• 제목/요약/키워드: Handling System

검색결과 2,305건 처리시간 0.042초

Simultaneous position and vibration control of the flexible object while using dual-arm manipulators

  • Yukawa, T.;Uchiyama, M.;Obinata, G.
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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    • pp.513-518
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    • 1993

  • In this paper, we consider the handling f a flexible object using dual-arm manipulators. We choose both the side arms as rigid, and the objects to be manipulated as flexible. Our purpose is to realize position control for the flexible object while suppressing its vibration. In particular, the problem taken up here is the stability of the control system while manipulating the object. We propose that the traditional approach to investigate the robot system be expanded to include the object's characteristics (thus transferring the stability of the robot system into the full assembly system). We define a handling characteristic while manipulating the object. Finally, the relationship between the handling characteristic and the positional constraint condition in the hold position of the arms is studied while considering the stability of the control system.

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다 속성분석방법을 이용한 제조물류시스템의 성능산정모델 (A Material Handling Performance Evaluation Model for Cellular Manufacturing System of Based on Multi-Attributes Analysis Method)

  • 황홍석
    • 한국경영과학회:학술대회논문집
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    • 한국경영과학회 2000년도 추계학술대회 및 정기총회
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    • pp.167-170
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    • 2000

  • This paper is concerned with development of a performance evaluation model for material handling system in cellular manufacturing system based on multi-attributes analysis method. We used the AHP(analytic hierarchy process) and fuzzy set ranking methodologies to overcome the special decision problems; those of multi -objective, multi-criterion, and multi-attributes. We proposed a 3-step approaches and we developed a systemic and practical computer program to solve the problems in the proposed methods. Computational experiments are then performed to cellular manufacturing system and show the effectiveness of the proposed model.

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초소형 부품 조작을 위한 Non-stick 마이크로 매니퓰레이션 시스템의 설계 (Design of Non-stick Micromanipulation for Handling of Micro particle)

  • 인용석;김유창;최혁렬;이상무;구자춘
    • 로봇학회논문지
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    • 제4권3호
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    • pp.225-232
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    • 2009

  • In the high precision robot systems, the most popular tasks may be handling of micro-scale objects on a surface such as a micromanipulation robot system. In handling of micro-scale objects, the stiction effect becomes a fundamental issue since the micro-contact mechanics dominates the micromanipulation robot system. In the paper, a theoretical non-stick condition derived from the micro-contact mechanics is carried out for the propose of micro-scale object manipulation. To verify the non-stick condition, a micro-manipulation robot system equipped with a high precision stage system and a microscope system is developed. Experimental results show that the proposed non-stick condition guarantees successful micro-scale object manipulation.

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최근 LNG선의 추진 및 BOG 처리장치의 동향 (The New Trend of Propulsion and BOG Handling System from LNGCs)

  • 김만응;이경우;이영호
    • 한국마린엔지니어링학회:학술대회논문집
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    • 한국마린엔지니어링학회 2005년도 전기학술대회논문집
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    • pp.940-945
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    • 2005

  • In recent years, the LNGC fleet is expanded unprecedentedly. Ship's owners and shipbuilders are focusing on technology and reliability of new propulsion system from economical, environmental and safety angles. This paper give describes the new trend of propulsion system and boil off gas handling system from LNG carriers.

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체계중심병원설계를 위한 공조조닝 설정의 건축 계획에 관한 연구 (A Study on Architectural Planning of Establishing Air-Conditioning Zoning for Hospital Design Focused on System)

  • 김은석;양내원
    • 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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    • 제24권3호
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    • pp.29-38
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    • 2018

