• Journal of Biosystems Engineering
• /
• 제38권3호
• /
• pp.171-179
• /
• 2013

Purpose: A simulator for the design and performance evaluation of a tractor with a hydro-mechanical transmission (HMT) was developed. Methods: The HMT consists of a hydro-static unit (HSU), a swash plate control system, and a planetary gear. It was modeled considering the input/output relationship of the torque and speed, and efficiency of HSU. Furthermore, a dynamic model of a tractor was developed considering the traction force, running resistance, and PTO (power take off) output power, and a tractor performance simulator was developed in the co-simulation environment of AMESim and MATLAB/Simulink. Results: The behaviors of the design parameters of the HMT tractor in the working and driving modes were investigated as follows; For the stepwise change of the drawbar load in the working mode, the tractor and engine speeds were maintained at the desired values by the engine torque and HSU stroke control. In the driving mode, the tractor followed the desired speed through the control of the engine torque and HSU stroke. In this case, the engine operated near the OOL (optimal operating line) for the minimum fuel consumption within the shift range of HMT. Conclusions: A simulator for the HMT tractor was developed. The simulations were conducted under two operation conditions. It was found that the tractor speed and the engine speed are maintained at the desired values through the control of the engine torque and the HSU stroke.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2003년도 추계종합학술대회
• /
• pp.801-804
• /
• 2003

선박 자율운항 시스템은 운항 안전성 확보, 운항능률의 향상, 선내 노동력 감소 및 작업환경 개선에 목표로 두고 있으며, 궁극적으로는 운항 경제성 확보를 통한 승선 인원의 최소화에 그 목적이 있다. 최근에는 적응제어방법 등을 응용하여 선박의 다양한 비선형성을 보상하고 선박의 희두각 유지제어, 항로 추적제어, 롤-타각제어, 선박 위치제어, 선박 자동접이안 등의 분야에 관한 연구가 수행중이며 실제 선박을 대상으로 한 응용연구가 진행중에 있다. 선박의 Steering Machine에 의해 조정되는 Rudder angle과 선박의 회두각의 관계와 Load Condition은 선박운항 파라메터에 영향을 주는 비선형적인 요소로서 작용한다 또한 외란요소인 파도의 유속과 방향, 풍속과 풍량 등은 선박의 운항을 힘들게 하는 주요 요인이 된다. 따라서 선박 자율운항 시스템에는 다양한 비선형성을 극복할 수 있는 강인한 제어 알고리즘을 필요로 한다. 본 논문에서는 퍼지 알고리즘을 이용하여 선박의 비선형적인 요인 및 외란을 극복할 수 있는 선박 자율운항 시스템을 설계하고 시뮬레이션을 통행 제안된 알고리즘의 우수성을 확인하였다.

• 한국정보통신학회논문지
• /
• 제7권7호
• /
• pp.1509-1513
• /
• 2003

선박 자율운항 시스템은 운항 안전성 확보, 운항능률의 향상, 선내 노동력 감소 및 작업환경 개선에 목표로 두고 있으며, 궁극적으로는 운항 경제성 확보를 통한 승선 인원의 최소화에 그 목적이 있다. 최근에는 적응제어방법 등을 응용하여 선박의 다양한 비선형성을 보상하고 선박의 회두각 유지제어, 항로 추적제어, 롤-타각제어, 선박 위치제어, 선박 자동접이안 등의 분야에 관한 연구가 수행중이며 실제 선박을 대상으로 한 응용연구가 진행 중에 있다. 선박의 Steering Machine에 의해 조정되는 Rudder angle과 선박의 회두각의 관계와 Load Condition은 선박운항 파라메터에 영향을 주는 비선형적인 요소로서 작용한다. 또한 외란 요소인 파도의 유속과 방향, 풍속과 풍량 등은 선박의 운항을 힘들게 하는 주요 요인이 된다. 따라서 선박 자율운항 시스템에는 다양한 비선형성을 극복할 수 있는 강인한 제어 알고리즘을 필요로 한다. 본 논문에서는 퍼지 알고리즘을 이용하여 선박의 비선형적인 요인 및 외란을 극복할 수 있는 선박 자율운항 시스템을 설계하고 시뮬레이션을 통행 제안된 알고리즘의 우수성을 확인하였다.

