• 문화기술의 융합
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• 제5권3호
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• pp.263-269
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• 2019

본 연구에서는 붐 길이를 측정할 수 있는 센서, 붐 및 로더의 좌우측의 경사를 측정할 수 있는 각도센서 그리고 리프팅 시 무게를 측정할 수 있는 로드셀 등의 여러 센서를 장착한 다목적 로더의 특성과 운행에 관련된 데이터 값을 디스플레이하는 시스템을 구현하였다. 시스템의 구성은 다음 각종 센서로부터 값을 읽어와 이를 차량제어기에 보내고 제어기에서 계산한 전복률 결과와 기타 중요한 정보를 디스플레이 장치에 CANOpen 프로토콜을 이용하여 전달하게 하였다. 또한 전복률 계산에 있어서는 다목적 로더의 구조가 중장비에 속하는 크레인의 구조와 비슷하여 크레인 전복률 계산방식을 사용하였으며 좌우 경사도에 따른 전복 위험성은 실험을 통하여 전복가능성이 있는 좌우 경사각을 추출하였다. 본 연구를 통하여 중장비 차량의 상태를 관찰하며 전복 등의 비상 상황을 디스플레이 장치를 통해 사전 인지할 수 있게 하였다.

• 대한인간공학회지
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• 제34권3호
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• pp.279-291
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• 2015

Objective: The purpose of the study is to evaluate appropriate weight for aged farmers in manually handling livestock feed in bags using ergonomic methods. Background: In the livestock industry in South Korea, despite the trend of aging of labor manpower, heavy items are still manually handled in many farms. In particular, among stockbreeding works, the handling of feed in bags weighing 25~30kg is reported as a cause of frequent injuries and musculoskeletal system diseases. However, studies on the standard for recommended weight allowed considering the physical characteristics of aged farmers older than 60 years with greatly decreased physical strength and muscle strength are insufficient. Method: To evaluate appropriate weight for handling of heavy livestock feed in bags, physical techniques for measuring recognized levels of physical work loads, the NLE (NIOSH lifting equation) a method that is an observation type technique, and an ergonomic modeling technique to predict compressive force imposed on L5/S1 were used. Subjects who participated in the experiment were organized into two groups of males/females with mean age exceeding 60 years, and lifting tasks were evaluated for nine weight levels. Results: Based on the results of psychophysical measurement, females showed a tendency of more drastic increases compared to males when weight was over 19kg. The results of estimation of regression models for the weight, 18.0 kg ($r^2=0.97$) and 15.3kg ($r^2=0.97$) were evaluated as stable load for males and females, respectively. In addition, both the observation type evaluation and ergonomic model evaluation showed stable loads in a range of 15~18kg. Conclusion: Given the results of the study, the weight of the feed in bags currently distributed to farms can become a cause of not only overexertion but also farm work related disasters such as musculoskeletal disorders and safety accidents. Providing livestock feed in bags weighing not more than 19kg for aged farmers is judged desirable, and managerial improvement for this matter is considered necessary. Application: The results of the present study can be utilized as useful data for institutional improvement of the weight of livestock feed in bags.

• 대한기계학회논문집A
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• 제29권2호
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• Wind and Structures
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• 제10권6호
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• pp.555-576
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• 2007

Statistical analysis on the measured responses of a suspension bridge deck (Law, et al. 2007) show that vibration response at the first torsional mode of the structure has a significant increase at and beyond the critical wind speed for vortex shedding as noted in the wind tunnel tests on a sectional model. This paper further analyzes the measured responses of the structure when under typhoon conditions for any possible vortex shedding events. Parameters related to the lifting force in such a possible event and the vibration amplitudes are estimated with a single-degree-of-freedom model of the system. The spatial correlation of vortex shedding along the bridge span is also investigated. Possible vortex shedding events are found at both the first torsional and second vertical modes with the root-mean-square amplitudes comparable to those predicted from wind tunnel tests. Small negative stiffness due to wind effects is observed in isolated events that last for a short duration, but the aerodynamic damping exhibits either positive or negative values when the vertical angle of wind incidence is beyond ${\pm}10^{\circ}$. Vibration of the bridge deck is highly correlated in the events at least in the middle one-third of the main span.

• 한국어병학회지
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• 제32권2호
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• pp.81-89
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• 2019

As an epidemiological survey, mortality of marbled rockfish, Sebastiscus tertius observed from a fish farm in Gyeongnam province of South Korea. The major macroscopic sign of the diseased fish was severe multifocal dermal ulceration. Histological observation revealed inflammation, necrosis and colonization of bacteria in various tissues (gill, liver, spleen and kidney). Bacteria was isolated from spleen and kidney in moribund and mortality fish. Seven bacterial isolates from the diseased fish were identified as Aeromonas salmonicida subsp. salmonicida using API 20E and 20NE, API 50CH API ZYM system. Under light microscopy, infected marbled rockfish showed the lifting of the lamella epidermal layer, edematous changes and hypertrophy of epithelial cell in the gill filament. The atrophy of the mucosal fold, erythema in the intestine, and the necrosis of hematopoietic tissue and renal tubule cells with karyolysis were observed in the kidney. In this study was demonstrated the histological reaction of red marbled rockfish infected by Aeromonas salmonicida. Furthermore, this is the first account of extensive dermatitis in Sebastiscus tertius due to atypical A. salmonicida infection, which has high potential in aquaculture among native fish species.

