• Journal of Ocean Engineering and Technology
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• v.29 no.5
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• pp.386-391
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• 2015

The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle’s driving force. In this paper, the modeling of a working tool such as a trenching cutter and a tracked vehicle that is the lower frame of a track-based operating robot was performed. In addition, a numerical simulation was executed to verify the performance of the design objectives and the motion characteristics of the combined system.

• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.198-204
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• 2011

Recently, several problems have occurred in the space, infra-structure, and facility of the contiguity of existing harbors due to the trend of enlarged container vessels. In this regard, the Mobile Harbor has been proposed conceptually in this study as an effective solution for these problems. The concept is that of a transfer loader that transfers containers from a large container ship to the harbor on land, and is a catamaran type floating barge. The catamaran-type vessel is well known for its advantage in maneuverability, resistance, and effectiveness for working on board. For the safe and effective operation of the two floating bodies (a container ship and the mobile harbor in the near sea detached from the quay), robot arms, novel crane systems, and pneumatic fenders are specially devised with an additional mooring facility or DP (dynamic positioning) system. In this study, this concept is to be verified through comparison and simulation studies under various environmental conditions. It is shown that the proposed concept is in general feasible but there are several areas for further investigation and improvement.

• Korean Journal of Construction Engineering and Management
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• v.5 no.4 s.20
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• pp.139-146
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• 2004

Resent removal work for road signs has been labor intensive and required times since it has been done manually using shaving type equipment. While traditional process is conducting, there are traffic jams caused by the passing control, and happened unexpected accidents to workers working at dangerous road circumstance. Besides, in current shaving method, there are high potentialities on the air pollution as well as the explosive accident occurred by using a propane gas. So, as an alternative, we have studied to develop the automatic erasing equipment made up with a high pressure water-jet system and automatic control system, mobile system; Wate-rjet system consists of an intensifier and nozzles to give a high pressure and spray on the sign, and automatic control system is composed of one axis robot using a hydraulic servo actuator controlled by a lever, And as a mobile system, a truck plays an important role for the transport of equipment and the forward movement in a removal process. In this paper, we have analyzed the characteristics of road signs and have investigated current erasing methods in the field. And we have organized and designed automatic erasing equipment, and we have made a basic experiment to find out the optimal spray condition as like the spray distance, spray angle and injection pressure.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.4
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• pp.307-314
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• 2013

We designed and implemented a fork-type automatic guided vehicle (AGV) with a laser guidance system. Most previous AGVs have used two types of guidance systems: magnetgyro and wire guidance. However, these guidance systems have high costs, are difficult to maintain with changes in the operating environment, and can drive only a pre-determined path with installed sensors. A laser guidance system was developed for addressing these issues, but limitations including slow response time and low accuracy remain. We present a laser guidance system and control system for AGVs with laser navigation. For analyzing the performance of the proposed system, we designed and built a fork-type AGV, and performed repetitions of our experiments under the same working conditions. The results show an average positioning error of 51.76 mm between the simulated driving path and the driving path of the actual fork-type AGV. Consequently, we verified that the proposed method is effective and suitable for use in actual AGVs.

• Journal of Korean Physical Therapy Science
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• v.29 no.1
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• pp.15-29
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• 2022

Background: The purpose of this study was to suggest agenda priorities for research and development with physical therapy technology. Design: Cross-sectional study. Methods: A survey was consecutively done to 62 experts working in physical therapy research areas to investigate the priority of the categories. Paired T-tests and Importance-Performance Analysis using SPSS 21.0 package were conducted to find the differences between importance and satisfaction of the categories and the order of priority. Results: In results, it was developed that the research and development with physical therapy technology were divided with 18 categories. And the importance were significantly higher than satisfaction in 18 categories. Specifically, categories about assistive technology and robot rehabilitation were found to be on the high importance and lower performance quadrant. Conclusion: In sum, this study was meaningful in finding usage categories of research and development with physical therapy technology and investigating Importance-Performance differences for deriving research and development with physical therapy technology.

