• Journal of Biosystems Engineering
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• 제25권5호
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• pp.399-408
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• 2000

This study is final focused on developing fruit harvesting robot can distinguish fruit type and status accurately. Multi-joint robot is able to discriminate tree shape and select mature fruit by image processing. The multi-joint robot consists of (a) rotating base, (b)turning first joint-arm, (c)rotating and turning second joint-arm, (d)rotating and turning third joint-arm, (e)rotating and turning last joint and (f)picker hand. The operational ranges of the robot are: horizontal 860~2,220mm, vertical 1,440~2,260mm, 270 degrees’rotation angle, 90 or 270 degrees’turning angle. The robot weighs 330kg. The multi-joint robot was designed in high accuracy and efficiency by getting as close as the movements of human arms and waist.

• 한국전기전자재료학회논문지
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• 제13권2호
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• pp.170-176
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• 2000

The joints with multi-interfaces was expected to have low DC resistance compared with those with single interface. The small size joint specimens joined with Nb3Sn sub-cables were fabricated to investi-gate the DC performance in the range of 0 to 600A transport current without external magnetic field. The joints with multi-interfaces have a few n-Ohm resistance, which is much lower than that of single lap joint. Because the interfaces between sub-cables of multi-interfaced joint are more complicated than those of single-interfaced joint, the soldering condition between sub-cables is very effective on the joint DC resistance.

• Industrial Engineering and Management Systems
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• 제3권1호
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• pp.78-84
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• 2004

To optimize movement of a multi-joint robot arm is known to be a difficult problem, because it is a kind of redundant system. Although the end-effector is set its position by each angle of the joints, the angle of each joint cannot be uniquely determined by the position of the end-effector. There exist the infinite number of different sets of joint angles which represent the same position of the end-effector. This paper describes how to manage the angle of each joint to move its end-effector preferably on an X-Y plane with obstacles in the end-effector’s reachable area, and how to optimize the movement of a multi-joint robot arm, evading obstacles. The definition of “preferable” movement depends upon a purpose of robot operation. First, we divide viewpoints of preference into two, 1) the standpoint of the end-effector, and 2) the standpoint of joints. Then, we define multiple objective functions, and formulate it into a multi-objective programming problem. Finally, we solve it using multi-purpose genetic algorithm, and obtain reasonable results. The method described here is possible to add appropriate objective function if necessary for the purpose.

• 아동학회지
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• 제31권6호
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• pp.35-50
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• 2010

Joint attention, language development, and the relationship between these two variables were compared in infants from multi-cultural and Korean families. Joint attention was observed in both the Early Social Communication Scale (ESCS) and in infant-mother free play. Language development was evaluated by means of the MacArthur-Bates Communicative Development Inventory-Korean. There were no group differences in initiating and responding to joint attention in ESCS. However, in infant-mother free play, joint attention episodes were less and shorter in duration with infants from multi-cultural families than in Korean infants. The size of both the expressive and receptive vocabulary was also smaller in infants from multi-cultural families than in Korean infants. In terms of Korean infants, mean duration of joint attention episodes in free play showed a significant positive correlation with the size of the expressive vocabulary and initiating joint attention in ESCS also showed a significant positive correlation with the size of receptive vocabulary. However, none of the measures of joint attention indicated a significant relationship with the size of either expressive or receptive vocabulary in infants from multi-cultural families.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1180-1185
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• 2004

The purpose of this study is to develop a Multi-joint rehabilitation system (CMRS : C&R Lab. Multi-joint Rehabilitation System). This study presents the mechanism of rehabilitation system that enables rehabilitation of multi-joint with kinematical analysis for joints of human body. Also, the relative positioning between human subjects and the head part to rehabilitate for the mechanism is based on robotics and anatomy. This study was verified with simulations. Finally, Automation of positioning was realized. Rehabilitation exercises in passive mode were enabled with the results.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.631-634
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• 2001

In this study, the graphic simulation system of multi joint manipulator is developed to analyze and optimize the remote handling processes for the spent fuel assembly. This system consists of a 3-D graphical modeling system, a device assembling system, and a motion simulation system. To analyze and optimize the processes involved in multi-joint manipulator operation such as NFBC transportation process and bottom nozzle removal process, the virtual work place is implemented using a computer graphic technology. This virtual workcell is exactly same as that of the real environment. This graphic simulation system of the multi-joint manipulator can be effectively used for designing the main processes and maintenance processes of the spent fuel management.

• 한국통신학회논문지
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• 제24권8A호
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• pp.1099-1106
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• 1999

본 논문에서는 다중사용자/다중경로 환경에서 다중반송파 CDMA 시스템의 오류확률을 해석적으로, 구하고, 다중 사용자, 다중반송파, 다중경로에 의한 간섭의 영향을 분석하였다. 또한 다중반송파 시스템에 대한 역상관 검출기(decorrelating detector)를 결합한 다중반송파/다중사용자/다중경로 결합 검출 방식을 제시하고 성능 및 역상관 과정에 의한 백색가우시안 잡음(AWGN)의 증가를 분석하였다. 제안한 결합 검출 방식의 오류 확률은 하나의 상용자만이 있는 경우의 이상적인 성능에 근접하였다.

• 대한기계학회논문집A
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• 제26권3호
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• pp.471-478
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• 2002

In real structures, multi-spot welded joints are more frequently used than a single-spot welded joint. Most researches, however, have been focused to a single-spot welded joint until now. In this paper, the fatigue behavior of multi-spot welded joints are investigated using the finite element solutions of the multi-spot welded specimens. The local strain approach is used rather than the stress intensity factor approach to estimate the fatigue life since the former is quite simple and straightforward. It is found that the fatigue behavior of multi-spot welded joints is different from that of single-spot welded joints. The local strain approach is still applicable to multi-spot welded joints.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.765-766
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• 2012

• Journal of Biosystems Engineering
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• 제30권5호
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• pp.293-298
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• 2005

The purpose of this study was the development of a multi-joint robot manipulator for milking robot system. The multi-joint robot manipulator was controlled by 5 drivers with driver controller through the position information obtained from the image processing system. The robot manipulator to automatically attach each teat cup to the teats of a milking cow was developed and it's motion was accurately measured with error rate. Results were as follows. 1. Maximum errors in position accuracy were 4mm along X-axis, 4.5mm along Y-axis and 0.9mm along Z-axis. Absolute distance errors were maximum 4.8mm, minimum 2.7mm, and average 3.6mm. 2. Errors of repeatability were maximum 3.0mm along X-axis, 3.0mm along Y-axis, and 0.5mm along Z-axis. Distance error values were maximum 3.2mm, minimum 2.2mm, and average 2.5mm. It is envisaged that multi-joint robot manipulator can be applicate to milking robot system being developed in consideration of the experiment results.