  • Purpose: Space planning to cope with the changing function of the hospital is essential in hospital architecture. In order to do so, it is vital that the paradigm shifts from hospital design focused on purpose toward hospital design focused on system. Not only space planning but also air-conditioning plan, which is most closely related to the operation and maintenance of hospital facilities; and the environment of hospital users, should be able to respond to changes with ease. Thus this study is to provide fundamental data of the air-conditioning plan for the hospital design focused on system by analyzing the concept and characteristics of the air-conditioning plan in the recent hospital architecture planning. Results: As a result of this study, in the air conditioning plan for the hospital architecture planning, the most important are the location relation among the departments the air handling unit room and the air handling unit manage and the air conditioning zoning setting according to the air conditioning system. Therefore, for the hospital architecture planning focused on system, it is necessary to establish the air conditioning setting that can accommodate changeable environment of departments and accordingly the appropriate area range of the air conditioning zoning and the plan for the location of the air handling unit should be considered. Implications: Thereby aims to provide fundamental data on air handling unit zoning planning in the hospital architecture planning.

  • https://doi.org/10.15682/jkiha.2018.24.3.29 인용 PDF KSCI

실제 해상교통상황 기반 선박조종 시뮬레이션 시스템 개발에 관한 연구 (A study on the development of a ship-handling simulation system based on actual maritime traffic conditions)

  • 이은규;한재석;고광현;박은비;안성필
    • 한국항해항만학회:학술대회논문집
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    • 한국항해항만학회 2022년도 춘계학술대회
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    • pp.306-307
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    • 2022

  • 최근 지능형 해상교통정보 서비스, 자율운항 시스템 등의 개발 및 검증, 고도화 과정에서 실제 해상교통상황의 구현이 가능한 선박조종 시뮬레이터와 연동하고자 하는 요구가 증대되고 있다. 본 논문에서는 실제 해상교통상황 기반 선박조종 시뮬레이션 시스템을 개발하기 위해 시뮬레이션 서버를 구축하여 지능형 해상교통정보 연계 시스템으로부터 실제 해상교통상황에 대한 정보를 수신받아 선박조종 시뮬레이터 구동을 위한 정보로 변경하였으며, 실시간 시뮬레이션 영상을 사용자에게 제공하기 위해 우리나라 무역항 및 연안항에 대한 3차원 형상 모델링과 주요 선종에 대한 3차원 형상 모델링을 수행하였다. 이렇게 개발된 시스템은 10,000척 이상의 선박의 동시처리가 가능하여 사용자가 원하는 해역에서 실제 해상교통상황을 시뮬레이션할 수 있게 함으로써 지능형 해상교통정보 서비스의 고도화, 자율운항 시스템의 개발 및 검증 등에 유용하게 사용될 것으로 예상된다.

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항만관련문제의 시스템적 고찰 부산항 물류시스템의 실태분석 (A Systematic Approach to Port related Problems An Analysis on the Actual Condition of physical Distribution System of Pusan port)

  • 이철영;문성혁
    • 한국항만학회지
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    • 제2권1호
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    • pp.7-28
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    • 1988

  • From the viewpoint of physical distribution, the port transport process can be regarded as a system which consists of various subsystems such as navigational aids, quay handling, transfer, storage, information If management, and co-ordination with inland transport. The handling productivity of this system is determined by the production level of the least productive subsystem. So, a productivity analysis on the flow of cargoes through each subsystem should be made in order to achieve efficient port operation. The purpose of this paper is to analyze the productivity of each subsystem in Pusan port, and to bring forward problems and finally to draw up plans for their betterment. Analyzed results on the productivity of each subsystem are as follows, i) It is known that the number of tugs with low HP should be increased by a few, the number of tugs with medium HP is appropriate, and the number of tugs with high HP is in excess of that necessary. ii ) In the case of container cargoes, it is found that the transfer and storage systems in BCTOC have the lowest handling capability, with a rate of $115\%$, leading to bottle-necks in the port transport system, while the handling rate of the storage and quay handling systems in general piers is in excess of the inherent capability. iii) In the case of the principal seaborne cargoes passing through general piers, there is found to be a remarkable bottle-neck in the storage system. In the light of these findings, both the extension of storage capability and the extension of handling productivity are urgently required to meet the needs of port users. Therefore, iv) As a short-term plan, it is proposed that many measures such as the reduction of free time, the efficient application of ODCY, etc must be brought in and v) In the long-trun, even though the handling capability will accommodate an additional 960,000 TEU in 1991, the scheduled completion date of the third development plan of Pusan port, insufficiency of handling facilities in the container terminal is still expected and concrete countermeasures will ultimately have to be taken for the port's harmonious operation. In particular, the problem of co-ordination with inland transport and urban traffic should be seriously examined together in the establishment of the Pusan port development. As a method of solving this, vi) It is suggested that Pusan port (North port) should be converted into an exclusive container ternimal and overall distribution systems to the other ports for treating general cargoes must be established. vii) And finally, it is also proposed that the arrival time (cut-off time) of influx cargoes for exports such as general merchandise and steel product should be limited, with a view to securing cargoes suitable for the operational capability of BCTOC.

