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최국진(Kook-Jin Choi) 한국산업융합학회 2020 한국산업융합학회 논문집 Vol.23 No.2
Container ships are getting bigger due to the increase in global cargo volume. Therefore, it needs to increase the speed for loading and unloading of containers at the quayside. Traditionally, only one container is handled at once at the quayside due to it’s heavy weight. In this paper, a method of handling multiple containers at once using chassis is proposed. Proposed system is consists of a container chassis that can hold three layer stacked containers, transport system that can handle the container chassis including rail-based or vehicle-based roll-on roll-off systems, and dedicated crane system. The conceptual design of crane and transport system that can handle three stacked containers is carried out and verified. The proposed system can be adopted for real quayside container handling system with high speed.
바이오매스용 해조류 대량 양식을 위한 자동화 시스템 개발
최국진(Kook-Jin Choi) 한국산업융합학회 2020 한국산업융합학회 논문집 Vol.23 No.2
The algae biomass is considered as one of the potential sources of ocean renewable energy because it can be easily mass-produced with abundant sunshine in the vast ocean space. However, the practical use of the biomass has been hindered by the lack of efficient and cost-effective harvesting and maintenance system so far. The algae biomass aquaculture systems are installed in far offshore locations in much larger scales compared to the conventional aquaculture systems so that the automatic seaweed planting and harvesting system needs to operate in heavy sea conditions in far offshore location. In this research, we develop a concept design of a mega-scaled aquaculture system and an automatic seaweed planting and harvesting system, which can operate in heavy seas and mass-produce the algae biomass.
유전알고리즘을 이용한 18자유도 인간형 로봇의 자세 최적화
최국진(Kook-Jin Choi),홍대선(Dae Sun Hong) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.10
When a humanoid robot pushes an object with its force, it is essential to adequately control its posture so as to maximize the surplus torque for all joints. For such purpose, this study proposes a method to find an optimal posture of a humanoid robot using a genetic algorithm in such a way that the surplus torque for all joints is maximized. In this study, pushing motion of an 18-DOF humanoid robot is considered. When the robot takes a cooperative motion to push an object, the palms and soles are assumed to be fixed at the object and ground respectively, and are subjected to sense the reaction force from the object and the ground. Then, the torques for all joints are calculated and reflected to fitness function of the genetic algorithm. To verify the effectiveness of the proposed method, a number of simulations with different fitness functions are carried out. The simulation result shows that the proposed method can be adopted to find optimized posture in cooperative motion of a humanoid robot.
ART2 신경회로망을 이용한 공작기계의 웹기반 원격 성능저하 모니터링 시스템 개발
김초원(Cho Won Kim),최국진(Kook-Jin Choi),정성환(Sung-Hwan Jung),홍대선(Dae Sun Hong) 한국생산제조학회 2009 한국생산제조학회지 Vol.18 No.1
This study proposes a web-based remote monitoring system for evaluating degradation of machine tools using ART2(Adaptive Resonance Theory 2) neural network. A number of studies on the monitoring of machine tools using neural networks have been reported. However, when normal condition is changed due to factors such as maintenance, tool change etc., or a new failure signal is generated, such algorithms need to be entirely retrained in order to accommodate the new signals. To cope with such problems, this study develops a remote monitoring system using ART2 in which new signals when required are simply added to the classes previously trained. This system can monitor degradation as well as failure of machine tools. To show the effectiveness of the proposed approach, the system is experimentally applied to monitoring a simulator similar to the main spindle of a machine tool, and the results show that the proposed system can be extended to monitoring of real industrial machine tools and equipment.
