• Proceedings of the KSME Conference
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• 2001.06b
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• pp.158-163
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• 2001

Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human interfaces, due to the scaling effects in micro/nano world. This paper presents a micro manipulation system based on the teleoperation techniques which enables the operators to manipulate the objects with ease by transferring both human motion and manipulation skill to a micromanipulator. An experimental setup consisting of a micromanipulator operated under stereo-microscope with the help of intelligent user interface provides a tool that can be used to visualize and manipulate micro-sized 3D objects in a controlled manner. The key features of a micro manipulation system and control strategies using teleoperation techniques for handling micro objects are presented. Experimental results demonstrate the feasibility of this system in precisely controlling trapping and manipulation of micro objects based on teleoperation techniques.

• Journal of The Korea Institute of Healthcare Architecture
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• v.23 no.2
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• pp.63-72
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• 2017

Purpose: The purpose of this study is to review the material handling system of the Airborne Infection Isolation Hospitals which is the one of the key elements of infection control and to improve the basic data for the planning and design of those facilities. Methods: Research was conducted by literature reviews and case studies for the material handling system of domestic and foreign Isolation hospitals. Results: The result of this study can be summarized into three points. First, a general isolation unit and a high level isolated unit need to be distinguished in terms of efficiency and safety. In particular, it is desirable that a high level isolated unit have to completely separate clean and soiled circulations, and soiled corridor should be installed by those means. By doing this, the medical staff can observe patient rooms and supply clean materials directly in the clean zone without wearing PPE, so that safety and work efficiency can be improved at the same time. Second, for the safe disposal of wastes, it is desirable to install a dedicated sterilizer per ward and sterilize it at least in the ward. In addition, It is desirable to install a central waste treatment room and a dedicated soiled corridor in consideration of the inadequate handling capacity and emergency situation. Third, the characteristics of material flow chart in the negative pressured isolation hospitals and the corresponding material handling system have been presented. Implications: Infection control is very important in safety, but it is necessary to respond to the symptoms of the patient.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.10
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• pp.59-70
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• 1997

Until now, considerable progress has been made in the application of range finding techanique performing direct 3-D measurement from the object. However, ther are few use of the method in the area of the application of material handing. We present a range finding vision system consisting of static and dynamic range finders to automate a reclaimer used for material handling. A static range finder detects range data of the front part of the piles of material, and a height map is obtained from the proposed image processing algorithm. The height map is used to calculate the optimal job path as features for required information for material handling function. A dynamic range finder attached on the side of the arm of the reclaimer detects the change of the local properties of the material with the handling function, which is used for avoiding collision and detecting the ending point for changing direction. the developed vision systm was applied to a 1/20 simulator and the results of test show that it is appropriate to use for automating the material handling.

• Structural Engineering and Mechanics
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• v.68 no.5
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• pp.633-638
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• 2018

One of the important problems in the vehicle design is vehicle handling and stability. Effective parameters which should be considered in the vehicle handling and stability are roll angle, camber angle and scrub radius. In this paper, a planar vehicle model is considered that two right and left suspensions are double wishbone suspension system. For a better analysis of the suspension geometry, a kinestatic model of vehicle is considered which instantaneous kinematic and statics relations are analyzed simultaneously. In this model, suspension geometry is considered completely. In order to optimum design of double wishbones suspension system, a multi-objective genetic algorithm is applied. Three important parameters of suspension including roll angle, camber angle and scrub radius are taken into account as objective functions. Coordinates of suspension hard points are design variables of optimization which optimum values of them, corresponding to each optimum point, are obtained in the optimization process. Pareto solutions for three objective functions are derived. There are important optimum points in these Pareto solutions which each point represents an optimum status in the model. In other words, corresponding to any optimal point, a specific geometric position is determined for the suspension hard points. Each of the obtained points in the Pareto optimization can be selected for a special design purpose by designer to create an optimum condition in the vehicle handling and stability.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.859-863
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• 1995

Presented in the paper are a review of sorting and buffering system(SBS), the design procedure of a SBS and an analytical model for the initial alternative generation. SBS is an automated material handling system in which incoming items of different part types are automatically sorted and buffered so that the processing machines can process the part in lots. SBSs play a key role in modern manufacturing systems ans are widely found in mass fabrication lines, packaging and palletizing, and disribution centers.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.06a
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• pp.1041-1046
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• 2005

This paper describes a system for LNG carrier's loading and discharging work education. This system consists of three modules(cargo work simulation, ballast work simulation and loading calculation module), and could be a useful to train mariners boarding on LNG carrier so as to take a suitable action while their ship maneuvering and cargo handling.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2275-2278
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• 2005

In this paper, a control algorithm for a servo manipulator is focused on. A servo manipulator system has been developed for remotely handling radioactive materials in a hot cell. It is driven by servo motors. The torque from a servo motor is transferred through a reducer to the corresponding axis. The PID control algorithm is a simple and effective algorithm for such application. However, since friction degrades the algorithm's performance, friction has to be considered and compensated. The major aberrations are the positional tracking errors and the limit cycle. The authors have considered a switching term to a conventional PID algorithm to reduce the friction's effect. It has been tested by a hardware test.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2311-2318
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• 2005

Progress in the LCD industries has been very rapid. Therefore, their manufacturing lines require larger LCD glass-handling robots and more precise path control of the robots. In this paper, we present two practical advanced algorithms for high-precision path generation of an LCD glass-handling robot. One is high-precision path interpolation for continuous motion, which connects several single motions and is a reliable solution for a short robot cycle time. We demonstrate that the proposed algorithm can reduce path error by approximately 91% compared with existing algorithms without increasing cycle time. The second is real-time static deflection compensation, which can optimally compensate the static deflection of the handling robot without any additional sensors, measurement instruments or mechanical axes. This reduces vertical path error to approximately 60% of the existing system error. All of these algorithms have been commercialized and applied to a seventh-generation LCD glass-handling robot.

• Korean Journal of Computational Design and Engineering
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• v.16 no.3
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• pp.227-235
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• 2011

Ship handling simulator should have capabilities of calculating ship motions (heave, pitch, and roll) at given sea state and displaying the calculated motions through a real-time 3D visualization system. Motion solver of a ship handling simulator generally calculates those motions in addition to position for an own ship, a main simulation target, but provides only position information for traffic ships. Therefore, it is required to simulate real-time traffic ship and buoy motions coupled with ocean waves in a ship handling simulator for the realistic visualization. In the paper, the authors propose a simple dynamics model by which ship and buoy motions are calculated with the input data of wave height and discuss a method for the implementation of a ship and buoy motions calculation module.

• Proceedings of the SAREK Conference
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• 2008.06a
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• pp.591-596
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• 2008

The present study has been conducted to study the performance of dedicated outdoor air handling unit in central and personal air-conditioning. With conventional central and personal air-conditioning systems which are designed according to the maximum load, humidity increase above comfort level can not be avoided as the cooling load decreases. The adoption of dedicated outdoor air handling unit, however, can solve this problem. Moreover, the dedicated outdoor air handling unit has the characteristics of anti-bacteria due to dry coil, energy saving and good indoor air quality. During cooling seasons, dedicated outdoor air handling unit can save energy up to 30% than the conventional cooling+reheating system for controlling both temperature and humidity.