The Age of the 21st Century Magazine

“Now, ladies and gentlemen, let's start with the master's diagnosis to determine the cause of the malfunction."

Dr. Nam inserts the developer master board into the external socket of HR1, then connects a 50-meter long coarse wired cable to the server for precise diagnosis of each joint actuator.

Insertion of the master board externally allows unmanned manoeuvring for testing.

[Developer Mode Urgent Check: 2018/2018 item]

[Proceed to check...]

Checks are carried out and each limb is folded, then extended and the actuator motor signals the status.

[21/1203 abnormal signal detected]

I've already detected 21 abnormal signals during the inspection.

“Hmm... this is weird. ”

Emergency anomaly signaling from multiple actuators combined with the most important components that drive HR1, including BLDC motors and gears and joints and chains, stiffens the faces of Dr. Nam and his engineers.

“Itz er Syrias Prablum, I have to rip it off, Dr. Nam. ”

“You'd better do that. Vincent" Researcher ”

A senior actuator researcher at SKF Nabis R&D Center in Uppsala, Sweden, Vincent said with a serious expression, and Dr. Nam nodded and replied.

SKF is the world's largest bearing company with more than 44,000 employees, and hyper-metallic bearings and actuators made jointly with them go into almost every moving part of HR1.

The fact that there is a problem with the actuator in charge of the robot's movement means that the SKF, inscribed as the world's number one bearing and symbol of trust, has a fatal typewriter problem. In addition to the actuator, a fuselage check error occurs in the check signal, and problems are beginning to be detected in each and every one.

Eventually, technicians and a group of Nam PhD coordinators decide to disassemble HR1 for workup and several engineers stick to HR1 for emergency disassembly.

Another abnormal signal is picked up from the sensors on the motorized drill while one engineer unbolts the connection of the external gloves with a computer-controlled large motorized drill for disassembly.

When the bolts connecting the outer gloves of HR1 are tightened to an abnormal pressure or lower pressure, the bolts will loosen or damage the connection site.

That is, a large motorized drill with a computer chip is tightened or loosened with a prescribed pressure. The error signal is that cracks or deformations are applied to the bolt nut so that the bolt cannot be loosened with a prescribed force.

“Dr. Nam, I'm picking up an Error 3060 Crack error signal on an electric drill. ”

“That's impossible. It's a titanium alloy bolt... it's been a few days! ”

Thought the yield strength and fatigue strength would not be a problem with the amazing titanium bolts and nuts, Dr. Nam supplied the drill with overpower in manual mode and visually inspected the loosened titanium bolts.

A closer look led to fatigue deformations and cracks on the rigid lines of nuts and bolts.

“What is this? Who made the bolts out of this? ”

Dr. Nam, who is usually rarely angry, squeezes the released titanium bolt.

“There's a delivery from Dr. Nam Diu's precision. ”

Speaking to Dr. Nam, who is in a mill atmosphere, he narrows his glabella and blushes his face.

“No, Diu Precision, did these bastards hit you? Deliver the industry's most basic bolt nut with this? Chief of Sales. Chief O'Brien, tell him to come quickly! And the materials lab team at the water source called me right now and told me to come right away."

The silence in the factory lasts for a moment when Nam Ph.D. plays with rage.

In such an atmosphere, the atmosphere becomes more devastating when a critical assembly defect is found in the right power unit area while decomposing one at a time.

“No, the factory is doing the right thing? What is this? If you have eyes on it, look straight.

What if there's a power grid malfunction?

Can a metal air cell unit kill a group of people who have factory employees who know exactly how many kilowatts of external power they have assembled?

If it rains the day of the test, they're all dead. ”

“Dr. Nam, there is no cotton wool. ”

“No, the factory's cotton wool is what it is, and get the factory staff together right now.

Starting today, we will stop production indefinitely until all problems encountered during assembly are corrected and re-train the power source. ”

After Dr. Nam shouts obscurity, he sinks into a total bad state for a while.

