• 한국강구조학회 논문집
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• 제19권2호
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• pp.223-231
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• 2007

풍속의 확률분포를 고려한 통영생산기지 LNG 하역설비인 Unloading arm의 신뢰성해석을 수행하였다. 기상대의 풍속 관측기록을 이용하여 풍속의 극치분포를 추정하였으며 구조물에 가해지는 풍하중은 풍속과 풍압계수를 적용한 분포하중으로 고려하였다. 하역설비는 판요소와 입체요소를 이용하여 모델링하였고 지면접촉부는 접촉요소를 이용하여 압축력에만 저항하도록 하였다. 신뢰성해석을 위해서 주요부위의 최대응력을 표현하는 응답면을 구하였으며 이 값이 허용응력 및 항복응력을 초과하는지의 여부를 신뢰함수로 정의하여 파괴확률을 구하였다. 또한, 재료강도의 저하가 파괴확률에 미치는 영향을 파악하기 위하여 민감도 분석을 수행하였다.

• 한국가스학회:학술대회논문집
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• 한국가스학회 2007년도 춘계학술발표회 논문집
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• pp.80-84
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• 2007

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.171.2-171
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• 2001

This paper presents a force control of a arm of walking training robot. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and constraining patients to walk freely. The proposed walking training robot is designed to unload body weight effectively during walking. The walking training robot consists of unloading manipulator and mobile platform. The manipulator driven with a electro-mechanical linear mechanism unloads body weight in various level. The mobile platform is wheel type, which allows to patients unconstrained walking. Unloading system with electro-mechanical linear mechanism has been developed, which has advantages such as low noise level, light weight, low manufacturing cost and low power consumption. A system model for the manipulator ...

• 로봇학회논문지
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• 제17권4호
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• pp.417-424
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• 2022

In this paper, the developed trunk cargo unloading automation system is introduced, and the RGB-D sensor-based box loading situation recognition method and unloading plan applied to this system are suggested. First of all, it is necessary to recognize the position of the box in a truck. To do this, we first apply CNN-based YOLO, which can recognize objects in RGB images in real-time. Then, the normal vector of the center of the box is obtained using the depth image to reduce misrecognition in parts other than the box, and the inner wall of the truck in an image is removed. And a method of classifying the layers of the boxes according to the distance using the recognized depth information of the boxes is suggested. Given the coordinates of the boxes on the nearest layer, a method of generating the optimal path to take out the boxes the fastest using this information is introduced. In addition, kinematic analysis is performed to move the conveyor to the position of the box to be taken out of the truck, and kinematic analysis is also performed to control the robot arm that takes out the boxes. Finally, the effectiveness of the developed system and algorithm through a test bed is proved.

• 한국정밀공학회지
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• 제19권12호
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• pp.38-44
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• 2002

A walking training robot is proposed to provide stable and comfortable walking supports by reducing body weight load partially and a force control of an arm of walking training robot using sliding mode controller is also proposed. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and for the constraint of patients' free walking. The proposed walking training robot effectively unloads body weight during walking. The walking training robot consists of an unloading manipulator and a mobile platform. The manipulator driven by an electro-mechanical linear mechanism unloads body weight in various levels. The mobile platform is wheel type, which allows patients to walt freely. The developed unloading system has advantages such as low noise level, lightweight, low manufacturing cost and low power consumption. A system model fur the manipulator is established using Lagrange's equation. To unload the weight of the patients, sliding mode control with p-control is adopted. Both control responses with a weight and human walking control responses are analyzed through experimental implementation to demonstrate performance characteristics of the proposed force controller.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.519-524
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• 2003

In this paper we discuss the dynamic characteristics of the in-arm type hydropneumatic suspension unit(ISU). For this, two accurate models are introduced. The first one is the Benedict-Webb-Rubin equation which is adopted for the spring behavior of a real gas. This equation is applicable for the high pressure of the nitrogen gas which acts as a spring in ISU system. The second one describes the behavior of a damper, which is divided into four parts - jounce-loading, jounce-unloading, rebound-loading and rebound-unloading. This approach gives a good approximation of the real damper system. For the comparison purpose, the numerical results of the dynamic behavior of ISU system using a real gas and an ideal gas are given in the paper.

