• Journal of Korean Institute of Industrial Engineers
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• v.23 no.1
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• pp.1-22
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• 1997

Learning control refers to 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 a theory of indirect decentralized learning control based on use of indirect adaptive control concepts employing simultaneous identification and control. This paper extends these results to apply to the indirect repetitive control problem in which a periodic (i.e., repetitive) command is given to a control system. Decentralized indirect repetitive control algorithms are presented that have guaranteed convergence to zero tracking error under very general conditions. The original motivation of the repetitive control and learning control fields was learning 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 desired trajectory. Decentralized repetitive control is natural for this application because the feedback control for link rotations is normally implemented in a decentralized manner, treating each link as if it is independent of the other links.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.501-506
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• 1988

This paper describes an experimental system for automatic robot programming, The SNU-ARPS (Seoul National University Automatic Robot Programming System). The SNU-ARPS generates executable robot programs for pick and place operation and some simple mechanical assembly tasks by menudriven dialog. It is intended to enable the user to concentrate on the overall operation sequence instead of the knowledge regarding the details of robot languages. To convert task specifications into manipulator motions, the SNU-ARPS uses an internal representation of the world. This representation initially consists of geometric database from CAD system and is updated at each operation step to reflect the state changes of the world.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.606-608
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• 1989

Force/torque sensors are now providing widespread practical solutions to manufacturing problems, particularly in the area of automated assembly. The current state of the industry is discussed, including the evolution of transducer and controller design, and the trend of robot manufacturers to integrate force/torque sensors into their robot systems thereby greatly improving cycle time and simplifying the application development task for the end-user. Current and future application areas are discussed as well as the benefits of force/torque sensing.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.1
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• pp.101-108
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.15-20
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• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.

• Tunnel and Underground Space
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• v.30 no.6
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• pp.573-590
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• 2020

This study presents the current status of DECOVALEX-2023 project Task G and our research results so far. Task G, named 'Safety ImplicAtions of Fluid Flow, Shear, Thermal and Reaction Processes within Crystalline Rock Fracture NETworks (SAFENET)' aims at developing a numerical method to simulate the fracture creation and propagation, and the coupled thermohydro-mechanical processes in fracture in crystalline rocks. The first research step of Task G is a benchmark simulation, which is designed for research teams to make their modelling codes more robust and verify whether the models can represent an analytical solution for displacements of a single rock fracture. We reproduced the mechanical behavior of rock and embedded single fracture using a three-dimensional grain-based distinct element model for the simulations. In this method, the structure of the rock was represented by an assembly of rigid tetrahedral grains moving independently of each other, and the mechanical interactions at the grains and their contacts were calculated using 3DEC. The simulation results revealed that the stresses induced along the embedded fracture in the model were relatively low compared to those calculated by stress analysis due to stress redistribution and constrained fracture displacements. The fracture normal and shear displacements of the numerical model showed good agreement with the analytical solutions. The numerical model will be enhanced by continuing collaboration and interaction with other research teams of DECOVALEX-2023 Task G and validated using various experiments in a further study.

• The Korean Journal of Archival Studies
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• no.14
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• pp.241-288
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• 2006

For cope with the participating government promoted local decentralization of the present time, local governments are coming to aim at the realization of local governance. Local governance refers to a way of solving public problems of urban area through partnership which is a collaboration and participation based on 'relationship' among diverse interested parties such as executive authority of policy, private sectors. First of all, it is most important task to make transparency and responsibility of all people and networks by themselves through sharing information. With like this kind of a background, local assembly is an momentos body of local governance because it is a decision making organization at the same time as a representative organization of local residents, and it has a relationship of 'check and balance' with chiefs of local governments as an organization monitoring and supervising the administration of an executive authority. Not the less, information about local assembly does not open to the public or exist. Even some informations open to the public, they are not enough to be settled distrust and low-valuation by civil society. Now Local assembly is face to a point that improve over all of record management. This study is based like this critical mind, then, it examines throughly local assembly's realities by suggestion with reforming plan of record management. Record can embody true values when record management practices indefatigably through prudential system from production until preservation. Accordingly, this study suggests management of transaction unit without the omission of record. Also this study is satisfy the condition of Korean record management system with proposals of record management policy and establishment of record center. At the conclusion of study, it puts effects into shape that local assembly secure transparency and responsibility and organize local governance by record management.

• The Journal of Society for e-Business Studies
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• v.18 no.4
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• pp.145-167
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• 2013

This paper proposes a method to compare planned processes with actual processes of bock assembly operations in shipbuilding industry. Process models can be discovered using the process mining techniques both for planned and actual log data. The comparison between planned and actual process is focused in this paper. The analysis procedure consists of five steps : 1) data pre-processing, 2) definition of analysis level, 3) clustering of assembly bocks, 4) discovery of process model per cluster, and 5) comparison between planned and actual processes per cluster. In step 5, it is proposed to compare those processes by the several perspectives such as process model, task, process instance and fitness. For each perspective, we also defined comparison factors. Especially, in the fitness perspective, cross fitness is proposed and analyzed by the quantity of fitness between the discovered process model by own data and the other data(for example, the fitness of planned model to actual data, and the fitness of actual model to planned data). The effectiveness of the proposed methods was verified in a case study using planned data of block assembly planning system (BAPS) and actual data generated from block assembly monitoring system (BAMS) of a top ranked shipbuilding company in Korea.

• Journal of the Ergonomics Society of Korea
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• v.30 no.2
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• pp.297-302
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• 2011

Many WMSDs(work-related-musculoskeletal disorders) have been reported in diverse industries and have also attracted much attention in recent years. Neck-related MSD is generally known as one of common WMSDs, especially it happens to workers who are working at the automobile assembly plants and/or shipyards. The awkward posture is considered as a main cause of neck-related MSDs. A neck supporter was developed to prevent neck-related MSDs, and 10 males were recruited to evaluate the newly developed neck supporter by measuring subjective discomfort ratings of whole body, shoulder, neck and neck-muscle activities. Muscle activities from four neck muscle groups(left/right sternocleidomastoid and upper/middle trapezius) were measured while simulating an automobile assembly task. Results showed that the neck supporter help to significantly improve subjective discomfort for whole-body, shoulder as well as neck body parts. The analyses of muscular activities also showed that the activities of left/right sternocleidomastoid muscles were statistically decreased with the neck supporter in this study. The muscle activities of upper/middle trapezius in case of wearing the neck supporter were not significantly different with the muscle activities in case of no-wearing the neck supporter. Overall findings verified that the neck supporter might help to prevent neck-related MSDs based on the current study.