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펙인홀 작업을 위한 임피던스 제어 기반의 직접교시 및 재현 알고리즘
김현중(Hyunjoong Kim),백주훈(Juhoon Back),송재복(Jae-Bok Song) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.5
Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.
i2SFCA와 GWR을 활용한 편의점 입지 효율성과 근접출점 간의 인과성 검증
김현중(Kim, Hyunjoong),정일훈(Chung, Ilhoon),강현미(Kang, Hyunmi),성은영(Seong, Eunyoung) 한국주거환경학회 2021 주거환경(한국주거환경학회논문집) Vol.19 No.1
편의점의 근접출점은 수많은 점포주의 생계를 위협하고 있음에도 불구하고, 아직까지 우리나라에서는 편의점 근접출점의 사회적 의제를 뒷받침할 수 있는 실증연구가 부족한 실정이다. 이에 이 연구는 안양시를 대상으로 i2SFCA의 활용하여 편의점 입지 효율성을 분석하였으며, 전역적ㆍ국지적 계수를 통해 근접출점이 편의점 입지 효율성에 미친 영향을 각각 추정하였다. 분석결과, 안양시 편의점의 입지 효율성은 입지에 따라서 큰 편차를 보였다. 역세권에 위치한 편의점의 입지 효율성이 압도적으로 높은 가운데, 주거지역 내에서도 입지 효율성이 높은 입지가 다수 존재하였다. 회귀분석에서 안양시 편의점의 근접출점은 입지 효율성에 부(-)의 영향을 끼쳤다. 국지적 계수의 추정결과, 대부분의 편의점에서 근접출점은 편의점의 입지 효율성을 떨어뜨리는 요인으로 밝혀졌으며, 주거지역에서는 그 피해가 더 컸다. 이상의 분석결과를 바탕으로, 편의점주 입장에서 근접출점에 따른 피해를 최소화할 수 있는 보다 적극적인 정책 방향에 대해 제언하였다. Even though the adjacent branches of convenience stores (CS), a phenomenon that convenience stores competitors open their stores next to one another, have threatened numerous CS owners livelihood, few empirical researchers tried to delve into Korea s phenomenon. Therefore, this study analyzed convenience stores location efficiency with an Inverted Two-Step Floating Catchment Area (i2SFCA) in Anyang-si. Then, it estimated the effects of adjacent branches on location efficiency of CS through the global and local coefficients, respectively. As a result, the location efficiency of CS in Anyang-si showed large deviations by locations. Simultaneously, it was overwhelmingly high in the station influence areas, and higher location efficiency of CS was detected in a wide range of residential areas. In the regression analysis, adjacent branches of CS harmed location efficiency. As a result of the local coefficient, it was found that in most CS, adjacent branches were a critical factor that deteriorated the location efficiency of CS, and the negative influence was more remarkable in residential areas. In light of these results, we suggested more proactive policy implications to minimize the damage resulting from adjacent branches from convenience store owners perspectives.
김현중(Hyunjoong Kim),심재경(Jaekyung Shim),이재길(Jaekil Lee) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
In this paper, type synthesis of variable valve lift mechanisms for automotive engines is performed using graph theory. In general, variable valve lift mechanisms can be classified into two groups: The first group is a system consists of two one-degree-of-freedom mechanisms with a switch, and the other group is a mechanism with two degrees of freedom. In this study, graphs of variable valve lift mechanisms in both groups with up to five links and two independent loops are enumerated and some feasible mechanisms are drawn.