• Journal of Drive and Control
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• v.19 no.4
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• pp.97-103
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• 2022

Low fertility rates and increased life expectancy further exacerbate the process of an aging society. This is also reflected in the gradual increase in the proportion of vulnerable groups in the social population. The demand for improved mobility among vulnerable groups such as the elderly or the disabled has greatly driven the growth of the electric-assisted mobility device market. However, such mobile devices generally require a certain operating capability, which limits the range of vulnerable groups who can use the device and increases the cost of learning. Therefore, autonomous driving technology needs to be introduced to make mobility easier for a wider range of vulnerable groups to meet their needs of work and leisure in different environments. This study uses mini PC Odyssey, Velodyne Lidar VLP-16, electronic device and Linux-based ROS program to realize the functions of working environment recognition, simultaneous localization, map generation and navigation of electric powered mobile devices for vulnerable groups. This autonomous driving mobility device is expected to be of great help to the vulnerable who lack the immediate response in dangerous situations.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.407-416
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• 2022

Multiple AMRs have been proved to be effective in improving warehouse productivity by eliminating workers' wasteful walking time. Although Multi-agent Path Finding (MAPF)-based solution is an optimal approach for this task, its deployment in practice is challenging mainly due to its imperfect plan-execution capabilities and insufficient computing resources for high-density environments. In this paper, we present a MAPF-based fleet management system architecture that robustly manages multiple robots by re-computing their paths whenever it is necessary. To achieve this, we defined four events that trigger our MAPF solver framework to generate new paths. These paths are then delivered to each AMR through ROS2 message topic. We also optimized a graph structure that effectively captures spatial information of the warehouse. By using this graph structure we can reduce computational burden while keeping its rescheduling functionality. With proposed MAPF-based fleet management system, we can control AMRs without collision or deadlock. We applied our fleet management system to the real logistics warehouse with 10 AMRs and observed that it works without a problem. We also present the usage statistic of adopting AMRs with proposed fleet management system to the warehouse. We show that it is useful over 25% of daily working time.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.465-472
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• 2022

Manual material handling is the one of the leading causes for musculoskeletal disorders (MSDs) and lower back discomfort. According to a study, construction formworkers suffer greater rates of muscular injuries and related illness due to manual activities. However, there is still a paucity of information on MSD, preventive posture issues, and corresponding solutions for construction aluminum formworkers. As a result, MSD and disregard of worker health and safety continue to exist at construction sites. Although preventive measures and strategies have been studied in previous research, we believe it is imperative to shed light on this problem through this study. This study aims to 1) implement a simple and cost-effective elevated bench to reduce MSDs, and 2) determine the rapid upper limbs assessment (RULA) and Ovako working posture analyzing system (OWAS) action catagory of workers in different postures to assess their MSD conditions and obtain an optimal position and posture using the Jack human modeling software and simulation tool. The study findings reveal a considerable reduction in MSD discomfort and which posture is acceptable in post-intervention instances.Thus results provide inexpensive and simple ergonomic interventions with favorable RULA and OWAS ratings that can be applied at construction sites. This study demonstrates workstation ergonomic intervention cases that can aid in understanding the urgency of applying existing research strategies into practice.

• Nuclear Engineering and Technology
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• v.56 no.2
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• pp.498-505
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• 2024

In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.

• Design & Manufacturing
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• v.18 no.2
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• pp.35-40
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• 2024

Injection molding is a process widely used across various industries for molding plastics, and it is the most commonly applied process in root industries utilizing molds. Among the different types of injection molding, insert injection molding, where busbars are used as inserts, is increasingly being applied in the electric vehicle industry. However, currently, the insert injection molding process is manually performed, with workers placing insert components by hand before injection molding. This results in issues related to productivity, safety, and quality. Additionally, there is a growing demand for automation of such production lines due to hazardous working conditions, economic difficulties in the manufacturing industry, and the decline in the labor force caused by an aging population. This study focuses on the application of an automated system for the insert injection molding process used in electric vehicles. The development of an automated system for the transport and insertion of insert components, as well as the inspection and stacking processes after injection, has resulted in over a 25% improvement in productivity and more than a 27% reduction in defect rates.