• IEIE Transactions on Smart Processing and Computing
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• 제3권4호
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• pp.195-204
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• 2014

This paper presents the depth evaluation for object detection by automated assembling robots. Pattern distortion analysis from a structured light system identifies an object with the greatest depth from its background. An automated assembling robot should prior select and pick an object with the greatest depth to reduce the physical harm during the picking action of the robot arm. Object detection is then combined with a depth evaluation to provide contour, showing the edges of an object with the greatest depth. The contour provides shape information to an automated assembling robot, which equips the laser based proxy sensor, for picking up and placing an object in the intended place. The depth evaluation process using structured light for an automated electronics assembling robot is accelerated for an image frame to be used for computation using the simplest experimental set, which consists of a single camera and projector. The experiments for the depth evaluation process required 31 ms to 32 ms, which were optimized for the robot vision system that equips a 30-frames-per-second camera.

• 한국생산제조학회지
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• 제25권5호
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• pp.354-361
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• 2016

Parallel robots are usually used for performing pick-and-place motion to increase productivity in high-speed environments. The present study proposes a high-speed parallel robot and a control approach to improve the tracking performance for the purpose of handling a solar cell. However, the target processes are not limited to the solar cell-handling field. Therefore, a delta-type parallel manipulator is designed, and a ball joint structure is specifically proposed to increase the allowed angle that would meet the required workspace. A control algorithm considering the synchronization between multiple joints in a closed-chain mechanism is also suggested to improve the tracking performance, where the tracking and synchronization errors are simultaneously considered. In addition, a prototype machine with the proposed ball joint is implemented. A satisfactory tracking performance is achieved by applying the proposed control algorithm, with a cycle time of 0.3 s for a 0.1 kg payload.

• 로봇학회논문지
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• 제8권1호
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• pp.20-28
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• 2013

Large workspace and strong grasping force are required when a robot manipulates big and/or heavy objects. In that situation, bimanual manipulation is more useful than unimanual manipulation. However, the control of both hands to manipulate an object requires a more complex model compared to unimanual manipulation. Learning by human demonstration is a useful technique for a robot to learn a model. In this paper, we propose an imitation learning method of bimanual object manipulation by human demonstrations. For robust imitation of bimanual object manipulation, movement trajectories of two hands are encoded as a movement trajectory of the object and a force trajectory to grasp the object. The movement trajectory of the object is modeled by using the framework of dynamic movement primitives, which represent demonstrated movements with a set of goal-directed dynamic equations. The force trajectory to grasp an object is also modeled as a dynamic equation with an adjustable force term. These equations have an adjustable force term, where locally weighted regression and multiple linear regression methods are employed, to imitate complex non-linear movements of human demonstrations. In order to show the effectiveness our proposed method, a movement skill of pick-and-place in simulation environment is shown.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2004년도 학술대회지
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• pp.35-39
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• 2004

In a shipyard, there exist various critical decision making components pertaining to various production hindrances. The most prominent one is best-fit spatial arrangement for the minimal spatial occupancy with better pick-ability for the erection of the ship in the dock. During the present research, a concept have been conceived to evade the gap between the identification oj inter-relationships among a set of blocks to be included on a pre-erection area, and a detailed graphical layout of their positions, is called an Optimal Block Relationship Diagram A research has been performed on generation of optimal (or near Optimal) that is, with minimal scrap area. An effort has been made in the generation of optimal (or near-optimal) Optimal Block Relationship Diagram with the Goldberg's Genetic Algorithms with a representation and a set of operators are 'trained' specifically for this application. The expected result to date predicts very good solutions to test problems involving innumerable different blocks to place. The suggested algorithm could accept input from an erection sequence generator program which assists the user in defining the nature and strength of the relationships among blocks, and could produce input suitable for use in a detailed layout stage.

• 대한기계학회논문집B
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• 제36권1호
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• pp.47-54
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• 2012

본 연구는 전통적인 픽-엔-플레이스 방법을 대체하기 위한 새로운 유체 자가-조립 방법을 개발하였다. 이 방법은 종래의 연구보다 경제적이고 효과적인 방법이다. 이를 위해, 중요한 변수인 항력, 모세관 힘, 복원력을 선정하여 이들이 칩과 기판의 부착 및 정렬에 미치는 영향을 알아보기 위해 이론값과 실험값을 비교하였다. 유체 자가-조립 실험에서는 $500{\mu}m$ 솔드 볼에서 96.5% 부착률과 미정렬 $5^{\circ}$ 인 우수한 결과를 도출하였다.

