• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.1
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• pp.65-72
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• 2016

In this study, a fully active transfemoral prothesis with a knee joint is designed considering stair walking conditions. Since the torque at the knee joint required for stair walking condition is relative high compared with the one in normal walking condition, the proposed design has high torque generating mechanism. Moreover, the transfemoral prothesis is designed in compact size to reduce its weight, which is related to comfortable fit and fatigue of patients. Flat type BLDC motor is used for simple and compact structure and various components are used to generate required torque with target working angle and speed. The weight reduction of structure is carried out using optimization method after the initial design process is complete. The optimization is conducted under the load conditions of stair walking. The optimized design is validated via finite element analysis and experiments. As a result, the weight is reduced using topology and shape optimization but maintaining the safety of structure. Also the space efficiency is improved due to its compact size.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.793-798
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• 2010

In this paper we propose a low-power walking compensation method for biped robot based on consumption energy analysis. Firstly, basic walking motions that can reduce energy consumption of robot movements are implemented based on consumption energy analysis according to robot axes. We define knee bent motion as a basic walking motion. It can improve energy consumption and motion stability by lowering center of gravity of the biped robot. We analyze consumption energy of left and right leg of the robot using motor currents and propose a compensation method of walking motions to reduce unbalance of consumption energy between left leg and right leg. It can also improve energy consumption and walking stability of the robot. The proposed low-power compensation method based on consumption energy analysis is verified by walking experiments of a small biped robot with an embedded system.

• Journal of the Korean Geotechnical Society
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• v.21 no.5
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• pp.133-142
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• 2005

The research concentrates on improving the in-hole seismic probe, which has been developed in past five years, to be used in stiffness measurements of tunnel-face materials. The size of probe was reduced to be fit in 45-mm diameter holes (or BX) drilled by a jumbo-drill, which is used to drill holes to install explosives for tunneling. Also trigger system was improved by using a down-speeding motor for operating convenience and air packing system was replaced with a set of plate-springs to eliminate supply of compressed air. These modifications are to adjust the probe for the unfavourable environment inside of tunnels and to test without any further drilling cost. The probe and testing procedure were successfully adopted with horizontal holes drilled by a jumbo-drill at a tunnel-face to evaluate the stiffness of rock mass. The measured shear wave velocities can be used to estimate deformation properties of rock mass for tunnel analyses.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2008.06a
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• pp.344-344
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• 2008

최근 들어, 압전 세라믹스 제조기술의 급속한 발전으로 기계, 전자뿐만 아니라 휴대용 전자기기의 초소형 적층형 압전모터 및 압전변압기 같은 고품질 압전소자의 개발에 있어 특히 소자의 소형화에 따라 나노크기의 분말제조가 연구의 주류를 이루고 있다. 현재 이러한 나노크기의 세라믹스 제조에 사용되는 방법으로는 화학적 공침법, 졸겔법, 수열반응, 그리고 고에너지 볼밀법등이 보고되고 있다. 볼밀링 공정은 세라믹제조 시 필수 불가결한 공정이나 일반적으로 미세화에 그 한계가 있어 $1{\mu}m$이하의 입자크기를 가지는 분말은 제조가 곤란한 것으로 인식되어 왔다. 그러나 고에너지 볼밀을 이용한 볼밀링은 원료의 변형, 파괴 등과 같은 원료의 물리적 변화 뿐만 아니라 원료를 구성하는 원자/분자 구조에 영향을 미쳐 원료의 화학적 특성의 변화를 유발한다. 이러한 화학적 특성의 변화는 이종 원료간의 화학 반응성을 향상시켜 밀링 중에 새로운 화학종의 생성을 유발하게 되는데 이러한 현상을 mechanochemical 효과라 한다. 이러한 mechanochemical 효과는 나노 분말 입자의 제조뿐만 아니라, 분자설계, 재료합성, 자원처리 및 리사이클링 등에도 그 적용이 시도되고 있다. 이러한 mechanochemical 효과를 이용하여 분말을 미세화 함으로써 저온 소결과 재료특성 향상을 기대해 볼 수 있다. 따라서, 이번 연구에서는 우수한 압전 특성을 가진 PMN-PNN-PZT조성을 가지고 시편을 제작하였으며, 고에너지 볼밀시간에 따라 그 압전 및 유전특성을 조사하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.3
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• pp.293-300
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• 2009

The rotorcraft-based unmanned aerial vehicle(UAV) capable of performing close-range surveillance and reconnaissance has been developed. Trade studies on mission feasibility led to the adoption of a coaxial rotorcraft with twin rotors counter-rotating in one axis and driven by electric motors. A commercial off-the-shelf flight control computer(FCC) and a radio frequency modem were adopted for autonomous navigation. In order to achieve an aerial view, commercial charge-coupled device camera was also integrated into the vehicle. The performance of the completed vehicle was proved with manual flight test, and mission capability was verified through waypoint navigation flight after being equipped with FCC. This paper treats the whole process of design and system integration for development of the coaxial rotorcraft UAV.

