• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.115-118
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• 1995

This paper present an attitude control using quaternions as feedback attitude errors. The Euler's eigenaxis rotation provides the shortest angular path between two attitudes. This eigenaxis rotation can be achieved by using quaternions since quaternions are related with the eigenaxis. The suggested controller uses error quaternions and body angular rates and generates a decoupling control torque that counteracts the natural gyroscopic coupling torque. The momentum dumping strategy using the earth magnetic field is also applied in this paper to unload the angular momentum of the reaction wheels used in the attitude control.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.1209-1214
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• 2010

In these days, rail container service is being more important because it has relatively simple network. In addition, small lot sizes of shipment, frequent shipment, and demand for flexible service are important characteristics in rail container transportation. Efficient container operation at terminals is important in reducing transportation costs and load/unload time. This paper describes the assigning track of freight trains in the railway freight terminal. The paper addresses the operational requirements and facility restrictions to construct a mathematical model for track assignment. In addition, it suggests several types of objectives for the model.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.887-887
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• 2004

The areal density of the hard disk drive(HDD) has been increased due to technological advances recently. To achieve the high areal density magnetic recording requires an extremely small gap between the air-bearing surface (ABS) and disk. At the same time, the slider mass and size should be reduced to minimize the physical contact under the operational and environmental conditions. Almost all of 2.5＂HDD companies will get ready for adoption of FEMTO slider and already utilized the small slider. FEMTO and small size slider will be mainstream in the 2.5" and other small form factor HDD in the near future. In this study, the flying characteristic of FEMTO slider was examined. Based on the simulation, FEMTO slider is very stable in flying dynamic under the disk modulation, however the flying height sensitivity of the manufacturing tolerances is much bigger than PICO slider. And the other characteristics like impulse response and load/unload dynamic were also examined in this study.tudy.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.433-437
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• 2004

A provision crane is generally installed on the upper deck to the rear of the accommodation of the ship in order to load and unload engine part or something heavy. There are two types of provision cranes: one is jib-type and the other is monorail-type. So the natural frequency of the jib-type crane equipment is low, therefore, there are some possibility of resonance between crane structure and the main excitation sources of the ship in normal operating range. This study describe a vibration reduction technique for provision crane by applying a proper countermeasure through finite element analysis and modal test. In order to find out weak point in design of provision crane, a sensitive analysis has been performed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.364-368
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• 1992

The conventional loading process of workpieces for a CNC lathe is performaed either by human or by a general robot. It is not suitable for a general robot to load workpieces because of high price and inefficiency. Starting from the description of the environment around CNC lathes and the analysis ofloading process, we have developed the task-oriented loading manipulator. The characteristics of a loading manipulator are the following: to load/unload heavy workpieces, to decrease the whole porcess time. The air-chuck to load heavy workpiece has high clamping force and light weight. A loading manipulator has accomplished both the integration of independent automation techniques and cost-down effect of product. A loading manupulator developed in this project has been designed for general loading process. The loading manipulator is capable of carrying heavy payload with respect to weight of robot in short cycle time.

• Proceedings of the Korean Vacuum Society Conference
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• 2010.08a
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• pp.182-182
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• 2010

나노 소재의 물성을 측정하기 위하여 대부분의 연구 구룹에서는 크게 두 가지 분석 기법인 분광학을 이용한 분석과 나노트라이볼로지를 이용한 분석을 사용하고 있다. 분광학을 이용한 분석에는 NMR, IR, Raman, SEM, TEM 등이 대표적이라 할 수 있고, 나노트라이볼로지를 이용한 분석에는 AFM, EFM, KFM, Nano-indenter 등의 탐침을 이용한 측정 기법이 대표적이다. Nano-indenter는 물질의 탄성 및 경도를 측정 할 수 있으며 이를 통해 물질의 특성을 연구하는데에 사용된다. 그러나 이런 Nano-indenter의 압입 실험에서는 그 결과값이 압입 조건 등의 통제변수의 함수가 될 것이다. 이를 확인하고 변화값의 parameter를 추출하기 위하여 본 실험에서는 이런 압입 조건 중 Load - Hold - Unload force의 속도 및 시간을 변화시켜 물질의 탄성계수와 경도가 어떻게 변하는지에 대한 역학관계를 연구하였다.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.171-174
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• 2007

The COMS flight software is implemented by ADA language and the high level application program language (APL). The APL is used to implement the Interpreted Program (IP) functions which are running on the processor. The IP functions have been developed for the payload management and monitoring with the automatic on-board operational procedure. The IP allows an easier re-programming if necessary. The ground can load or unload IP separately from ADA code in the RAM flight software. The uploaded IP is interpreted and executed by the Interpreted Program Environment (IPE) which is one of the functions implemented in the RAM flight software. In this paper, we introduce the IP and IPE function.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.806-809
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• 1996

The present development relates to an apparatus for loading or unloading a workpiece, and more particularly, to an apparatus for loading or unloading a workpiece from a press die or supplier An apparatus for loading or unloading a workpiece has been installed in a press in order to load or unload a workpiece from a press die. There has been known such a loading or unloading apparatus as the apparatus can feed a workpiece in not only the horizontal direction but also in the vortical direction. Press working system in automotive factories are now switching over to a transfer press work ing system. The current problem to be sieved immediately is to automate the existing manual press lines for the manpower saving and speedy production. “Automation system for press line”has just been developed to meet the above trend. The loader and unloader are development under the design concept for high performance, easy control and operational safety to meet the more extensive.

• Journal of the Korea Safety Management & Science
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• v.15 no.2
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• pp.167-184
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• 2013

A cross docking operation involves multiple inbound trucks that deliver items from suppliers to a distribution center and multiple outbound trucks that ship items from the distribution center to customers. Based on customer demands, an inbound truck may have its items transferred to multiple outbound trucks. Similarly, an outbound truck can receive its consignments from multiple inbound trucks. The objective of this study is to find the best truck spotting sequence for both inbound and outbound trucks in order to minimize total operation time of the cross docking system under the condition that multiple visits to the dock by a truck to unload or load its consignments is allowed. The allocations of the items from inbound trucks to outbound trucks are determined simultaneously with the spotting sequences of both the inbound and outbound trucks.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.4
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• pp.375-380
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• 2011

Loading/unloading at sea is necessitated as larger container ships are being used. It is also unavoidable to load/unload at sea during military operations. An experimental cable array robot system, which can be used for loading/unloading at sea, consisting of four cables operated by four motors is designed and built. Even though it has simple structure, it has a large pay-load/robot-weight ratio, flexibility and wide workspace and can be easily built at low cost. In order to plan and control the paths of end-effector, two interpolation methods are introduced and compared. Since the robot is entirely based on cable tension, an analysis of tension is also presented for monitoring and planning purpose.