• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.648-651
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• 2004

Biped robot has better mobility than other mobile robot, but it is hard to maintain balance during walking. In order to maintain balance, stability analysis is a key point for a biped robot. The zero moment point analysis has been used most in stability analysis. In this paper, we propose different method of stability analysis using wrench system. It is possible to generate a wrench system by applying a force along an axis in space and simultaneously applying a moment about the same axis. Wrench system is equivalent to a force and moment applied along the same axis. We compare the result of wrench system analysis with that of zero moment analysis in biped robot stability using simulation program.

• Proceedings of KOSOMES biannual meeting
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• 2005.11a
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• pp.191-196
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• 2005

The character strings on chips and components are so tiny and numerous that it is a very difficult work for people to perform. In paper, this we propose a mark automatic checking system, which will determine whether chip is wrong-mark or not by recognizing characters on chips. Lots of faulty detection conditions and template matching methods are used to inspect the faulty mark items. The faulty detection classifies conditions as five kinds-darkness, matching, area, broken and branch. A series of experimentation shan that the method proposed here am offer an effective way to determine wrong-mark on chips.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.298-301
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• 1990

This paper presents technologies to improve the control of an impact wrench. Impact wrench is a tool which is held by the electro-mechanical manipulator and used to fasten and loosen the bolts for remote maintenance of equipment in hostile environment. Vision system was developed to measure the distance and improve the positioning of the impact wrench. The vision system used two laser beams with a CCTV camera. Also, a torque adjusting method was developed to limit the fastening torque.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2011.04a
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• pp.207-210
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• 2011

Chollian bipropellant propulsion system is composed of one main engine for orbit transfer and fourteen thrusters for on-station operations. The design and analyses of the propulsion system were carried out in the framework of international collaboration. Following the system integration and testings required, the Chollian was transported to Kourou Space Center in French Guiana and launched successfully. After it separated from the launcher, the propulsion system was initialised automatically. Then three times of main engine firing were successfully performed, and the target obit insertion was accomplished.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.832-837
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• 1991

After many years of proliferation, the nuclear industry is indebted for a formidable consequence, the safe management of spent fuel. Naturally, the high radioactivity involved with such process motivates the development of effective telerobotic systems. Nevertheless, the existing master-slave type of tele manipulators are limited in effectiveness by the human operator's limited sensory and manipulation capabilities. This paper presents the result of a research effort to resolve such problems by assigning the slave manipulator a certain degree of intelligence; sensing and actuation. In the presented system, a perception-action loop is achieved using ultrasonic range sensor and laser distance sensor interfaced with the PUMA 760 industrial robot system, and applied to automating impact wrenching task for unbolting the lid of nuclear spent fuel cask. The perception-action loop performs determination of the cask location, collision avoidance and centering of the impact wrench onto the bolt head. To aid the insertion task and to provide versatility a mounting module consisting of an RCC device and an automatic tool changer is designed and implemented. The performance of the developed system is tested on the model cask and the result is given.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.3
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• pp.577-583
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• 2007

The character strings on chips and components are so tiny and numerous that it is a very difficult work for people to perform. In this paper, we propose a mark automatic checking system, which will determine whether chip is wrong-mark or not by recognizing characters on chips. Lots of faulty detection conditions and template matching methods are used to inspect the faulty mark items. The faulty detection classifies conditions as five kinds-darkness, matching, area, broken and branch. A series of experimentation show that the method proposed here can offer an effective way to determine wrong-mark on chips.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.15 no.4
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• pp.379-386
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• 2004

OFDM(orthogonal frequency division multiplexing) communications system is very attractive for the high data rate transmissionin the frequency selective fading channel. Since OFDM has high PAPR(peak-to-average power ratio), OFDM signal may be distorted by the nonlinear HPA(high power amplifier). In this paper, we propose an improved dummy sequence scheme for reducing the PAPR in OFDM communication system. This method inserts each different dummy sequence at the predefined sub-carriers fur PAPR reduction. After IFFT, the OFDM data signal with the lowest PAPR is selected to transmit. The complementary sequence is used as dummy sequence. So, it can cut down the computation time and quantity because it dose not require the peak value optimization for finding the phase rotation factor and the transmission of the side information about the rotation factor unlike the PTS method.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2011.11a
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• pp.66-68
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• 2011

Chollian is a geostationary satellite, and its bipropellant propulsion system is mainly composed of one main engine for orbit transfer and fourteen thrusters for on-station operations. The Chollian was launched successfully at Kourou Space Center in French Guiana. After it separated from the launcher, the propulsion system was initialised automatically. Then three times of main engine firing were successfully performed, and the target obit insertion was accomplished. This paper details the major CPS events during LEOP phase for the Chollian satellite.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.35 no.2
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• pp.88-97
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• 2012

The muscle strengths in various postures are still used in the workplace, although mechanization and automation have been continuously accomplished. The aim of this study is to measure the maximum muscle strength and analyze the muscle fatigue during the various wrench jobs which are one of the upper limbs related works. Four hundreds and eighty five college students (243 males and 242 females) participated in this study. Twelve muscle strengths which are using for pulling, pushing, lifting and lowering the wrench with various postures are measured. For every moment, the muscle strengths for both hands were measured. In each measurement, five seconds averaged value and peak value were collected. The averaged value of preferred hand and non-preferred hand was compared. Also, the averaged value of opposite movement was compared through t-test. The fatigue of agonist for each movement was analyzed using EMG analysis. The result of this study can provide some basic information not only in designing the tools in work but also in selection, training and management of workers.

• Journal of the Korea Concrete Institute
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• v.20 no.6
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• pp.681-687
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• 2008

This study presents a technique to quantitatively measure the corrosion level of a reinforcing bar using infrared thermography system. We found out electric heating method having an important effect on thermal data in previous study. This study purposed an efficient way for grip standardization to reduce constriction resistance problem, and providing reliable thermal data using infrared thermographic method. Using vise type earth clamp, the surface resistance of rebar was smaller than that of traditional plier type earth clamp through temperature-distribution relationship. Also this study contains experiments with toque wrench to improve heating contact problem.