• 대한조선학회논문집
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• 제37권3호
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• pp.27-36
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• 2000

기하학적 형상과 유동의 해를 B-스플라인으로 표현하는 2차원 고차 패널법이 개발되어 수중익 문제의 해석에 적용되었다. 기존의 Lee/Kerwin은 한 패널에 여러 개의 제어점을 배치하여 최소자승법에 의해 해를 구하였으나, 본 논문에서는 필요한 개수의 제어점 만을 표면에 규칙적으로 배열하여 해를 구할 수 있음을 수치 실험을 통하여 보였다. 특히, 날개 뒷날에서의 압력 점프의 값이 명시적으로 영이 되도록 하는 동역학적 Kutta 조건식의 도입이 중요하고, 이의 적용이 안정된 해를 보장함을 확인하였다. 해석해에 의해서 구해진 2차원 날개의 압력 분포와의 비교를 통하여, 적은 수의 제어점을 선정하여도 정확한 해를 얻을 수 있음을 보였으며, 동시에 계산속도도 현저하게 감소함을 보였다.

• Journal of Oral Medicine and Pain
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• 제10권1호
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• pp.113-124
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• 1985

In order to observe the effect of mandibular orthopedic repositioning appliance (MORA) on body strength, the author measured back muscle strength with Digital Back Muscle DYNAMOMETER (TAKEI KIKI KOGYO Co., Tokyo, Japan) before MORA, 15 days after and 30 days after MORA in 12 men and then analysed them statistically. The subjects were weight-lifting athletes of Seoul Athletic High School without dysfunction of masticatory system. MORA was fabricated at 1.0-1.5rnm isotonically closed position (Myocentric Occlusion Position) from mandibular rest position (Myocentric Rest Position) using Myo-monitor (MyoTronics Research Inc., Seattle, Washington, USA) and-SVT C-II (Tokyo Shizaisha Inc., Tokyo, Japan). The results were as follows : 1. The mean of back muscle strength before MORA was 150 kg, that of 15 days after MORA was 165 kg (4.43% increase than before), and that of 30 days was 175 kg (10.76% increase than before). 2. There was a significant difference among back muscle strength before MORA, 15 days after and 30 days after MORA (P<0.01: repeated measures one-way ANOVA). 3. According to the result of determining mandibular position for MORA fabrication, mandibular rest position after relaxation with Myo-monitor was 3.2mm lower, 1.0mm posterior, and 0.5 mm left from centric occlusion. And the mean of the amount of lateral deviation was 0.7 mm.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1996년도 춘계공동학술대회논문집; 공군사관학교, 청주; 26-27 Apr. 1996
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• pp.141-146
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• 1996

Hand posture and force, which define aspects of the way an object is grasped, are features of robotics manipulation. A means for specifying these grasping "flavors" has been developed that uses an instrumented glove equipped with joint and force sensors. The new grasp specification system is being used at the Pennsylvania State University (Penn State) in a Virtual Reality based Point-and-Direct(VR-PAD) robotics implementation. In the Computer Integrated Manufacturing (CIM) Laboratory at Penn State, hand posture and force data were collected for manipulating bricks and other items that require varying amounts of force at multiple pressure points. The feasibility of measuring desired grasp characteristics was demonstrated for a modified Cyberglove impregnated with FSR (Force Sensitive Resistor) pressure sensors in the fingertips. A joint/force model relating the parameters of finger articulation and pressure to various lifting tasks was validated for the instrumented "wired" glove. Operators using such a modified glove may ultimately be able to configure robot grasping tasks in environments involving hazardous waste remediation, flexible manufacturing, space operations and other flexible robotics applications. In each case, the VR-PAD approach improved the computational and delay problems of real-time multiple-degree-of-freedom force feedback telemanipulation.ck telemanipulation.

• Ocean and Polar Research
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• 제36권4호
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• pp.367-371
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• 2014

In early 1990s, the Korean government has launched a deep-sea research program to secure the stable long-term supply of strategic metallic minerals including Cr, Cu and Ni. Through the pioneering surveys, Korea registered $150,000km^2$ of Mn-nodule field in the Clarion-Clipperton area, the NE equatorial Pacific to the international sea-bed authority (ISA) in 1994. Following the ISA exploration code, the final exclusive exploration area of $75,000km^2$ was assigned in 2002, based on results of eight-year researches of chemico-physical properties of nodules, bottom profiles and sediment properties. Since that time, environmental studies, mining technical developments including robot miner and lifting system and establishment of smelting systems were accompanied with the detailed geophysical studies to decipher the priori mining area until 2009. Major points of the recent Korea Mn-nodule program are deployed on a commercial scale until 2015. In order to meet the goals, we developed a 1/5 scaled robot miner compared to commercial one in 2012 and performed a mining test at the water depth of 1,370 m in 2013. In addition, detailed 25,000 scaled mining maps in the priori area, which can provide operation roots of the miner, will be prepared and an environmental-friendly mining strategy will be pursued based on the environmental impact test and environmental monitoring.

• Ocean and Polar Research
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• 제36권4호
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• pp.455-463
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• 2014

This paper presents data from performance tests carried out to assess a manganese nodule crusher. Manganese nodules should be crushed into smaller pieces in order to assure the slurry flow of the lifting system. Both artificial nodules and real manganese nodules are used to evaluate nodule breaking ability of the crusher. The crushing performance of the crusher depends on the flow rate and pressure of the power transmission device. The size of the crushed manganese nodules also depends on the shape of the crushing drum. In this paper, several comparative tests are carried out to evaluate and improve the crushing performance and find the optimal design point of the crusher.