• 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.

• 한국기계가공학회지
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• 제6권3호
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• pp.47-52
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• 2007

LMTT (Linear Motor based Transfer Technology), which is a new type transfer system used in the maritime container terminal for the port automation, is driven by PM LSM (Permanent Magnetic Linear Synchronous Motor), and largely consists of a controller, shuttle car, and rail. The shuttle car is divided into the frame part, the driving part, and wheels. Because the shuttle car is supported by four wheels in opposition to have five times length for the width of it, a larger deflection than other transfer system using the linear motor occurs. This deflection changes the gap between the mover and the stator, and then brings on an ununiform thrust force. So in this study, we dealt with the structural design for the mover of the shuttle car to generate the uniform thrust force for the efficient control of it. For the investigation, the thickness for each beam of the mover was adopted as design variables, the weight of the mover as objective function, and stress and deflection of the mover as constraint condition.

• Journal of Power Electronics
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• 제11권4호
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• pp.401-407
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• 2011

In order to enhance torque density of five-phase permanent magnetic synchronous motor with third harmonic injection for electric vehicles (EVs) applications, optimum seeking method for injection ratio of third harmonic was proposed adopting theoretical derivation and finite element analysis method, under the constraint of same amplitude for current and air-gap flux. By five-dimension space vector decomposition, the mathematic model in two orthogonal space plane, $d_1-q_1$ and $d_3-q_3$, was deduced. And the corresponding dual-plane vector control method was accomplished to independently control fundamental and third harmonic currents in each vector plane. A five-phase PMSM prototype with quasi-trapezoidal flux pattern and its fivephase voltage source inverter were designed. Also, the dual-plane vector control was digitized in a single XC3S1200E FPGA. Simulation and experimental results prove that using the proposed optimum seeking method, the torque density of five-phase PMSM is enhanced by 20%, without any increase of power converter capacity, machine size and iron core saturation.

• 한국정밀공학회지
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• 제24권6호
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• pp.86-95
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• 2007

This paper presents the optimal design of an exhaust system of a vacuum-compatible air bearing using a genetic algorithm. To use the air bearings in vacuum conditions, the differential exhaust method is adopted to minimize the air leakage, which prevents air from leaking into a vacuum chamber by recovering air through several successive seal stages in advance. Therefore, the design of the differential exhaust system is very important because several design parameters such as the number of seals, diameter and length of an exhaust tube, pumping speed and ultimate pressure of a vacuum pump, seal length and gap(bearing clearance) influence on the air leakage, that is, chamber's degree of vacuum. In this paper, we used a genetic algorithm to optimize the design parameters of the exhaust system of a vacuum-compatible air bearing under the several constraint conditions. The results indicate that chamber's degree of vacuum after optimization improved dramatically compared to the initial design, and that the distribution of the spatial design parameters, such as exhaust tube diameter and seal length, was well achieved, and that technical limit of the pumping speed was well determined.

• 융합신호처리학회논문지
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• 제3권4호
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• pp.17-22
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• 2002

본 논문은 연속적으로 움직이는 심장의 모습을 추적하기 위해 레벨 세트 알고리즘과 양방향 곡선 전개 이론을 적용한 활성 모델을 사용하였다. 대부분의 활성 모델이 영상 그라디언의 에지 갭이 존재하는 영역에서 움직임이 안정적이지 않아 추출에 실패할 확률이 많다. 본 연구에서는 영상 자체의 밝기 값과 안정적 추출을 위한 추가 제약만 이용한 새로운 활성 모델을 제안한다. 제안된 모델은 초기 곡선의 위치 설정에 제약이 없어 특히 연속적 영상의 특정한 대상 영역을 추출하거나 추적하기에 효율적이었다. 또한 에지 정보가 심하게 변화거나 모호한 부분에서도 안정적인 곡선의 움직임과 추출 결과를 보였다.