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차량 운전조건과 속도변화를 고려한 요우모멘트제어 (The Direct Yaw-Moment Control regarding to control the vehicle handling condition)

  • 장영진;남광희
    • 전력전자학회:학술대회논문집
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    • 전력전자학회 2013년도 추계학술대회 논문집
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    • pp.69-70
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    • 2013

  • By using differential force between left and right wheel, lateral motion can be controlled known as Direct Yaw-moment Control (DYC). In previous researches, DYC control is proposed to increase the stability of the vehicle, but maneuverability has not been discussed sufficiently. The car handling condition which is called the index parameter of maneuverability is dependent on the vehicle velocity and steering angle. To achieve the desired vehicle's cornering path, the car handling condition must be considered sufficiently. In this paper, the novel DYC method is proposed which gives the car handling condition regardless of the longitudinal speed. The proposed controller is based on the PI controller to feedback the curvature parameter. The controlled system shows the advantages of DYC regarding to the reference trajectory by the dual motor system. With respect to the uncontrolled model, the effectiveness of the proposed method is validated by numerical examples.

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ADAMS를 이용한 차량 조종안정성 해석 (An Analysis of Vehicle Handling Characteristics with ADAMS)

  • 조병관;송성재
    • 한국자동차공학회논문집
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    • 제4권5호
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    • pp.109-118
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    • 1996

  • An analysis of handling characteristics of a vehicle is performed for step and pulse steering input, which may be very useful in suspension design stage. Many developed computer programs for vehicle dynamics require test data of compliance effects for proto type car. Therefore, these programs are not suitable for automobile development stage. Using the raw design data of suspension and steering system, we analyze the vehicle behavior for step and pulse steering input with commercial multibody dynamics program, ADAMS. Simulated results are in good agreement with vehicle test results. Vehicle handling characteristics parameters which are very useful in automobile suspension design are evaluated from the analysis.

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하역생산성 향상을 위한 컨테이너 크레인의 제어기 설계 (Design of Container Crane Controller for High Productivity in Cargo Handling)

  • 최재준
    • 한국마린엔지니어링학회:학술대회논문집
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    • 한국마린엔지니어링학회 2000년도 춘계학술대회 논문집(Proceeding of the KOSME 2000 Spring Annual Meeting)
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    • pp.28-35
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    • 2000

  • For the merit of a container in transportation and cargo handling the amount of container freight has been continuously on the increase. On the other hand container crane had got the bottle neck in cargo handling due to low productivity so that freight congestion had been often occurred at ports. in this paper A mathematical model for container crane system is represented a method for designing a fuzzy controller of container crane system for high productivity in cargo handling is presented. The fuzzy controller is compared with other optimal controller at the same condition. in the computer simulation the fuzzy controller obtained an excellent response to reference change better than the optimal controller. For disturbance such as a strong storm and parameter change due to change of cargo weight the result was also stable and robust than the optimal controller.

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