwidth. To cope with this inherit problem in the camera-based teleoperation system, this paper presents a teleoperation system using a reconstructed graphic model instead of the camera image. The proposed teleoperation system consists of a robot control module, a master module using a force-reflective joystick, and a graphic user interface (GUI) module. The graphic user interface module provides the operator with a 3D model reconstructed using a small set of sensing data received from the remote site. The proposed teleoperation system is evaluated through a peg-in-hole assembly task.

• Journal of Convergence for Information Technology
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• v.11 no.9
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• pp.138-144
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• 2021

In the electronic component assembly business, when product defects occur, it is important to track incoming raw material defects or work defects, and it is important to improve suppliers or work sites according to the results. The core task of the smart factory is to build an integrated data hub to process storage, management, and analysis in real time, and to manage cluster processes, energy, environment, and safety. In order to improve reliability through accurate analysis and collection of production data by real-time monitoring of production site management for electronic parts-related small and medium-sized enterprises (SMEs), the establishment of a smart factory is essential. This paper was developed to be utilized in the construction by defining the system configuration method, smart factory-related technology and application cases, considering the characteristics of SMEs related to electronic components that want to introduce a smart factory.

• Nuclear Engineering and Technology
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• v.53 no.12
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• pp.3902-3909
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• 2021

SACOS series of subchannel analysis codes have been developed by XJTU-NuTheL for many years and are being used for the thermal-hydraulic safety analysis of various reactor cores. To achieve fine whole core pin-level analysis, the input preprocessing and parallel capabilities of the code have been developed in this study. Preprocessing is suitable for modeling rectangular and hexagonal assemblies with less error-prone input; parallelization is established based on the domain decomposition method with the hybrid of MPI and OpenMP. For domain decomposition, a more flexible method has been proposed which can determine the appropriate task division of the core domain according to the number of processors of the server. By performing the calculation time evaluation for the several PWR assembly problems, the code parallelization has been successfully verified with different number of processors. Subsequent analysis results for rectangular- and hexagonal-assembly core imply that the code can be used to model and perform pin-level core safety analysis with acceptable computational efficiency.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2006.05a
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• pp.211-217
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• 2006

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized learning control based on adaptive control method. The original motivation of the teaming control field was teaming in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Error wave propagation method will show up in the numerical simulation for five-bar linkage as a vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link at each time step in repetition domain. Those can be helped to apply to the vertical multiple dynamic systems for precision quality assurance in the industrial robots and medical equipments.

• Journal of Korea Society of Industrial Information Systems
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• v.11 no.2
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• pp.40-47
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• 2006

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work the authors presented an iterative precision of linear decentralized learning control based on p-integrated teaming method for the vertical dynamic multiple systems. This paper develops an indirect decentralized learning control based on adaptive control method. The original motivation of the loaming control field was learning in robots doing repetitive tasks such as on a]1 assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Error wave propagation method will show up in the numerical simulation for five-bar linkage as a vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link at each time step in repetition domain. Those can be helped to apply to the vertical multiple dynamic systems for precision quality assurance in the industrial robots and medical equipments.