• 한국기계가공학회지
• /
• 제21권2호
• /
• pp.116-122
• /
• 2022

This study proposed a method of testing the stability when selecting gears to reduce the weight of a 3-DOF wrist mechanism for a pick-and-place 3-DOF parallel robot with an increased workspace by using an additional straight axis at its top. We performed SolidWorks^® modeling- and ANSYS^®-based structural analysis of a pinion gear, which is most vulnerable to the force from a 3-DOF wrist mechanism, to lighten the robot weight for performing various tasks. When the initial analysis results considerably differed from the theoretical values calculated in advance, we checked and identified the errors in the contact conditions or input values. Ultimately, it is believed that the methodology presented in this paper will help in mitigating errors during analysis and determine the accurate values for a lightweight 3-DOF wrist mechanism for a parallel robot with an expanded workspace.

• 대한임베디드공학회논문지
• /
• 제19권1호
• /
• pp.1-8
• /
• 2024

Robotic arms have been widely utilized in various labor-intensive industries such as manufacturing, agriculture, and food services, contributing to increasing productivity. In the development of industrial robotic arms, camera sensors have many advantages due to their cost-effectiveness and small sizes. However, estimating object positions is a challenging problem, and it critically affects to the robustness of object manipulation functions. This paper proposes a method for estimating the 3D positions of objects, and it is applied to a pick-and-place task. A deep learning model is utilized to detect 2D bounding boxes in the image plane, and the pinhole camera model is employed to compute the object positions. To improve the robustness of measuring the 3D positions of objects, we analyze the effect of lens distortion and introduce a false positive filtering process. Experiments were conducted on a real-world scenario for moving medicine bottles by using a camera-based manipulator. Experimental results demonstrated that the distortion removal and false positive filtering are effective to improve the position estimation precision and the manipulation success rate.

• 한국의류학회지
• /
• 제22권2호
• /
• pp.193-202
• /
• 1998

The purpose of this study was to understand clothing condition of elderly men focusing on somatotype variation and satisfaction with ready-to-wear and to provide basic data in designing ready-to-wrar for the elderly men. The questionnaire method was used and one-to-one interviews were held for the elderly residents in Seoul, Deajon, Jonju, and Yeosu areas. The total of 275 questionnaires (from 148 elderly men in the 60's, 99 in the 70's and 28 in the 80's) were collected and used for statistics. SAS package was used for the statistics and the statistics were based on frequency, X2-test, ANOVA, Duncan's multifle range test. The results of the study were as follows; 1) Height (p< .05), weight (p< .001) and Rohrer index (p< .05) decreased significantly with ageing 2) The somatotypes of 75.6% were changed and the 70's 8t the 80's showed significantly (p< .05) higher changing rate compared to the 60's and more changes took place significantly (p< .001) with ageing. 3) The most preferred out wear was suit & tie and next was jumper or shirt. 4) For the mode of getting suit, the highest number 55.3%) purchased ready-to-wear, next (32.0%) was tailored and the least (12.7%) neither purchased nor tailored. The percentage of buying ready-to-wear significantly (p< .01) decreased with ageing. The main reason for getting tailor-made was not well fitting of ready-to-wear (20.7% out of 32.0%). And for the mode of getting suit, there was significant differance with income (p< .001) and pocket money (p< .01). 5) The most important factors in suit and shirt werefirst, size (fitness) and second, comfort in movement. 6) For the wearing feeling of suit, 55.3% showed discomfort. There was significant difference according to the age (p< .05) and pocket money (p< .05). The Discomfort increased with ageing and less pocket money. 7) 62.4% answered it uneasy to Pick out well fitting If comfortable suit. This showed their dissatisfaction with ready-to-wear. 8) As for the items of not well fitting, 64.4% answered in jacket, 60.8% in trousers, 46.0% in shirt. The above result shows that elderly men's somatotype changes as they age, suit is found uncomfortable and it's not easy for elders to pick out comfortable ready-to-wear. So, they seem to have a certain dissatisfaction in ready to wear. Therefore, there is a need for reorganization of size and developing pattern design according to measurement of elderly men.