• 한국전산구조공학회논문집
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• 제26권1호
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• pp.1-7
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• 2013

본 논문에서는 해저케이블 부두 하역용 장비인 코일링 암(coiling arm)에 대한 국산화 자체개발 내용 중 구조설계 및 해석결과 내용을 제시하였다. 상세 구조설계를 위해 3차원 CAD 프로그램을 이용하여 고 정밀도의 모델링을 수행하였고, 유한요소 기법을 이용하여 전산구조해석을 수행하였다. 코일링 암의 활용 목적에 맞추어 하역대상 케이블을 선박에서 케이블 탱크로 하역시 효과적으로 가이드 할 수 있도록 베어링 및 롤러 부품을 설계하여 메인 암이 회전하고 케이블 가이드가 이동할 수 있도록 하였고, 기존의 외국 모델에서 사용하던 와이어 및 모터 시스템을 이용한 케이블 가이드 작동방식을 유압 시스템을 이용한 작동방식으로 변경하여 원가절감을 달성하면서 사용자가 직관적으로 작동할 수 있도록 설계하였다. 장비 자체의 자중 및 하역 케이블 하중조건에 대한 응력 해석을 수행하였고, 유압시스템의 과작동에 따른 파손 가능성을 고려하였다. 케이블 가이드의 운동 및 설치 지면의 경사도에 따른 전복 안전성 해석을 수행하였으며, 설치장소의 풍하중 효과도 추가로 고려하였다. 본 연구를 통해 기존 수입품 코일링 암의 작동방식 개선과 독자적인 구조설계 및 해석 방법을 확립하였으며, 실제 국내 최초로 자체 개발된 제품의 현장설치 완료 및 하역작업의 효율적이고 정상적인 운영을 완료 및 검증하였다.

• Journal of Mechanical Science and Technology
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• 제18권2호
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• pp.262-271
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• 2004

Hydropneumatic suspension unit is an important part of tracked vehicles to absorb external impact load exerted from the non-paved road and the cannon discharge. Its absorption performance is strongly influenced by both damping and spring forces of the unit. In this paper, we numerically analyze the damping characteristics of the in-arm-type hydropneumatic suspension unit (ISU) by considering four distinct dynamic modes of the ISU damper: jounce-loading, jounce-unloading, rebound-loading and rebound-unloading. The flow rate coefficients determining the oil flow rate through the damper orifice are decided with the help of independent experiments. The wheel reaction force, the flow rate at cracking and the damping energy are parametrically investigated with respect to the orifice diameter and the wheel motion frequency.

• Journal of Advanced Research in Ocean Engineering
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• 제4권3호
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• pp.115-123
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• 2018

This study was carried using the new approach method to design appropriately the Loading Arm length and the alarm setting according to ship movements on Loading and Unloading marine Berth. The quasi-static mooring analysis was performed to estimate 110,000DWT ship's movements based on environmental conditions such as wind, current and wave. The mooring motion of the ship is very important to determine the loading arm scope, and in this case, the operation condition is performed on the ship without considering the damaged condition of the mooring line because the ship movement in case of damage is larger than intact, and all operations are stopped, the loading arm being released due to control system. From the result of mooring analysis, motion displacements, velocities and accelerations were simulated. They were used to simulate the maximum drifting speeds and distances. The maximum drifting speeds were checked to be satisfied within drifting speed limits. The total maximum drifting distances were simulated with alarm steps of the new approach method. Finally, the loading arm envelopes using the total maximum drifting distances were completed. Therefore, it was confirmed that the new approach method for loading arm envelopes and alarm settings was appropriate from the above results. In the future, it will be necessary to perform the further advanced dynamic mooring analysis instead of the quasi-static mooring analysis and to use the precise computer program analysis for various environments and ship movement conditions.

• 한국시뮬레이션학회논문지
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• 제1권1호
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• pp.55-63
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• 1992

This paper presents a simulation based analysis of a service robot operating in a robot-centered FMC, in which the robot is located at the approximate center of the cell and the machines are arranged in a partial circle around it. The robot's function is to locate and service the parts which require a series of unloading, moving, and loading operations. The main purpose of the analysis is to determine the best movement decision for the robot's arm in each instance. The results from the study, based on both statistical and nonstatistical analysis suggest the best policy for the robot's arm's movement that holds promise for application to the robot-centeredFMC.