• 한국정밀공학회지
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• 제17권8호
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• pp.113-119
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• 2000

There are two major factors which affect the cam design : the pressure angle and the radius of curvature, Cam shape will have an instantaneous radius of curvature at every point. Even though the design constraint of the pressure angle has been satisfied the follower may still not complete the desired contact motion. If the radius of the follower roller is larger than the concave(negative) radius on the cam it occurs the gap between the cam and the follower roller at the contact point. And also if the curvature of the pitch curve of the cam is too sharp the cam profile may be undercut. This paper proposes a new approach which uses the relative velocity of the follower roller parallel to the tangent line at the contact point on the cam surface for determining the pressure angle and the relative acceeration for determining the radius of curvature.

• 말소리와 음성과학
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• 제5권1호
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• pp.109-121
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• 2013

This study examined several kinematic properties of the primary articulator (the tongue dorsum) and the supplementary articulator (the jaw) in the articulation of the voiceless velar stop (/k/) within nonassimilating contexts. We examined in particular the spatiotemporal properties (constriction duration and constriction maxima) from the constriction onset to the constriction offset by analyzing a velar (/k/) followed by the coronal fricative (/s/), the coronal stop (/t/), and the labial (/p/) in across-word boundary conditions (/k#s/, /k#t/, and /k#p/). Along with these measurements, we investigated intergestural temporal coordination between C1 and C2 and the jaw articulator in relation to its coordination with the articulation of consonant sequences. The articulatory movement data was collected by means of electromagnetic midsagittal articulometry (EMMA). Four native speakers of Seoul Korean participated in the laboratory experiment. The results showed several characteristics. First, a velar (/k/) in C1 was not categorically reduced. Constriction duration and constriction degree of the velar (/k/) were similar within nonassimilating contexts (/k#s/=/k#t/=/k#p/). This might mean that spatiotemporal attributes during constriction duration were stable and consistent across different contexts, which might be subsequently associated with the nontarget status of the velar in place assimilation. Second, the gestural overlap could be represented as the order of /k#s/ (less) < /k#p/ (intermediate) < /k#t/ (more) as we measured the onset-to-onset lag (a longer lag indicated shorter gestural overlap.). This indicates a gestural overlap within nonassimilating contexts may not be constrained by any of the several constraints including the perceptual recoverability constraint (e.g., more overlap in Front-to-Back sequences compared to the reverse order (Back-to-Front) since perceptual cues in C1 can be recovered anytime during C2 articulation), the low-level speech motor constraint (e.g., more overlap in lingual-nonlingual sequences as compared to the lingual-lingual sequences), or phonological contexts effects (e.g., similarity in gestural overlap within nonassimilating contexts). As one possible account for more overlap in /k#t/ sequences as compared to /k#p/, we suspect speakers' knowledge may be receptive to extreme encroachment on C1 by the gestural overlap of the coronal in C2 since it does not obscure the perceptual cue of C1 as much as the labial in C2. Third, actual jaw position during C2 was higher in coronals (/s/, /t/) than in the labial (/p/). However, within the coronals, there was no manner-dependent jaw height difference in C2 (/s/=/t/). Vertical jaw position of C1 and C2 was seen as inter-dependent as higher jaw position in C1 was closely associated with C2. Lastly, a greater gap in jaw height was associated with longer intergestural timing (e.g., less overlap), but was confined to the cluster type (/kp/) with the lingual-nonlingual sequence. This study showed that Korean jaw articulation was independent from coordinating primary articulators in gestural overlap in some cluster types (/k#s/, /k#t/) while not in others (e.g., /k#p/). Overall, the results coherently indicate the velar stop (/k/) in C1 was robust in articulation, which may have subsequently contributed to the nontarget status of the velar (/k/) in place assimilation processes.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.596-599
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• 2004

