• International Journal of Internet, Broadcasting and Communication
• /
• 제14권1호
• /
• pp.85-94
• /
• 2022

Recently, consumers who prefer contactless consumption are increasing due to pandemic trends such as Corona 19. This is the driving force for developing the last mile-based logistics ecosystem centered on the online e-commerce market. Lastmile led to the continued development of the logistics industry, but increased the amount of cargo in urban area, and caused social problems such as overcrowding of logistics. The courier service in the logistics base area utilizes the process of visiting the delivery site directly because the courier must precede the loading work of the cargo in the truck for the delivery of the ordered product. Currently, it's carried out as automated logistics equipment such as conveyor belt in unloading or classification stage, but the automation system isn't applied, so the work efficiency is decreasing and the intensity of the courier worker's labor is increased. In particular, small-scale courier workers belonging to the sub-terminal unload at night at underdeveloped facilities outside the city center. Therefore, the productivity of the work is lowered and the risk of safety accidents is exposed, so robot-based loading technology is needed. In this paper, we have derived the top-level concept and requirements of robot-based loading system to increase the flexibility of logistics processing and to ensure the safety of courier drivers. We defined algorithms and motion concepts to increase the cargo loading efficiency of logistics sub-terminals through the requirements of end effector technology, which is important among concepts. Finally, the control technique was proposed to determine and position the load for design input development of the automatic conveyor system.

• 디지털융복합연구
• /
• 제17권2호
• /
• pp.155-161
• /
• 2019

뇌파는 두뇌 활동의 변화를 시간적, 공간적으로 파악할 수 있는 대표적인 수단으로써 인간의 두피에서 측정 가능한 자발적 전기활동이다. 뇌파 전기활동을 제어하기 위해 다양한 인터페이스 기술들이 제공되고 있으며, 뇌파를 통한 휠체어나 로봇과 같은 기계의 조작이 가능하다. 뇌파 데이터의 특성은 실시간으로 다양한 채널 유형으로 수집되며, 이를 분석하기 위한 서버시스템은 플랫폼에 대해 독립적이고 경량화 된 시스템이 요구된다. 스프링 플랫폼은 독립적이고 경량화 된 서버시스템으로서, 엔터프라이즈급의 서버 프레임워크로 비즈니스 영역에서 활용되고 있다. 본 논문에서는 독립적이고 경량화 된 스프링 서버시스템을 활용한 뇌파 분석 시스템을 제안한다. 제안된 시스템을 활용하여 뇌파제어의 신뢰성을 높이고, 분석 및 제어 인터페이스 확장이 가능하다. 또한 게임과 의료용 등 다양한 방면으로도 활용이 가능하다.

• International Journal of Internet, Broadcasting and Communication
• /
• 제13권4호
• /
• pp.112-120
• /
• 2021

Recently, the number of consumers using digital online distribution platforms is increasing. This caused the rapid growth of the e-commerce market and increased delivery volume in urban areas. The logistics system, designed ar006Fund the city center to handle the delivery volume, operates a delivery system from the outskirts of the city to the urban area using cargo trucks. This maintains an ecosystem of high-cost and inefficient structures that increase social costs such as road traffic congestion and environmental problems. To solve this problem, research is being conducted worldwide to establish a high-efficiency urban joint logistics system using urban railway facilities and underground space infrastructure existing in existing cities. The joint logistics system begins with linking unmanned delivery automation services that link terminal delivery such as cargo classification and stacking, infrastructure construction that performs cargo transfer function by separating from passengers such as using cargo platform. To this end, it is necessary to apply the device to the vertical and horizontal transportation machine supporting the vertical transfer in the flat space of the joint logistics terminal, which is the base technology for transporting cargo using the transfer robot to the destination designated as a freight-only urban railway vehicle. Therefore, this paper aims to derive holistic viewpoints needs for design requirements for vertical and vertical transportation machines and freight transportation standard containers, which are underground railway logistics transport devices to be constructed by urban logistics ecosystem changes.

• 한국전자통신학회논문지
• /
• 제17권4호
• /
• pp.687-694
• /
• 2022

본 논문에서는 Visual 동시적 위치추정 및 지도작성(SLAM : Simultaneous Localization and Mapping)기술을 응용하여 실내에서 생성된 SLAM 맵을 기반으로 지정된 목적지에 물건을 배달하는 자율주행 차량 플랫폼을 제안하였다. 실내에서 SLAM 맵을 생성하기 위해 소형 자율주행 차량 플랫폼의 상단에 SLAM 맵 생성을 위한 심도 카메라를 설치하고 SLAM 맵 속에서의 정확한 위치추정을 하기 위해 추적 카메라를 장착하여 구현하였다. 또한, 목적지의 표찰을 인식하기 위해 합성곱 신경망(CNN : Convolutional neural network)을 사용하여 목적지에 정확하게 도착할 수 있도록 주행 알고리즘을 적용하여 설계하였다. 실내 배송 자율주행 차량을 실제로 제작하였고 SLAM 맵의 정확도 확인과 CNN을 통한 목적지 표찰 인식 실험을 수행하였다. 결과적으로 표찰 인식의 성공률을 향상시켜 구현한 실내 배송용 자율주행 차량의 활용 적합성 여부를 확인하였다.