• 한국농촌생활과학회지
• /
• 제8권1호
• /
• pp.7-13
• /
• 1997

In this study we examined the greenhouse worker's work load to test the efficiency of the developed vehicles (hand operated vehicle (HV), simple battery-powered autonomous vehicle (AV)). The subject of this study were healthy adult females who had experience in growing crops. We measured workers' heart rate, blood Pressure. rectal temperature, mean skin temperature, oxygen consumption and blood lactate level as a physiological index of work load. The results of this study are as follows : The test group using experimental vehicle showed the lower heart rate (mean$\pm$S.D. for HV, AV respectively 74$\pm$5, 75$\pm$3 beats/min, p＜0.01) than the control group (84$\pm$8beat/min) not using experimental vehicle and the lower systolic blood Pressure (HV, AV respectively 109$\pm$8, 109$\pm$9 mmHg, p＜0.01) than the control group (121$\pm$11 mmHg), and lower rectal temperature(HV, AV respectively 37.0$\pm$0.1, 36.8$\pm$0.2$^{\circ}C$, p＜0.01) than the control group (37.0$\pm$0.2$^{\circ}C$), and the less oxygen consumption (HV, AV respectively 2.13$\pm$0.09, 1.66$\pm$0.52$m\ell$/kg/min, p＜0.01) than the control group(2.43$\pm$0.12$m\ell$/kg/min), and the lower blood lactate level (HV, AV respectively 2.03$\pm$1.00, 1.66$\pm$0.52mmol, p＜0.01) than the control group (2.43$\pm$0.12mmol). Judging from these results, these experimental vehicles for greenhouse workers can be confirmed as a useful tool. It is suggested that these vehicles would alleviate the peasant's syndrome including muscle fatigue and musculoskeletal disease usually caused by working in an uncomfortable posture.

• 한국포장학회지
• /
• 제26권2호
• /
• pp.61-69
• /
• 2020

As post-harvest processes of onions are carried by a 20 kg-net package which results in high-cost and low-efficiency, especially, the insufficient drying and physical damage of onions after harvesting leads to a huge second loss in storage, we had developed a low-cost, high-efficiency post-harvest bulk handling machinery system by collecting onions on a farm using ton-bags, drying with forced air circulation, and sorting/packaging. The post-harvest bulk handling machinery system consisted of 6 devices, and this study designed an automatic feed hopper with a feeding rate control device, an inclined belt conveyor with a two-step chute, and an automatic pallet unloading device for feeding onions into the sorting/packing line. This study also analyzed the performance and control of the total system. The device had 1-ton handling capacity, but the operational condition was set to increase the capacity. The three-step filling method of pallet by the velocity control of the inclined belt conveyor was applied in the post-harvest bulk handling machinery system for the prevention of physical damage. If one worker was set to operate the total system, the time required to complete one palletized load was approximately 5 minutes and 5 seconds. The calculated daily handling capacity was approximately 94 tons, when the daily actual working time was 8 hours. When the developed system was applied to the managerial size of 2,000 ton, the processing cost per ton of the system was decreased by 19.5%, compared with the existing 20 kg-net package-based handling. The developed post-harvest bulk handling machinery system would be a good substitute for the rapid decline and aging of rural labor.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2660-2664
• /
• 2003

In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.