• 고문화
• /
• 제70호
• /
• pp.63-88
• /
• 2007

이 글은 삼한 및 삼국시대의 조개더미에서 출토하는 원래의 모습에서 변형된 동물유체를 대상으로 변형, 즉 해체가 있었던 장소와 도구에 대하여 살펴보는 것이 그 목적이다. 유적은 발굴된 동물유체에 대하여 분석이 이루어진 유적을 대상으로 하였으며, 조가비 전체와 포유류 가운데 사슴을 대표적으로 살펴보았다. 그 결과 조가비의 해체는 서식장소에서 이루어진 것이 아니라 취락으로 가져온 후 주거지 내부와 주거지의주변장소에 해체작업을 하였으며, 사슴의 경우도 포획장소보다 주거지 주변의 공공장소나 특정장소, 그리고 주거지 내부에서 이루어졌음을 알 수 있었다. 해체방법은 조가비의 경우는 백합으로 대표되는 도끼발류는 주로 손칼 같은 도구로 껍질을 비틀어 속살을 꺼내거나 삶은 후에 속살을 꺼내는 방법이 있으며, 간혹 큰 백합과 떡조개의 경우 가운데를 깨어서 속살을 꺼내기도 한다. 배발류의 대표적인 피뿔고둥은 꼭대기, 몸통 일부를 돌로 깨어서 속살을 꺼내기도 하며 혹은 삶아서 바늘 및 침 같은 도구로 속살을 꺼내기도 한다. 전복과 같은 종은 살이 껍질에 단단히 고착되어 있으므로 예리하고 적당한 금속도구로 살을 끄집어내며 크기가 작은 대수리, 두드럭고둥, 눈알고둥, 밤고둥 등은 살은 후에 꼭지부위를 깨뜨려 빨아서 살을 꺼내거나 완전한 상태에서 침과 바늘로 살을 꺼내기도 한다. 사슴과 같은 대형포유류는 사슴 자체가 여러 용도로 사용되는 요소를 충분히 고려하여 정교한 방법으로 철정, 철부, 쇠손칼 등으로 가죽벗기기, 내장꺼내기, 앞다리 및 뒷다리부위 자리기, 관절부위 자르기/고기 바르기, 골수추출 방법으로 해체하였으며, 가죽벗기기에서 앞/뒷다리부위 자르기는 주거지 주변의 장소에서 해체하였으며, 관절부위 자르기에서 골수추출은 주거지에서 이루어진 듯하다. 해체도구는 당시 사람들이 의식주 생활에 많이 사용되는 손칼, 철정, 쇠도끼, 망치돌, 받침돌, 바늘과 침, 그리고 예리한 도구 등을 대상물에 따라 적절히 사용하였음이 밝혀졌다.

• 한국실내디자인학회논문집
• /
• 제23권5호
• /
• pp.76-85
• /
• 2014

When conscious and unconscious exploring information of space-visitors which is contained in the information acquired in the process of seeing any space is analyzed, it can be found what those visitors pick up as factors in the space for its selection as visual information in order to put it into action. This study, with the object of the space reproduced in three dimensions from the cafe which was visited for conversation, has analyzed the process of acquiring space-information by sex to find out the features of scanning path, findings of which are the followings. First, the rate of scanning type of males was "Combination (50.5%)- Circulation (31.0%) and that of females "Horizontal (32.5%) - Combination (32.1%)", which shows that there was a big difference by sex in the scanning path which took place in the process of observing any space. Second, when the features of continuous observation frequency by sex is looked into, the trends of increased "horizontal" scanning and decreased "Combination" scanning of both showed the same as the frequency of continuous observations increased, while in case of "Circulation" scanning, that of females was found to decrease but that of males showed the aspect of confusion. Third, the 'Combination' scanning of males was found strong at the short observation time with three times of continuous observation frequency defined as "Attention Concentration" while the distinct feature was seen that the scanning type was dispersed to "combination-circulation" as the frequency of continuous observation increased. Females start the information acquirement with "combination-circulation" but in the process of visual appreciation they showed a strong "Horizontal" These scanning features can be defined as those by sex for acquiring space information and therefore are very significant because they are fundamental studies which will enable any customized space-design by sex.