• 반도체디스플레이기술학회지
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• 제19권2호
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• pp.105-109
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• 2020

Today's placement machines can pick and place thousands of components per hour with a very high degree of accuracy. The packaged semiconductor chips are inserted into a carrier at regular intervals, covered with a tape to protect the chips from external impact, and supplied in a roll form. These packaging processes also progress rapidly in a consistent direction, affecting the peelback strength between the cover tape and carrier depending on the main process conditions. In this paper, we analyzed the main process variables that affect peelback strength in the reel tape packaging process for packaging semiconductor chips. The main effects and interactions were analyzed. The peelback strength range required in the packaging process was set as the nominal the best characteristics, and the optimum process condition satisfying this was derived.

• 한국실내디자인학회:학술대회논문집
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• 한국실내디자인학회 2005년도 춘계학술발표대회 논문집
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• pp.255-256
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• 2005

For the students who specialize in interior design irrespective of their color susceptibility, it is prerequisite to precede a systematic curriculum in the first place on how to put the color theory to practical use. Therefore, this curriculum has its purpose to let the students study on how to put to practical use of their understanding of color as one of the finishing materials for interior design. The 16-weekschool days has been segmented into a theoretical study and practical training, This thesis has summed up the basic instance of the color theory, the first of the three basicpractical courses and presented its results to the students. In due course of this curriculum, the students were recommended to pick up one photo image of their selection out of which they could make out color palette based on their analysis of the photo image, so that they could study on how to apply their color palette to a three dimensional space. Firstly, through this course, they could experience the process for a color image that they had so far sensed subjectively and vaguely to become an objective inevitable result. Secondly, they studied on the process of how a two-dimensionalcolor image could be applied for a three-dimensional space. It is significant of this curriculum in the sense that the students become prepared through this study course with essential knowledge applicable to various interior designs in their future.

• 한국산학기술학회논문지
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• 제11권11호
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• pp.4212-4219
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• 2010

본 논문에서는 최근 서해안 지역을 중심으로 활발히 건설이 진행되고 있는 세 곳의 조류 탐사관의 건축 및 전시 디자인의 특징을 조사하였다. 조류탐사관은 그 전시물의 내용상 자연사 박물관에 가까운 형식을 갖는다. 그러나 주로 조류의 관찰과 생태에 그 초점을 두는 전문화된 전시관이라고 할 수 있을 것이다. 이러한 조류 탐사 시설은 최근의 지역주의와 관광 자원 개발의 유행에 따라 난개발의 우려를 가지고 있다. 이러한 기초 조사를 통해 지역의 문화 유산을 보다 잘 보존하고 지역 문화 발전과 지역경제에 이바지하는 시설로 자리 잡는데 필요한 디자인적 요구 사항을 살펴보았으며 비교 분석을 통해서 추후 발전을 위한 디자인적인 개선 방안을 제시하였다.

• 한국연안방재학회지
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• 제5권4호
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• pp.193-201
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• 2018

The recent increase in size and speed of ships resulted in the existing maritime routes becoming narrow relative to the size of new ships. At the same time, as the improvement and optimization in marine transportation take place and the construction of structures in seas and harbor improvements pick up speed, there is an increasing probability of marine accidents. Due to these environmental changes, the need to professionally analyze the effect of marine structures on navigation arose to ensure safety of ships and a law was enacted and introduced for the Maritime Traffic Safety Audit (MTSA). In this study, a Qualitative assessment for verifying the effectiveness of MTSA was carried out with case analysis and analysis model in other similar audit scheme. It is expected that an analyzed result for effectiveness of MTSA will be a steppingstone for enhancing the MTSA and keeping maritime traffic safety as its own purpose.

• 대한안전경영과학회지
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• 제23권4호
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• pp.93-104
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• 2021

In this paper, we propose a method for diagnosing overload and working load of collaborative robots through performance analysis of machine learning algorithms. To this end, an experiment was conducted to perform pick & place operation while changing the payload weight of a cooperative robot with a payload capacity of 10 kg. In this experiment, motor torque, position, and speed data generated from the robot controller were collected, and as a result of t-test and f-test, different characteristics were found for each weight based on a payload of 10 kg. In addition, to predict overload and working load from the collected data, machine learning algorithms such as Neural Network, Decision Tree, Random Forest, and Gradient Boosting models were used for experiments. As a result of the experiment, the neural network with more than 99.6% of explanatory power showed the best performance in prediction and classification. The practical contribution of the proposed study is that it suggests a method to collect data required for analysis from the robot without attaching additional sensors to the collaborative robot and the usefulness of a machine learning algorithm for diagnosing robot overload and working load.