A team of engineers flying from Sweden, Germany, Switzerland, Italy, and Portugal kicked out the metal sponge block unit and looked at the actuator connection area, which seemed to be subtly unbalanced.

After checking the assembly position again with the precision laser measuring equipment, it appears that the axis is slightly twisted and is no longer angry.

When the actuator shaft is twisted, the Z-axis load on the driver bearing increases, resulting in rapid wear of the drive part, such as the gear shaft and the bearing.

Of course, most bearings are two-axis flow bearings, which reduces the Z-axis burden to some extent, but there is an incredible amount of defect, so Dr. Nam, who is desperate to know where to get angry, decided to convene an emergency response meeting.

“JiHoon, who's in charge of factory automation and human resource consulting?”

“Dr. Nam, why is that being handled by an American McConnell consulting firm? ”

“Terminate the contract right now. Look at this. The factory is a mess. What kind of robotic assembly is this? It's a mess.

That doesn't mean that we can't call in R&D center engineers and assemble them on the mass production line. "

“Yeah, well, let's figure it out first."

“Phew! I want to bite a real cigarette. What's wrong with the factory? ”

“Why are you giving me Marlborough? ”

“No, I'm good. ”

“How is the factory going to cut? Things are really bad right now. … ”

“Hmm.... We need to start by identifying the cause. Workforce restructuring in the factory is after the cause. But employees with deliberate responsibilities will never let go. ”

Ben gets caught up in the conversation between JiHoon and Nam.

“I'm sorry to Dr. Nam because I only care about this fusion group. ”

As Ben Ellen sends his apologies to Nam, Nam shakes his head. In fact, Ben had little to do with the operation of the plant, as he was only dependent on technology development and joint venture issues.

Dr. Nam immediately replied, reminding him of that mistake.

“No, this isn't about Ben.

The problem with assembly is that the entire factory operating system is very wrong, and the vendor is looking at the bolts five minutes ago.

I'm going to have to reconfigure the company system thoroughly, weighing all the parts according to the principles. ”

“Yes, I think you should do that. But which way would you go if you changed your consulting firm? ”

Dr. Nam ponders over Ben's words.

The problem now is that the principle of efficiency, not the problem of factory efficiency, is broken and bad products burst out. To completely overcome this, we need a consultant with ice-like guidelines that adhere to the principle.

“Well, isn't there a principled consulting firm like Ben Terminator's villain robot without blood or tears? ”

“A consulting firm like that... principally a moving company, concentrated on the German side.

Oh, I'm not saying that because I'm German American.

Objectively, the Germans strictly observe the rules.

I would recommend Brinelsa in Germany as a new consulting firm. ”

“Brinelsara... good. Ben, contact Brinelsa and ask her to fly right away. ”

“Yes, then I will take action on the consulting side. Then I have to go to the office again for that. ”

“Ah, you're busy with the Fusion Group, but I'm sorry to have to work as soon as you get here, Ben, but I need you to take quick action. ”

“Yes, then."

Ben returned to his office in Gangnam Arch Tower due to a coordination issue with a consulting firm, and the rest of the people were unable to complete the disassembly inspection until 2 p.m., well past lunch time under Dr. Nam's young eyes.

“Delivered.”

Hot water one-on-one neutralization spots and fast food spots are delivered in a row, forgetting them, sitting in the factory's indoor garden for a while, while engineers, four-man Nam PhD, and factory directors unwittingly intervene.

“There's a meal at Nam Doctor's staff restaurant, and that's where...”

“No, factory, where's the time to go now? We need to identify the cause immediately... temperamentally. Are you out of your mind? ”

Dr. Nam, who is holding a hamburger and a coke in his hand with his butt on the indoor garden lawn of the factory, yells at the factory to see if he is angry.

He did not end up with one bad vendor, and a significant number of parts were defective.

