The role of QR Code robots in smart logistics is great. Cognitive robots, such as logistics robots, were mostly used to adjust routes and search for peripheral sensors, cameras, and recognition signs attached to walls. However, recently, the ease of making QR Codes and the convenience of producing and attaching a lot of information within QR Codes have been raised, and many of these reasons have made QR Codes recognizable as visions and others. In addition, there have been cases in developed countries and Korea that control several of these robots at the same time and operate logistics factories smartly. This representative case is the KIVA robot in Amazon. KIVA robots are only operated inside Amazon, but information about them is not exposed to the outside world, so a variety of similar robots are developed and operated in several places around the world. They are applied in various fields such as education, medical, silver, military, parking, construction, marine, and agriculture, creating a variety of application robots. In this work, we are developing a robot that can recognize its current position, move and control in the directed direction through two-dimensional QR Codes with the same horizontal and vertical sides, and the error is to create a QR Code robot with accuracy to reach within 3mm. This paper focuses a study on the driving directions of QR Code-aware movable robots during the development of QR Code-aware indoor mobility robots.

본 연구에서는 풍진동 제어를 위해 39층 테크노마트 건물에 능동형 질량 감쇠기를 적용하기 위한 수치해석적 연구를 수행하였다. 먼저, 태풍 풍응답 계측 및 풍동실험을 통해 테크노마트 단변방향 진동에 대한 사용성 개선이 필요함을 확인하였다. AMD에 요구되는 스트로크 확보를 위한 건물의 여유 공간, 설치 위치, 허용 무게 등을 알아보고 제진장치 배치 및 사양을 결정하였다. 그리고 테크노마트의 최상거주층인 39층 단변방향을 대상으로 한 1자유도 해석모델에 대해 선형제어방법인 속도피드백, LQR, LQG 알고리즘과 비선형제어방법인 Bnag-bang 알고리즘을 적용하는 해석연구를 수행하였다. 해석결과 제어 전·후의 최대가속도는 11.83cm/s2에서 4.19cm/s2으로, 진동감지확률은 90%에서 50%이하로 감소하여 Bang-bang 제어알고리즘을 적용할 경우 제어성능이 가장 좋은 것을 확인하였으며 각각의 알고리즘으로 구현된 AMD의 최대 스트로크가 모두 허용범위 수준을 만족하는 결과가 나왔다. 또한, 실제 AMD의 안정적은 작동을 위해 요구되는 원점보정 신호 방안을 제안하여, 제한된 스트로크 내에서 제진장치를 안정적으로 운행할 수 있음을 확인 하였다.

In this paper, a two-way tuned liquid mass damper(TLMD) using a tuned liquid column damper(TLCD) and a rubber-bearing-type tuned mass damper(TMD) was manufactured for controlling two-way direction acceleration responses of a high-rise building structure. The proposed controlling device behaves as a tuned liquid column damper in one direction and as a tuned mass damper in the other direction. In this study, Performance evaluation of the downscaled model is conducted. The results show that the two-way controllability is behaved independently each other and realscale TLMD applicable to the high-rise building can be designed.

A cartridge type hydraulic logic valve consists of simple two port valve whose poppet is closed or opened by means of pressure signal of a pilot line. Accordingly, the logic valve can be used not only for direction, flow and pressure control purpose but also for versatile function valve which enables all above mentioned functions. In addition, the valve has little internal leakage and pressure loss, superior response characteristics and easiness in making small block type valve. The above mentioned good performances being recognized recently, the logic valve has been used widely in the large scale hydraulic system such as a hydraulic press system, for the performance requirements of high speed operation and precise control characteristics. However, there are scarce reports until now, except for a few ones from Aachen Institute of Technology in West Germany, so it is necessary to be studied on development and investigation for practical application. This paper showed that the static and dynamic characteristics of a logic valve when the logic valve is used for directional control, to investigate the relations between the valve operating characteristics and the valve design conditions. From the above mentioned procedure, it was ascertained that the valve operation characteristics obtained by numerical analysis showed good agreements with experimental results. The representative results obtained are as follows; 1. During the valve is closing, the poppet velocity is almost constant in the logic valve. 2. The pilot pressure P sub(3) and the resistance R in the pilot line have much influences on the valve operation time. 3. Spring strength have not such a severe influence on the valve operating time. 4. The operation characteristics of the logic valve can be estimated with good accuracy comparatively by numerical analysis with the equations describing poppet motion.

