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전략적 제휴를 통한 신약 개발의 기술가치평가 분석 : 공동연구개발을 중심으로
김휘수,연주한,김천규 한국기술혁신학회 2023 기술혁신학회지 Vol.26 No.5
In the pharmaceutical industry, which invests significant time and resources into generating high value-added products, strategic alliances between companies have become an essential and inevitable choice in order to gain a competitive advantage. While many studies have shown that the outcomes of pharmaceutical alliances vary depending on their type and target, there have been no previous research cases analyzing strategic alliances from a valuation perspective. Therefore, this study aimed to analyze and verify the efficiency of joint research and development in new drug development by using r-NPV (risk-adjusted net present value), a valuation method commonly used in pharmaceutical and biotech industries, to compare the value of a drug developed by Company A through independent research and development versus cooperative research and development. The results showed that the technology value increased 2.3 times as the cumulative new drug approval rate increased in joint research and development, indicating that this could serve as a basis for future strategic alliance activities in the pharmaceutical industry.
임무에 따른 하박 교체형 고 가반하중 양팔로봇의 설계: 구난 및 물체 핸들링
김휘수,박동일,최태용,도현민,김두형,경진호,박찬훈,Kim, Hwisu,Park, Dongil,Choi, Taeyong,Do, Hyunmin,Kim, Doohyeong,Kyung, Jinho,Park, Chanhun 한국로봇학회 2017 로봇학회 논문지 Vol.12 No.4
Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research, we developed a high payload dual-arm robot, in which the forearm module is replaceable to meet the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously. In this paper, the design of the high payload dual-arm robot with replaceable forearm function is described in detail. Two forearms are developed here. Each of forearm has quite a different goal. One of the forearms is specialized for human rescue in human familiar flat aspect and compliance parts. Other is for general heavy objects, more than 30 kg, handling with high degree of freedom more than 7.
가변 가반하중을 포함하는 로봇의 필요토크 최소화를 위한 스프링 기반 가변 자중보상 메커니즘의 설계
김휘수,배명수,박찬훈,김두형,경진호,도현민,박동일,최태용,송성혁 제어·로봇·시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.12
. Recently, with the increasing requirement of human-robot cooperation, robot safety has become an important issue in the robotics field. Counterbalance mechanisms were proposed as a solution to address this problem as it can ensure intrinsic safety and minimize the required torque of the actuators. However, previous counterbalance mechanisms were designed to compensate for the gravitational torque generated due to the weight of robots. Therefore, actuators should be selected to provide sufficient torque to support the payload. In this study, we propose a variable counterbalance mechanism for counterbalance mechanism improvement. The proposed mechanism can adjust the counterbalancing torque according to the weight of the payload attached at the end effector of the robot arm, such as a tool, gripper, or grasped object. Therefore, the torque required to support not only the self-weight of the robot arm but also any additional external load can be compensated effectively using the proposed variable counterbalance mechanism. Moreover, a 1 degree-of-freedom variable counterbalance arm was constructed to verify the effectiveness of the proposed mechanism. Various simulations and experimental results showed that the proposed variable counterbalance mechanism can effectively decrease the torque required to support the robot mass and payload. Hence, low-capacity actuators can be used for designing robots with desired specifications (e.g., maximum payload and repeatability) and safety.
김휘수(Hwi-Su Kim),박정준(Jung-Jun Park),송재복(Jae-Bok Song) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
In recent years, collision safety between humans and robots has drawn much attention since cooperation between humans and robots is increasingly needed in various fields. Since both positioning accuracy and collision safety are important, an industrial manipulator should maintain very high stiffness for positioning accuracy in the normal situation, but exhibit very low stiffness when subjected to a collision force greater than the injury tolerance. In order to achieve these requirements of an industrial manipulator, a safety mechanism composed of a linear spring and a double-slider mechanism was proposed in the previous research. To satisfy the operational requirements of an industrial manipulator, the spring stiffness of this safety mechanism was designed by conducting various dynamic analyses. Several experiments on static collisions show high stiffness of the safety mechanism against an external torque less than the pre-determined threshold torque, but the absorption of collision force when the external torque exceeds this threshold torque, thereby guaranteeing positioning accuracy and collision safety.
김휘수(Hwi Su Kim),박동일(Dong Il Park),박찬훈(Chan Hun Park),김병인(Byung In Kim),도현민(Hyun Min Do),최태용(Tae Yong Choi),김두형(Doo Hyung Kim),경진호(Jin Ho Kyung) 한국생산제조학회 2016 한국생산제조학회지 Vol.25 No.6
General industrial robots are difficult to use for precision assembly because they are operated based on position control. Their position accuracy is also usually higher than the assembly clearance (several tens of mm). In previous researches, force control was suggested as a robotic assembly solution. However, this method is difficult to apply in reality because of speed and cost problems. The RCC provides high speed, but applications are limited because the compliance is fixed, and it cannot detect an assembly condition during a task. A variable passive compliance device (VPCD) was developed herein. The VPCD can detect the assembly condition during tasks. This device can provide proper compliance for successful assembly tasks. The pneumatic system and the Stewart platform with an LVDT sensor were applied for measuring the displacement and variable compliance, respectively. The concept design and analysis were conducted to prove the effectiveness of the developed VPCD.