The types and sizes of defects, such as alloy cables, wires, power units, insulators, and some sensor modules connected to the actuator, were severe enough for Nam to be tempered.

Eventually, the engineers and the Nam Ph.D. group, who had also resolved the problem with hamburgers and coke in the factory in the evening, completed the decomposition of HR1 1 and returned to their homes by 10: 00 p.m.

The last four people return to the headquarters after clearing the last check data and continue the conversation seriously.

Nam sighed nervously as the bad list threw the cleaned A4 paper iron to the table.

“What the hell is this? The parts are delivered, they're assembled, they're all messed up. Changsoo, what's going on? ”

I make an urgent excuse for the mess in the window water delivery.

“No, when Nam Ph.D. Sales sent her to the testing center for delivery, and she did a few workups...”

“Huh? Changsoo, so these guys are cheating now? ”

“I don't know about that. I need to run a full inspection. It could just be a technology shortage or a glitch in your production line.”

“Hmm...”

Dr. Nam was confused by Changsoo's opinion.

If the defective part is simply a vendor process mistake, it will be concluded with a reproduction action after the claim, but if the defect was intentionally caused, it is unforgivable, once the cause has been identified first.

JiHoon says to Dr. Nam, who ponders about the problem of bad things everywhere.

“By the way, even if it's a bad assembly, you're too drawn to one side when you're maneuvering. What happened? How much posture control is ESP in ROS? ”

“I don't know. Once there's a bug in the ROS operating system or app,

When I hear the story, I think of the experience that attracted me and tell JiHoon.

“Which way did Ji Hoon go? ”

“That's why I keep getting pulled to the right.”

“I was pulled to the left. Huh? Strange. ”

“Huh? Hope is drawn to the left and JiHoon to the right? Something's wrong, then! ”

Dr. Nam is distracted for a moment, and the bear is thinking and kneeling.

“Oh Ji-hoon, you're left-handed, aren't you? ”

“Uh..."

“And hope is right-handed."

“Yes."

“Oh, we're completely new. ”

Dr. Nam, who realized his mistake and grabbed his head, was furious because of the defective parts and assembly misses in the factory, but he also committed design misses.

Ji Hoon looks at Dr. Nam and says.

“What, so where did the bad balance start? ”

“Hmm... Motion follow system is a problem... Motion follow system is a problem. It's a challenge."

It was easy to find the problem that Dr. Nam was attracted to. But I also realize that it's very difficult to solve the problem.

Nam's motion follow system does not allow the sensing device to read the pilot's muscular electrical signals, but it does complex sensing of the force that moves the muscles. That movement enables even more subtle control of the robot than receiving electrical signals from the muscles.

It is also very similar to the difference between capacitive and decompressive mixing, which is the input method of the smartphone touch screen. Nam's motion follower system belongs to the mixing of capacitive and decompressive modes.

There is also a capacitive device for robots that read human motion, and a typical device is a military enhancement suit called HAL, a Japanese medical industrial device, and an American exoskeleton.

However, this type of strengthening suit does not capture all of the fine movements of the muscles.

So Dr. Nam used a mixed-mode approach, which raised the problem.

The reason the mixing method is problematic in balance is that the left hand is strong and the right hand is muscular.

And even if it's left-handed, it's left-handed and right-footed. The human body is a left and right imbalance from birth.

And because there are many joint deformities, whether the bones are distorted or scoliosis, there are fine differences between people.

The inability of XHR1 and HR1's ROS software to detect such subtle physical differences was a fatal part of coming back to the unbalanced control of the horse-drawing machine.

Now I have surprisingly easily found the problem that the horseman is drawn to one side, but it is a challenge to solve.

To fully resolve this problem, a special calibration method called a fuzzy algorithm should be used.

However, in order to apply this fuzzy algorithm, it takes a long time to collect and analyze large amounts of human data and create databases.

I can't afford to buy enough time with an enormous spell of 800 right now.

Let's think about what Dr. Nam can do first.