• 대한용접접합학회:학술대회논문집
• /
• 대한용접접합학회 2002년도 Proceedings of the International Welding/Joining Conference-Korea
• /
• pp.720-725
• /
• 2002

In recent years, techniques for micro-assembly with high repeatability under a scanning electron microscope (SEM) are required to construct highly functional micro-devices. Adhesion phenomenon is more significant for smaller objects, becanse adhesional force is proportional to size of the objects while gravitational force is proportional to the third power of it. It is also known that adhesional force between micro-objects exposed to Electron Beam irradiation of SEM increases with the elapsed time. Therefore, mechanical manipulation techniques using a needle-shaped tool by adhesional force are often adopted in basic researches where micro-objects are studied. These techniques, however, have not yet achieved the desired repeatability because many of these could not have been supported theoretically. Some techniques even need the process of trial-and-error. Thus, in this paper, mechanical and adhesional micro-manipulation are analyzed theoretically by introducing new physical factors, such as adhesional force and rolling-resistance, into the kinematic system consisting of a sphere, a needle-shaped tool, and a substrate. Through this analysis, they are revealed that how the micro-sphere behavior depends on the given conditions, and that it is possible to cause the fracture of the desired contact interfaces selectively by controlling the force direction in which the tool-tip loads to the sphere. Based on the acquired knowledge, a mode diagram, which indicates the micro-sphere behavior for the given conditions, is designed. By refening to this mode diagram, the practical technique of the pick and place manipulation of a micro-sphere under an SEM by the selective interface fracture is proposed.

• 복식문화연구
• /
• 제15권6호
• /
• pp.1053-1062
• /
• 2007

This study purposed to restructure representative traditional patterns formatively, manufacture actual cultural products with traditional dyeing technique using persimmon, and commercialize the results of the research. Traditionally in Korea, the dying of natural fiber such as cotton, flax and silk with persimmon was called Galmul dyeing, and clothes made through Galmul dyeing were called Galot. Galot was very useful because it is strong, does not pick up dirt easily, dries easily, and is cool in summer. In addition, cloth dyed with persimmon becomes stiff, so it does not need to be starched or ironed after washing. Moreover, it does not transmit heat under direct rays and is highly air-permeable, so it is cool and useful for standing the heat. In this study, we used traditional persimmon dyeing technique, printing traditional patterns fit for contemporary people's aesthetic sense not through dip-dying but through printing. When persimmon dyeing is used in expressing patterns, it produces not only visual effect but also embossing effect due to the characteristic of persimmon that makes printed patterns stiff, so we can obtain unique texture distinguished from other printing methods. We chose seven motive patterns, which were lotus pattern symbolizing eternal life, peony pattern symbolizing wealth and rank and prosperity, character Su(壽) pattern widely used as a symbol of health, bird and cloud pattern in the Goryeo Dynasty, Sahapyeoeuisohwa(四合如意小花) pattern printed on brocade in the Goryeo Dynasty, lattice pattern, cloth pattern on wall paintings from the Period of the Three Kingdoms. From each pattern chosen as a motive was extracted unit patterns and the original pattern was restored using Adobe Illustrator. Restored patterns were restructured to be applied to cultural products fit for contemporary formative sense. Fabrics used in dyeing were cotton, linen, ramie, silk, and polyester. Although the same persimmon dyeing was applied, we produced different feelings of patterns using various fabrics and in some cases gold and silver powder was added for the effect of gloss in addition to the embossing of patterns. Using printed fabrics we manufactured tea pads, place mats, cushions, wrapping cloth for gifts, wallet, lampshades.

