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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.