• 대한인간공학회지
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• 제30권2호
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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.

• 한국산업융합학회 논문집
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• 제20권4호
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• pp.299-305
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• 2017

This study proposes a new technique to design and control of robot hand gripper for assembling and disassembling of a machine parts. The motion equation describing dynamics of the manipulators and object together with geometric constraint is formulated by Lagrange-Euler's equation. And the problems of controlling both the grasping force and the rotation angle of the grasped object under the constraints are analyzed. The effect of geometric constraints and a method of computer simulation for overall system is verified. Finally, it is illustrated that even in case of there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs control of joint and this feedback connection from sensing data to control grasping of machinery parts.

• 대한기계학회논문집
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• 제16권12호
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• pp.2315-2327
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• 1992

본 연구에서는 조립될 부품사이의 위치 오차를 극복하여, 로봇에 의한 정밀부 품의 자동조립을 가능하게 하는 조립알고리즘을 제시하였다. 제안된 조립알고리즘은 임의로 파지된 자세를 인식하여 조립될 축과 구멍의 중심선을 일치시키는 알고리즘과 복합위치 및 힘제어(hybrid position/force control)를 적용하여 위치오차를 극복하여 주는 구멍검색 알고리즘으로 구성하였으며, 로봇을 이용한 자동조립에 제안된 알고리 즘을 적용한 실험 결과를 보였다.

• 동북아문화연구
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• 제19권
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• pp.23-48
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• 2009

Duan Fang's doctrine of constitutional monarchy went forward from monarchy to constitutional government based on that an establishment of constitution political structure is superior to a arbitrary rule political structure. And Duan Fang's doctrine featured limitation of monarch's authority protection of subjects' rights. He thought constitution government should be based on the establishment of constitution preparation. He believed that China need to take merit equally in the process of establishment of constitution preparation. In spite of this flexible recognition, there was not enough consideration about an ideological, social and economical basis that can make possible constitutional government operation. He had understood constitutional government system from angle of monarch's safety and the wealth and power of nation. The view was that a responsible Cabinet was for monarch's safety and the nation assembly judicature local autonomous is a system for safety of nation showed us. In his opinion, neither main task of congress is legislation, cabinet nor is the high ranking executive agency, however, he expected to constitutionalism system to become a buffing role instead of monarch. A little pure and simple thinking that open nation assembly and execute constitutional monarchy could make China powerful and wealthy might reflected urgent situation at that time.

• 터널과지하공간
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• 제31권6호
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• pp.593-609
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• 2021

본 연구에서는 입자기반 개별요소모델(grain-based distinct element model, GBDEM)을 이용하여 결정질 암석 내 포함된 균열의 열-역학적 거동을 평가할 수 있는 수치해석기법을 제시하고 열에 의한 균열의 미끄러짐 거동을 해석하였다. 이는 DECOVALEX-2023 프로젝트 Task G의 일환으로 수행된 벤치마크 모델링 연구로, Task G는 결정질 암반 내 균열의 열-수리-역학적 복합거동을 해석하기 위한 수치해석기법을 개발하는 데에 목표가 있다. 여기에서는 Voronoi diagram을 이용하여 다면체 개별입자의 집합체로서 해석모델을 생성하고, 입자 및 입자간 접촉에서 발생하는 열-역학적 거동을 개별요소프로그램인 3DEC을 통해 해석하였다. 암석 시험편의 탄성거동을 재현하기 위하여 등가연속체 개념을 적용하여 입자와 접촉의 미시물성을 산정하였으며, 균열에 상응하는 접촉에는 Coulomb slip model을 부여하여 인장강도와 전단강도를 갖는 불연속면을 모사하였다. 경계응력과 열응력에 의한 균열의 거동을 수치적으로 모델링하였으며, 경계조건에 따라 균열의 미끄러짐이 발생하는 열-역학적 메커니즘을 정량적으로 분석하였다. 해석 결과, 본 연구에서 제시한 해석모델이 암석 내 열팽창과 열응력의 증가, 균열 응력과 변위, 경계조건의 영향 등을 합리적으로 재현하고 있음을 확인하였다. 본 연구의 해석모델은 Task G에 참여하는 국외 연구팀들과의 의견 교류와 워크숍을 통해 지속적으로 개선하는 한편, 향후 실내실험에 적용하여 타당성을 검증할 예정이다.