The robotic $CO_2$ welding is a manufacturing process to produce high quality joints for metal and it could provide a capability of full automation to enhance productivity. Despite the widespread use in the various manufacturing industries, the full automation of the robotic $CO_2$ welding has not yet been achieved partly because the mathematical model for the process parameters of a given welding task is not fully understood and quantified. Several mathematical models to control welding quality, productivity, microstructure and weld properties in arc welding processes have been studied. However, it is not an easy task to apply them to the various practical situations because the relationship between the process parameters and the bead geometry is non-linear and also they are usually dependent on the specific experimental results. Practically, it is difficult, but important to know how to establish a mathematical model that can predict the result of the actual welding process and how to select the optimum welding condition under a certain constraint. In this research, an attempt has been made to develop an intelligent algorithm to predict the weld geometry (top-bead width, top-bead height, back-bead width and back-bead height) as a function of key process parameters in the robotic $CO_2$welding. To achieve this above objective, Taguchi method was employed using five different process parameters (tip gap, gas flow rate, welding speed, arc current, welding voltage) as a guide for optimization of process parameters.

• 한국사회복지학
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• 제67권4호
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• pp.79-101
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• 2015

담론의 역할은 무엇일까? 미셸 푸코(Michel Foucault)는 특정 사회와 시기의 권력(power)은 담론을 통해 인식과 규범 체계 형성에 영향을 미치는 지식(knowledge)을 생성하여 사회와 구성원을 통제한다는 권력지식관계(power and knowledge relations)를 제시한다. 본 연구는 권력지식관계론의 근간을 이루는 배제의 형성(인식의 통제), 그리고 물질성 및 실천성(규범체계)을 분석 틀로 삼아, 4명의 전임 한국대통령의 복지관련 연설문에 대한 담론해석을 시도하였다. 분석결과로 복지와 성장의 균형 그리고 최고의 복지는 일자리(복지-성장-고용의 연계), 개인의 경제적 자립과 자활, 선별적 복지의 지향, 의존적이고 시혜적인 복지를 배제하는 지배적인 인식체계를 형성하고 있음을 발견하였다. 하지만 권력이 항상 체계적이고 정립된 지식을 형성하는 것은 아니며 인식과 규범의 괴리 문제가 동시에 관찰되었다. 푸코의 담론해석은 한국의 낮은 복지지출에 대한 인과적 추론을 제시하는 반면, 지식의 생산자와 주입자로서의 권력의 역할에 대한 과도한 초점은 어떻게 현대적 변화들을 지식체계에 수용할 것인가에 대한 질문을 남긴다.

• 한국정보과학회논문지:시스템및이론
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• 제27권6호
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• pp.583-591
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• 2000

캐슁 기법은 저장 장치 계층 간의 속도차를 완충시키기 위해 캐쉬 메모리, 페이징 기법, 버퍼링 기법 등으로 널리 연구되어 왔다. 하지만, 최근 웹을 비롯한 다양한 광역 분산 환경의 보편화에 따라 단일 시스템 내의 저장 장치 간에 이루어지는 캐슁 기법 뿐 아니라 타 노드의 객체를 캐슁하는 기법의 중요성이 커지고 있다. 광역 분산 환경에서의 캐슁 기법은 객체의 캐슁에 드는 비용과 캐슁으로 인한 이득이 객체의 근원지 노드의 위치에 따라 이질적이기 때문에 비용 차이를 고려한 캐쉬 교체 알고리즘이 필요하다. 한편, 캐쉬 교체 알고리즘은 온라인 알고리즘으로서 매 시점 교체 대상이 되는 객체를 즉시 선택해야 하기 때문에 알고리즘의 시간 복잡도가 지나치게 높지 않아야 한다. 그러나, 광역 분산 환경에서의 교체 알고리즘에 대한 지금까지의 연구는 객체들의 이질성을 고려하는 문제와 캐쉬 운영의 시간 복잡도 측면 모두에서 만족스러운 결과를 보이지는 못하고 있다. 본 논문은 이러한 점을 극복하여 우수한 성능을 나타내면서 효율적인 구현이 가능한 새로운 교체 알고리즘을 설계하고, 그 우수성을 트레이스 기반 모의 실험을 통해 보여 준다.