• 한국어류학회지
• /
• 제20권2호
• /
• pp.123-128
• /
• 2008

2000년 10월부터 11월까지 일본 Aomori현 Mutu만에서 다섯동갈망둑, Pterogobius zacalles의 섭식행동에 관하여 연구를 실시하였다. 다섯동갈망둑은 돌 틈에서 펄과 함께 먹이를 채식하는 쪼기와 돌 표면에서 먹이생물을 흡입하는 두 가지 유형의 채식방법이 있지만, 주로 돌 틈에서 먹이를 채식하는 방법을 이용한다. 다섯동갈망둑의 두 가지 채식방법 모두는 먹이를 찾아 유영하는 찾기, 섭식장소에서 먹이생물을 발견하고 먹는 섭식, 섭식한 후에 먹이를 씹고 이물질을 뱉어내는 씹기의 3단계로 구성된다. 다섯동갈망둑은 두 가지 채식방법 중에서 돌 틈에서 섭식하는 쪼기를 이용할 때 더 먼 거리를 유영하여 먹이를 찾으며, 긴 시간동안 먹이를 씹는다. 다섯동갈망둑은 채식방법에 상관없이 단각류가 주요 먹이생물이지만, 돌 표면에서 채식하였을 때보다 돌 틈에서 채식하였을 때 상대적으로 크기가 큰 단각류나 십각류를 섭식한다. 이들은 돌 틈에서 먹이를 섭식할 때 더 많은 에너지와 시간을 소비하지만, 높은 칼로리의 먹이를 섭식한다. 따라서 먹이생물의 크기는 이들의 섭식방법을 결정하는 요인으로 사료된다.

• 융합신호처리학회논문지
• /
• 제19권3호
• /
• pp.110-117
• /
• 2018

의수나 의족장치 개발은 전 세계적으로 꾸준히 이루어지고 있으며, 사람의 손과 똑같이 만들어 내거나 감각을 느끼게 하는 것은 힘들겠지만, 물건을 집거나 몇 가지 움직임을 마음먹은 대로 할 수 있다면 절단 장애인들에게는 큰 도움이 될 것이다. 3D프린팅 기술의 발달로 저렴한 의수개발이 가능해졌으며, 이러한 추세에 맞추어 개인맞춤형 의수를 비슷한 가격에 개발할 수 있다면 활용도 및 보급률이 훨씬 높아질 것이다. 본 논문에서는 3D프린팅을 이용하여 사용자 맞춤형 의수를 개발하는 방법에 대해 기술한다. 이를 위해 의수 외형 모델링의 변형수치를 가변값으로 추출하고, 의수 동작을 제어하는 기능을 소프트웨어 디자인 패턴을 이용하여 설계한다. 이를 통해 의수를 필요로 하는 사람들이 각자 원하는 자신만의 의수를 빠르고 저렴한 가격에 갖출 수 있도록 한다.

• International Journal of Korean Welding Society
• /
• 제2권2호
• /
• pp.19-25
• /
• 2002

In recent years, techniques for micro-assembly with high repeatability under a scanning electron microscope (SEM) are required to construct highly functional micro-devices. Adhesion phenomenon is more significant for smaller objects, because adhesional force is proportional to size of the objects while gravitational force is proportional to the third power of it. It is also known that adhesional force between micro-objects exposed to Electron Beam irradiation of SEM increases with the elapsed time. Therefore, mechanical manipulation techniques using a needle-shaped tool by adhesional force are often adopted in basic researches where micro-objects are studied. These techniques, however, have not yet achieved the desired repeatability because many of these could not have been supported theoretically. Some techniques even need the process of trial-and-error. Thus, in this paper, mechanical and adhesional micro-manipulation are analyzed theoretically by introducing new physical factors, such as adhesional force and rolling-resistance, into the kinematic system consisting of a sphere, a needle-shaped tool, and a substrate. Through this analysis, they are revealed that how the micro-sphere behavior depends on the given conditions, and that it is possible to cause the fracture of the desired contact Interfaces selectively by controlling the force direction in which the tool-tip loads to the sphere. Based on the acquired knowledge, a mode diagram, which indicates the micro-sphere behavior for the given conditions, is designed. By referring to this mode diagram, the practical technique of the pick and place manipulation of a micro-sphere under an SEM by the selective interface fracture is proposed.