• 한국CDE학회논문집
• /
• 제15권2호
• /
• pp.94-105
• /
• 2010

Todays, there is fast transition about the new manufacturing IT methodologies from the conceptual phase into the practical application phase for the strengthening of enterprise competitiveness in manufacturing industry. One of those new methodologies is PLM (Product Life-cycle Management). PLM methodology consists of 3D CAD for the product design, PDM (Product Data Management) for the data management based on the collaboration platform and lastly DM (Digital Manufacturing). DM has evoluted from the stand-alone computer simulation of early 1980s, and now it covers the overall production development and production. Unfortunately, there exist serious critical problems about the actual application of DM for the real work. This is owing to the transition of the point of view from stand-alone type application (such as flow simulation or robot simulation) to that of business process about product development and production management. In this paper, we propose an application framework for the successful project with the digital manufacturing methodology with the concept of Information Strategy Planning, which enables the systematic diagnosis and the quantitative evaluation. Also, we introduce the actual practice of the proposing framework with the ISP project for 'Analysis & Simulation Technique of manufacturing process project' that is being conducted by Chungnam Techno Park.

• 제어로봇시스템학회논문지
• /
• 제19권2호
• /
• pp.164-170
• /
• 2013

Quadrotor UAV (Unmanned Aerial Vehicle) is a flying robotic platform which has drawn lots of attention in the recent years. The attraction comes from the fact that it is able to perform agile VTOL (Vertical Take-Off Landing) and hovering functions. In addition, the efficient modular structure composed of four electric rotors makes its design easier compared to other single-rotor type helicopters. In many cases, a quadrotor often utilizes vision systems in order to obtain altitude control and navigation solution in hostile environments where GPS receivers are not working or deniable. For carrying out their successful missions, it is essential for flight control systems to have fast and stable control responses of heading angle outputs. This paper presents a Fuzzy Logic based lateral PI controller to stabilize and control the quadrotor vehicle equipped with vision systems. The advantage of using the fuzzy based PI controller lies in the fact that it could acquire a desired output response of a heading angle even in presence of disturbances and uncertainties. The performance comparison of the newly proposed Fuzzy-PI controller and the conventional PI controller was carried out with various simulation results.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1624-1627
• /
• 1997

The 6-DOF parallel manipulator is a closed-kindmatic chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. Because of its advantage, the parallel manipulator have been widely used in many engineering applications such as vehicle/flight driving simulators, rogot maniplators, attachment tool of machining centers, etc. However, the kinematic analysis for the implementation of a real-time controller has some problem because of the lack of an efficient lagorithm for solving its highly nonliner forward kinematic equation, which provides the translational and orientational attitudes of the moveable upper platform from the lenght of manipulator linkages. Generally, Newton-Raphson method has been widely sued to solve the forward kinematic problem but the effectiveness of this methodology depend on how to set initial values. This paper proposes a hybrid method using genetic algorithm(GA) and Newton-Raphson method to solve forward kinematics. That is, the initial values of forward kinematics solution are determined by adopting genetic algorithm which can search grobally optimal solutions. Since determining this values, the determined values are used in Newton-Raphson method for real time calcuation.

• 한국전산구조공학회논문집
• /
• 제31권1호
• /
• pp.17-21
• /
• 2018

오늘날까지 적층 마이크로 외팔보의 고유진동수에 대하여 연구가 진행되었다. 마이크로 보는 실리콘 재질로 만들어 지지만, 그것의 상하 표면은 얇은 금 박막층(~30nm)이 증착되어 있다. 초음파 검사를 위해 초음파 테스트 플랫폼을 사용했으며, 시간영역 신호는 광학적으로 측정되었다. 고유진동수는 파형을 고속 Fourier 변환을 통해 정량화하였으며, 결과적으로 고전적인 보 이론과 일치하는 결과를 보여 주었다. 본 연구는 마이크로/나노스케일 재료와 마이크로 구조에 대한 동적평가기법을 제공할 것으로 기대된다.

• 로봇학회논문지
• /
• 제2권4호
• /
• pp.297-303
• /
• 2007

In this paper, we discuss a service to give alarm in the case of emergency for the old and the weak by human behavior recognition in Intelligent Space. Our Intelligent Space consists of mobile robots, sensors and agents. And these components are connected to network framework. Agent analyzes data acquired from networked sensors and determines task of robots and a space to provide a service for humans. In our emergency alarm service, human behavior recognition service module analyzes accelerometer data obtained from body-attached human behavior sensing platform, and classifies into four basic human behavior such as walking, running, sitting and falling-down. For the old and the weak, falling-down behavior may bring about dangerous situations. On such an occasion, agent executes emergency alarm service immediately. And then a selected mobile robot approaches fallen person and sends images of the person to guardians. In this paper, we set up a scenario to verify the emergency alarm service in Intelligent Space, and show feasibility of the service from our simulation experiments.

• Structural Engineering and Mechanics
• /
• 제44권5호
• /
• pp.633-647
• /
• 2012

Applying Information Technology (IT) in practical engineering has become one of the most important issues in the past few decades, especially on internal solitary wave, intelligent robot interaction, artificial intelligence, fuzzy Lyapunov, tension leg platform (TLP), consumer and service quality. Other than affecting the traditional teaching mode or increasing the inter-relation with users, IT can also be connected with the current society by collecting the latest information from the internet. It is apparently a fashion-catching-up technology. Therefore, the learning of how to use IT facilities is becoming one of engineers' skills nowadays. In addition to studying how well engineers learn to operate IT facilities and apply them into teaching, how engineers' general capacity of information effects the results of learning IT are also discussed. This research introduces the "Combined TAM and TPB mode," to understand the situation of engineers using IT facilities.