안석희(Seok-Hee Ahn),최국진(Kook-Jin Choi),이승호(Seung-Ho Lee),김수호(Soo-Ho Kim),홍대선(Dae-Sun Hong) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
Since an industrial robot has been widely used in diverse areas, we need to reduce energy consumed for such a robot as much as possible. So In this study, I performed the optimization of the thickness and shape of a wall-climbing robot in order to reduce its weight. I executed the optimization of a thickness and a shape that minimizes the weight by making the measurement of one side as a design variable while having the thickness of plate and arm of robot as an objective function. As a result of carrying out the optimization work by using the optimization method, I could confirm the reduction of the total weight of a robot.
김재덕(Jae-Duk Kim),최국진(Kook-Jin Choi),홍대선(Dae Sun Hong),이승호(Seung-Ho Lee),김수호(Soo-Ho Kim) 한국생산제조학회 2007 한국생산제조시스템학회 학술발표대회 논문집 Vol.2007 No.5
Most of tasks in vertical surface work of shipyard have been accomplished by human workers. however, such manual work sometimes causes injury to workers, also the production cost becomes high due to increasing individual wage. To overcome the circumstance, shipbuilding companies start to introduce wall-climbing robots for carrying out those tasks. In designing such a wall-climbing robot, it is essential to minimize its own weight to improve the performance such as moving speed and power saving while working. For such purpose, this study propose a method of an optimal design using a genetic algorithm with multi-objective function for a wall-climbing robot. Specifically, the thickness of the robot base is minimized to reduce the weight while maintaining the allowable strength and avoiding the resonance frequencies. The proposed method is applied to the design of a wall-climbing robot, and the result shows that the method is useful at an early design stage.
ART2 신경회로망을 이용한 공작기계의 웹기반 원격 모니터링 시스템에 관한 연구
장상주(Sang-Ju Jang),최국진(Kook-Jin Choi),최영휴(Young-Hyu Choi),홍대선(Dae-Sun Hong) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
This study realized Monitoring System which is able to evaluate the amount of low-output of mechanical device using ART2 Neural Networks. During this study, Experimental Equipment shaped like main shaft of machine tools is invented. Then, vibration and noise data which is measured by Labview, acceleration sensors and thermal sensors were output. To observe mechanical low-output, the output vibration signal was changed to FFT form, transferred to remote PC by web-server which is installed in server PC and applied for ART2 Monitoring System. A proper steady state signal was put into the system. After it became a habit, the low-output alteration was observed by long-term ART2 monitoring. Finally, After an incorrect signal was put, when it turned into habitation, whether the output signal was similar to original low-output signal was observed.
안석희(Seok-Hee Ahn),최국진(Kook-Jin Choi),이승호(Seung-Ho Lee),김수호(Soo-Ho Kim),홍대선(Dae-Sun Hong) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
Since an industrial robot has been widely used in diverse areas, we need to reduce energy consumed for such a robot as much as possible. So In this study, I performed the optimization of the thickness and shape of a wall-climbing robot in order to reduce its weight. I executed the optimization of a thickness and a shape that minimizes the weight by making the measurement of one side as a design variable while having the thickness of plate and arm of robot as an objective function. As a result of carrying out the optimization work by using the optimization method, I could confirm the reduction of the total weight of a robot.
ART2 신경회로망을 이용한 공작기계의 웹기반 원격 모니터링 시스템에 관한 연구
장상주(Sang-Ju Jang),최국진(Kook-Jin Choi),최영휴(Young-Hyu Choi),홍대선(Dae-Sun Hong) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
This study realized Monitoring System which is able to evaluate the amount of low-output of mechanical device using ART2 Neural Networks. During this study, Experimental Equipment shaped like main shaft of machine tools is invented. Then, vibration and noise data which is measured by Labview, acceleration sensors and thermal sensors were output. To observe mechanical low-output, the output vibration signal was changed to FFT form, transferred to remote PC by web-server which is installed in server PC and applied for ART2 Monitoring System. A proper steady state signal was put into the system. After it became a habit, the low-output alteration was observed by long-term ART2 monitoring. Finally, After an incorrect signal was put, when it turned into habitation, whether the output signal was similar to original low-output signal was observed.