• 한국산업보건학회지
• /
• 제24권3호
• /
• pp.371-382
• /
• 2014

Objectives: This study was undertaken in order to examine how musculoskeletal disorder(MSD) symptoms were affected by particular factors and then to explore control strategies to prevent MSDs in general hospital nurses. Materials: This, as part of a large study, was conducted using a set of information on literature review, questionnaire survey and focus group interview. It obtained prevalence and factors of MSD symptoms and examined how MSD symptoms were distributed and affected by the factors in nurses working at 15 general hospitals across Korea. The factors were personal factors, work organization, nursing tasks, physical factors and psychosocial factors. Results: A total of 501 nurses were determined as subjects. The highest MSD symptom prevalence was 61% for the shoulder, among body parts, followed by leg/feet(55%), low back(51%), neck(42%), wrist(38%), and elbow(21%). Prevalence for the whole body was 80%. Odds ratios ranged from 0.4 to 22.4 in logistic regression analyses. The symptoms were significantly attributed to factor variables such as body mass index, current health status, daily work time, nursing task, pooled-physical factors, ergonomic factors, work load, interpersonal conflict, and job insecurity. Conclusions: Two or more factor variables were significant, depending on body part, for MSD systems in the general hospital nurses. It was noticeable that physical factors, such as pooled-physical factors, ergonomic factors or work load, were selectively significant for MSD symptoms in all body parts, indicating that such information should be used for prevention of MSDs in the hospital sector.

• 한국IT서비스학회지
• /
• 제14권1호
• /
• pp.129-143
• /
• 2015

This study has two goals. The first goal is to investigate whether worked examples are effective in the ill-defined domain with on-line learning and the second goal is to find out which components (conceptual or procedural knowledge) of worked examples are effective factor at the given learning environment. We carried out three experiments in which Korean undergraduate or graduate students were working in three or four conditions of worked examples (CWE, PWE, CPWE, or the control group). While experiment 1 conducted in on-line learning environment did not find any effect and difference among groups and also any logical reason for those results, experiment 2 conducted in completely controlled laboratory setting with less knowledgeable students showed the clear difference among groups by the order CPWE, PWE, and CWE. Experiment 3 in which highly knowledgeable and motivated students were presented the same materials in more controlled on-line learning environment indicated the difference among groups by the order CWE, CPWE, and PWE. The results were discussed within the framework of cognitive load theory.

• 한국안전학회지
• /
• 제20권4호
• /
• pp.148-153
• /
• 2005

Computer dominated jobs and industrial automation have rapidly created work-related musculoskeletal disorders(WMSDs) and WMSDS are expanding to employee of other general industry. Specific risk factors associated with WMSDs include repetitive motion, heavy lifting, forceful exertion, contact stress, vibration awkward posture and rapid hand and wrist movement. The purpose of this paper is to analyze the effects of the neck muscle workload according to posture(joint angle) and load weight. Seven male students participated in this study. To analyze neck muscle workload was studied on electromyographic(EMG) activity for sternocleidomastoid and trapezius, was subjectively rated using a Borg's CR-10 scale. ANOVA showed that the CR-10 ratings and most EMG root-mean-square (RMS) value were statistically significant improvement according to posture(joint angle) and load weight. The results of this study indicate the joint angle and weight of neck muscle workload to provide safe working conditions. To reduce the large number and severity of WMSDs employees have been experiencing, we need to redesign the job in workplace to identify and control hazards that are reasonably likely to be causing or contributing to the WMSDs.

• 드라이브 ㆍ 컨트롤
• /
• 제16권3호
• /
• pp.33-41
• /
• 2019

This study presents the development of a lifetime test bench for the strain wave reducer which is a precision gear reducer of the robot to realize fault diagnosis and failure prognostics. To this end, the lifetime test bench was designed to detect the vertical forward/reverse direction rotation load. Through the lifetime test bench, it is possible to apply the same load spectrum from robot working scenarios. We developed a data integration gateway for fault data collection. Through the development of dedicated software for fault diagnosis and failure prognostics, these data from vibration, noise and temperature sensors were collected and analyzed along with the operation of the lifetime evaluation.