http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
수도권 성장기능이전이 국가균형발전에 미치는 영향 연구 -혁신도시를 중심으로-
유승남(Yu, Seung Nam),김홍배(Kim, Hong Bae) 한국지역개발학회 2022 한국지역개발학회 학술대회 Vol.2022 No.11
This study tried to understand the effect of the innovative city construction policy on the balanced national development among the growth function transfer policies in the metropolitan area. A Balanced Growth Index model was developed and applied to derive combinations and weights of variables through factor analysis and to numerically represent the degree of growth resulting from the construction of an innovative city. The BGI growth factor of innovative cities was larger than the BGI growth factor of the metropolitan area, indicating that the transfer of growth functions in the metropolitan area through the construction of innovative cities contributed to the balanced national development. As a result of classifying metropolitan cities and provinces into districts and counties, the analysis showed that growth was transferred from a population-dominant area to an innovative city; growth was transferred from a weak-population area to an innovative city; This transferred growth outflow type could be classified into three types. The growth distribution type was divided into a total of 6 regions: Busan Metropolitan City, Daegu Metropolitan City, Gwangju City/Jeonnam Province, Jeollabuk-do, Gyeongsangbuk-do, and Gyeongsangnam-do.
와이어 구동방식 원격조작기용 그리퍼의 반자동 파지 및 해제 동작을 위한 스프링 강성 분석
유승남(Seung Nam Yu),이종광(Jong Kwang Lee) 대한기계학회 2012 大韓機械學會論文集A Vol.36 No.11
위험지역에서의 작업을 위하여 전세계적으로 원격조작기가 널리 활용되고 있다. 특히 원격 시스템의 경우, 운영되는 환경의 특징상 안정적인 성능이 담보되어야만 하며, 조작기 몸체의 경량화 및 운용환경 외부에서의 유지보수 편리성을 위하여 구동부를 시스템의 기저부에 집중시킬 수 있는 장력구동방식 메커니즘이 주로 활용되고 있다. 본 연구에서는 장력구동 방식 원격조작기에 적용하기 위한 그리퍼 탄성 구동부의 설계를 위해 시도된 접근법을 소개하고자 한다. 제시된 그리퍼 시스템은 기본적으로 스프링 메커니즘에 기반을 둔 4 절 링크형 구조를 가지고 있으며 마스터 조작자에 의해 동작되는 슬레이브 조작기의 말단부에 결합되는 구조를 가진다. 본 논문에서는 이러한 조작기의 요구사항에 맞는 그리퍼의 파지력 및 복원력을 재현하기 위하여 그리퍼 상에서의 적정 스프링 결합위치 및 요구강성과 그에 따른 운동학적 영향계수 등을 분석 및 고찰하였다. 최종적으로는 이러한 분석내용들을 바탕으로, 실제 그리퍼 시스템에 적용함으로써 타당성을 검증하였다. Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon-driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon-driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified.
변형 장애물을 고려한 최적 로봇 팔레타이징 경로 생성 알고리즘의 개발
유승남(Seung-nam Yu),임성진(Sung-jin Lim),강맹규(Maing-kyu Kang),한창수(Chang-soo Han),김성락(Sung-rak Kim) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
Palletizing task is well-known time consuming and laborious process in factory, hence automation is seriously required. To do this, artificial robot is generally used. These systems however, mostly user teaches the robot point to point and to avoid time-variable obstacle, robot is required to attach the vision camera. These system structures bring about inefficiency and additional cost. In this paper we propose task-oriented trajectory generation algorithm for palletizing. This algorithm based on A<SUP>*</SUP> algorithm and slice plane theory, and modify the object dealing method. As a result, we show the elapsed simulation time and compare with old method. This simulation algorithm can be used directly to the off-line palletizing simulator and raise the performance of robot palletizing simulator not using excessive motion area of robot to avoid adjacent components or vision system. Most of all, this algorithm can be used to low-level PC or portable teach pendent.
유승남(Seung Nam Yu),김홍배(Hong Bae Kim) 한국지역개발학회 2022 韓國地域開發學會誌 Vol.34 No.4
In this study, BGI was developed to analyze the growth of innovative citiesfrom various perspectives and applied to 10 innovative cities and the metropolitan area,respectively. Through this, the purpose of the construction of an innovative city, whethernational balanced development and shared growth, was presented through empiricalanalysis. The distinctiveness of this study is that first, the Balanced Growth Index wasdeveloped and applied based on a comprehensive index for the impact on theconstruction performance of innovative cities. Second, the indicators before and after theconstruction of the innovative city were presented as BGI. Finally, by presenting the BGIof the metropolitan area at the same time, a comparative analysis was performed onwhether national balanced development and shared growth occurred. The growth ratebefore and after the construction of the entire innovative city was 0.1479, which waslower than 0.2713 in the metropolitan area. However, considering the growth ofinnovative cities, it is possible to judge that the innovation city construction policyplayed a role in delaying the growth rate and reducing the size of growth in themetropolitan area. On the other hand, all 10 individual innovative cities had higher BGIvalues after construction compared to before construction. Therefore, it can be said thatthe innovative city construction policy had a positive effect on the balanced nationaldevelopment.
인체 자중 보상 및 로봇 경로계획법을 이용한 이동형 보행 재활 시스템 개발
유승남(Seung-Nam Yu),손웅희(Woong-Hee Shon),서승환(Seung-Whan Suh),이상호(Sang-Ho Lee),한창수(Chang-Soo Han) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.10
With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot’s body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.
Development of a Modular‐type Knee‐assistive Wearable System
유승남(Seung Nam Yu),한정수(Jung Soo Han),한창수(Chang Soo Han) 대한인간공학회 2010 大韓人間工學會誌 Vol.29 No.3
This study proposes a lower-limb exoskeleton system that is controlled by a wearer's muscle activity. This system is designed by following procedure. First, analyze the muscle activation patterns of human leg while walking. Second, select the adequate actuator to support the human walking based on calculation of required force of knee joint for step walking. Third, unit type knee and ankle orthotics are integrated with selected actuator. Finally, using this knee-assistive system (KAS) and developed muscle stiffness sensors (MSS), the muscle activity pattern of the subject is analyzed while he is walking on the stair. This study proposes an operating algorithm of KAS based on command signal of MSS which is generated by motion intent of human. A healthy and normal subject walked while wearing the developed powered-knee exoskeleton on his/her knees, and measured effectively assisted plantar flexor strength of the subject's knees and those neighboring muscles. Finally, capabilities and feasibility of the KAS are evaluated by testing the adapted motor pattern and the EMG signal variance while walking with exoskeleton. These results shows that developed exoskeleton which controlled by muscle activity could help human's walking acceptably.