• Industrial Engineering and Management Systems
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• 제8권3호
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• pp.181-193
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• 2009

This paper presents a framework for controlling mobile multiple robots connected by communication networks. This framework provides novel methods to control coordinated systems using mobile agents. The combination of the mobile agent and mobile multiple robots opens a new horizon of efficient use of mobile robot resources. Instead of physical movement of multiple robots, mobile software agents can migrate from one robot to another so that they can minimize energy consumption in aggregation. The imaginary application is making "carts," such as found in large airports, intelligent. Travelers pick up carts at designated points but leave them arbitrary places. It is a considerable task to re-collect them. It is, therefore, desirable that intelligent carts (intelligent robots) draw themselves together automatically. Simple implementation may be making each cart has a designated assembly point, and when they are free, automatically return to those points. It is easy to implement, but some carts have to travel very long way back to their own assembly point, even though it is located close to some other assembly points. It consumes too much unnecessary energy so that the carts have to have expensive batteries. In order to ameliorate the situation, we employ mobile software agents to locate robots scattered in a field, e.g. an airport, and make them autonomously determine their moving behaviors by using a clustering algorithm based on the Ant Colony Optimization (ACO). ACO is the swarm intelligence-based methods, and a multi-agent system that exploit artificial stigmergy for the solution of combinatorial optimization problems. Preliminary experiments have provided a favorable result. In this paper, we focus on the implementation of the controlling mechanism of the multi-robots using the mobile agents.

• 한국산업보건학회지
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• 제16권2호
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• pp.183-192
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• 2006

Predicting energy expenditure (EE) is important to prevent work-related musculoskeletal disorders (WMSDs). The problem to predict EE is that the standard of EE is based on western data. The authors checked average EE by job categories to provide basic data for suggesting proper work intensity for Korean workers. This study was conducted from 2003 to 2005. Study subjects were recruited from 4 car parts assembly plant, 2 car assembly plant, 2 Heavy machine manufacturing plant and 2 shipyards. Total study subjects were 515 male workers. To estimate VO2max, sub-maximal test was conducted to measure VO275%max by bicycle ergometer (Combi Co, Aerobike 75XL II). Heartbeats were recorded with heartbeat recorder (Polar Electro Co, Finland, S810) during work. EE of work was calculated by recorded heartbeat and individual regression equation which was derived from sub-maximal test. Subjects were classified into 4 industry and 8 work posture, 23 job task categories. Mean EEs (S.D.) according to industry classification (kcal/min) were 4.9 (0.7), 4.8 (0.7), 4.9 (0.7), 5.0 (0.9), and 4.0 (0.5) for Car Part manufacture, Car Assembly, Ship Building, Heavy Machinery Manufacture, and Hospital Office, respectively. The results suggest that Korean male workers of exceeding to the NIOSH criteria will be needed to plan for job rescheduling to maintain $worker^{\circ}$Øs health. Further study to establish Korean work intensity standard would be needed.

• International Journal of Precision Engineering and Manufacturing
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• 제7권1호
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• pp.62-66
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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 learning control field was learning in robots doing repetitive tasks such as an assembly line works. 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. Some techniques will show up in the numerical simulation for vertical dynamic robot. The methods of learning system are shown for the iterative precision of each link.

• 한국정보시스템학회:학술대회논문집
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• 한국정보시스템학회 1996년도 추계학술발표회 발표논문집
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• pp.217-227
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• 1996

The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performin this specific task. In a previous work［6］, the authors presented a theory of indirect learning control based on use of indirect adaptive control concepts employing simultaneous identification ad control. This paper develops improved indirect learning control algorithms, and studies the use of such controllers in decentralized systems. The original motivation of the learning control field 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 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. The basic result of the paper is to show that stability of the indirect learning controllers for all subsystems when the coupling between subsystems is turned off, assures convergence to zero tracking error of the decentralized indirect learning control of the coupled system, provided that the sample time in the digital learning controller is sufficiently short.

• 한국정밀공학회지
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• 제22권4호
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• pp.92-98
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• 2005

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 teaming control based on adaptive control method. The original motivation of the teaming control field was loaming 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. Some techniques will show up in the numerical simulation for vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link.