The collaboration of robots and humans sharing workspace, can increase productivity and reduce production costs. However, occupational accidents resulting in injuries can increase, by removing the physical safety around the robot, and allowing the human to enter the workspace of the robot. In preventing occupational accidents, studies on recognizing humans, by installing various sensors around the robot and responding to humans, have been proposed. Using the LiDAR (Light Detection and Ranging) sensor, a wider range can be measured simultaneously, which has advantages in that the LiDAR sensor is less impacted by the brightness of light, and so on. This paper proposes a simple and fast method to recognize humans, and estimate the path of humans using a single stationary 360° LiDAR sensor. The moving object is extracted from background using the occupied grid map method, from the data measured by the sensor. From the extracted data, a human recognition model is created using CNN machine learning method, and the hyper-parameters of the model are set, using a grid search method to increase accuracy. The path of recognized human is estimated and tracked by the extended Kalman filter.
Elastomeric bushings are structural elements that are used in automotive suspension systems. An elastomeric bushing is a hollow cylinder that is contained between an outer steel cylindrical sleeve and an inner steel cylindrical rod. The outer steel cylindrical sleeve is connected to the components of the suspension system and is used to transfer forces and moments from the wheel to the chassis. The elastomeric material reduces the shock and vibration in this connection. Dynamic simulations of the automotive suspension system involve the interaction between many components. The accurate determination of the transmitted forces and moments between the components, the motion of the components, stress in the components, and energy dissipation is affected by the quality of the bushing model. Several Pipkin-Rogers models have been proposed for the axial mode, radial mode, and torsional mode and modified Pipkin-Rogers models have been proposed for the axial mode and torsional mode. In this research, the modified Pipkin-Rogers model for the torsional mode was verified in a frequency-related rotational angle control test. The results showed that the moment outputs of the modified Pipkin-Rogers model were in very good agreement with those of the Pipkin-Rogers model in the sinusoidal rotational angle control test.
In this paper, we designed and manufactured a new manipulator (less than 15 kg) to make the total weight of SCOBOT-200 (EOD robot: its platform weight is 35 kg) commercialized by FIRSTEC Co., Ltd. Link1 and Link2 of the manipulator were designed and fabricated using CFRP (Carbon Fiber Reinforced Plastics) material, and the other components were made of AL6061 material. The fabricated manipulator has 5-DOF, and the opening width of the gripper is more than 1520 mm. As a result of the characteristic test, the weight of manipulator is 14.5 kg, the length of the manipulator is 1500 mm, the payload when the manipulator extended is 8 kg, when folded is 20 kg. Thus, the manipulator manufactured can be used as a manipulator for a small EOD (Explosive Ordnance Disposal) robot.
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Since its introduction, the Modified Maximum Force Criterion proposed by Hora et al., has been widely used to theoretically estimate the forming limit curve of metal sheets. On the basis of this criterion, a graphical method was presented in our previous study to simplify the evaluation of the forming limit curve (FLC) of metal sheets. This paper presents an application of the graphical method to estimate the FLCs of an advanced high-strength steel sheet material, DP590. The material is frequently used in the automotive industry. To verify the ability of the graphical method, various hardening laws and yield functions were used to estimate the forming limiting curves for the examined material. The calculated forming limiting curves are then adopted for the finite element method (FEM) to predict the fracture heights of different notch specimens desired by the Hecker’s punch stretching tests. The results of the finite element method simulations agree well with the values of the fracture heights, in comparison to the experimental data. This verifies the ability and potential of the graphical method in industrial engineering.
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The Human Machine Interface (HMI) is dependent on the Computerized Numerical Control (CNC). As a result, the HMI software is developed according to the interface method of each CNC in duplicate. Even though the same function of HMI software module is developed using the same data item, it must be implemented separately in different development environments. This is because each CNC has a different address system and provides unique data interface method. In this study, we proposed a unified interface system that can standardize and integrate data interface method to support the development of HMI software module applicable to machine tools adopting multi-vendors’ CNCs. To clearly define this work, we developed new parameters, methods, and address system based on the machine state model, composed of data elements of machine tool structure, process, and status, provides the same interface by capsulizing existing CNC interfaces. The proposed interface system is designed to provide an API (Application Programming Interface) in the form of a library. The implementation architecture is designed and details of the operating logic within the detailed components and interfaces are elaborated. The implementation and test results are illustrated to verify an application example of the proposed unified interface system.
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This study presents the development of a magnetostrictive control rod position indicator (Mag-CRPI) for improving safety of nuclear power generation. Mag-CRPI principle is based on two magnetostrictive effects: The Wiedemann effect and the Villari effect. The position may be estimated by multiplying time-of-flight (TOF) of the elastic wave from the cursor magnet to the sensing coil, and a sound speed of the magnetostrictive wire. A Mag-CRPI prototype has been designed and built. Experiments are conducted to characterize the Mag-CRPI. Change of the TOF is obtained with cursor magnet movement interval of 100 ㎜. Averaged position error is estimated to be 0.002m over the entire measuring length. Based on experimental results, the performance of Mag-CRPI is validated, thereby confirming feasibility of a nuclear reactor-internal control rod.
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