In this study, we evaluated the photocatalytic oxidation efficiency of aromatic volatile hydrocarbons by using WO3–doped TiO2 nanotubes (WTNTs) under visible-light irradiation. One-dimensional WTNTs were synthesized by ultrasonic-assisted hydrothermal method and impregnation. XRD analysis revealed successful incorporation of WO3 into TiO2 nanotube (TNT) structures. UV-Vis spectra exhibited that the synthesized WTNT samples can be activated under visible light irradiation. FE-SEM and TEM images showed the one-dimensional structure of the prepared TNTs and WTNTs. The photocatalytic oxidation efficiencies of toluene, ethylbenzene, and o-xylene were higher using WTNT samples than undoped TNT. These results were explained based on the charge separation ability, adsorption capability, and light absorption of the sample photocatalysts. Among the different light sources, light-emitting-diodes (LEDs) are more highly energy-efficient than 8-W daylight used for the photocatalytic oxidation of toluene, ethylbenzene, and o-xylene, though the photocatalytic oxidation efficiency is higher for 8-W daylight.

본 연구는 기존에 사용되어 지고 있는 타설 노즐 내부에 블레이드를 설치함으로써 타설 시 시멘트 복합체에 혼입된 섬유의 방향성을 제어하고 동시에 분포도를 향상시키고자 하였다. 블레이드 변수 최적화를 위하여 시멘트계 매트릭스 재료의 유동과 혼입된 섬유의 운동, 노즐간의 상호작용을 고려한 다중물리계 유한요소해석을 수행하였다. 사용되는 섬유길이를 변수로 하여 블레이드의 간격, 길이, 위치를 결정하였다. 내부 블레이드 간격이 섬유길이의 약 1.2~2.4배, 블레이드 길이는 섬유길이의 약 4~8배, 설치 위치는 시멘트 복합체가 도출되는 입구에서부터 섬유길이의 14배 이하일 때 섬유 방향각이 약 15°이하로 제어되었다. 또한, 본 연구에서 제시된 블레이드형 노즐은 기존의 섬유보강 시멘트 복합체 타설장비와 타설관을 그대로 사용하면서, 탈·부착식으로 제작될 수 있어 사용성과 편의성을 동시에 제공할 수 있을 것으로 판단된다.

This study evaluated the orientation control of steel fibers in cementitious materials using magnetic field. With the increases in the range of the magnetic field, the effective length of the orientation control of the steel fiber is increased and the orientation control effect is larger.

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

Conventional path tracking methods designed for two-wheeled differential drive robots are not suitable for omni-directional robots. In this study, we present a controller which can accomplish more accurate path tracking and orientation correction by exploiting the unconstrained movement capability of omni-directional robots. The proposed controller is proven to be stable using a Lyapunov stability criterion. Various experiments in real environments show that performance of path tracking and orientation correction has improved in the proposed controller.

This paper aims to prove the effectiveness of MR damper as a smart control device when controlling the earthquake invoked transverse vibration of a two-span simple bridge. Applying a 40% of Kobe earthquake and a 120% of El-centro on a target structure, experiments were performed under two conditions: passive on (current on) and Lyapunov control algorithm embedded. MR damper's control performance was analyzed and contrasted under each different condition. It was concluded that MR damper was effective in controlling the vibration of the bridge.

This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels’ contact to the ground during high acceleration, and localization for the real time position control.

In this paper, an experimental research was carried out to compare the capability to control a MR-damper attached structure, which turned out to differ according to its vibration control direction whether vertical or horizontal. The target structure for the experimental test was a real size asymmetrical cable-stayed bridge. The MR-damper for vibration control was designed 30KN to fit into the target bridge. For the performance experiment of the MR-damper, the el-centro earthquake wave using three shaking table was inflicted on the model bridge structure, once horizontally and then vertically. Finally, each control capability, different according to its direction, was compared and evaluated. The experiment proved that the MR-damper was able to damp in a different way according to its control direction(horizontal or vertical) and also to work effectively damping the acceleration responses of the structure.

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.

Hyang-Soo Kim. 2000. Rule Precursor and Phonological Change in Direction: An analysis of syneresis and metathesis of h in Greek, Sanskrit and Germanic. Studies en Modern Grammar 22, 159-172. In this paper phonological problems associated with the transfer of h are considered in relation to traditional laws in Indo-European languages: Grassmann`s Law, Bartholomae`s Law, and Grimm`s Law. It is shown that when properly interpreted in relation to a phonological process such as syneresis, the various examples of h-metathesis in Greek, Sanskrit, and Germanic reveal a change in direction of a phonological rule. It is argued that syneresis, which applies both in Sanskrit and Germanic albeit in different direction, serves as the precursor to the later rule of h-metathesis, which also exhibits the same phonological change in direction.