• Journal of Convergence for Information Technology
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• v.9 no.10
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• pp.101-107
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• 2019

This paper proposes a method for detecting faults in conveyor systems used for transportation of raw materials needed in the thermal power plant and cement industries. A small drone was designed in consideration of the difficulty in accessing the industrial site and the need to use it in wide industrial site. In order to apply the system to the embedded microprocessor, hardware and algorithms considering limited memory and execution time have been proposed. At this time, the failure determination method measures the peak frequency through the measurement, detects the continuity of the high frequency, and performs the failure diagnosis with the high frequency components of noise. The proposed system consists of experimental environment based on the data obtained from the actual thermal power plant, and it is confirmed that the proposed system is useful by conducting virtual environment experiments with the drone designed system. In the future, further research is needed to improve the drone's flight stability and to improve discrimination performance by using more intelligent methods of fault frequency.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.10a
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• pp.556-558
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• 2022

This paper proposes a CanSat system with a vehicle tracking function based on Jetson Nano, a high-performance small computer capable of operating artificial intelligence algorithms. The CanSat system consists of a CanSat and a ground station. The CanSat falls in the atmosphere and transmits the data obtained through the installed sensors to the ground station using wireless communication. The existing CanSat is limited to the mission of simply transmitting the collected information to the ground station, and there is a limit to efficiently performing the mission due to the limited fall time and bandwidth limitation of wireless communication. The Jetson Nano based CanSat proposed in this paper uses a pre-trained neural network model to detect the location of a vehicle in each image taken from the air in real time, and then uses a 2-axis motor to move the camera to track the vehicle.

• Journal of the Society of Naval Architects of Korea
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• v.60 no.6
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• pp.441-449
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• 2023

With the enforcement of environmental regulations by the International Maritime Organization, the market for eco-friendly ships is expanding, and ships using electric propulsion devices are emerging as a promising solution. Many studies have been conducted to predict the failure of ships, but most of them are mainly research on the main diesel engine of ships. As the ship's propulsion method changes, new data is needed to predict the failure of electric propulsion ships. In this paper aims to analyze the failure characteristics of the electric propulsion system in consideration of the difference in the type of failure between the internal diesel engine and the electric propulsion system. The ship's propulsion unit assumed a DC motor and a signal pattern for normal conditions and general failure modes, but the failure record of the electric propulsion device operated on the actual ship was not available, so it generated a failure signal for small electric motor equipment to identify the failure signal. Assuming unbalance, misalignment, and bearing failure, which are the primary failure modes of the ship's electric motor, a failure signal was generated using a "rotator vibration data generator," and the frequency band, size, and phase difference of the measured vibration signal were analyzed to analyze the characteristics of each failure condition. Finally, the characteristics of each failure condition were identified so that the signals according to the failure type could be classified.

• The Journal of the Convergence on Culture Technology
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• v.9 no.6
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• pp.919-925
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• 2023

Modern drones are equipped with miniaturized mission equipment capable of performing various tasks such as surveillance and reconnaissance. Consequently, these mission equipment are exposed to disturbances like wind loads and motor rotations, which can lead to instability in the operation of the Electro-Optical Targeting System (EOTS). Specifically, simple step inputs for changing the line of sight in EOTS can cause abrupt changes in speed, inducing overshoot and potentially creating instability along with other disturbances. To address this, a velocity profile was designed so that the angular velocity moves in a trapezoidal shape when changing the EOTS line of sight. A Double-loop controller was designed to apply this profile as an input to the external loop receiving position feedback. The system's stability was then compared, and the velocity profile was optimized within a stable range by varying maximum speed and acceleration.

• Fire Science and Engineering
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• v.26 no.1
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• pp.61-67
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• 2012

In the three-phase power system using the three-phase motor, when any one-phase is open-phase, the unbalanced current flows and the single-phase power supplied by power supply produces overcurrent to motor coil. As a result, the enormous damage and electrical fire can be given to the power system. Recently, the thermal over-current relay (THR) or electronic motor protection relay (EMPR) is mostly used as the open-phase detection device of the three-phase motor. When the over-current or overheat of electric line is generated, it detects and operates circuit breaker, but there is the defect that the sensing speed is slow, the operation can be sometimes failed, and the precision is decreased. In order to improve these problems, this paper is proposed a new control circuit topology for openphase protection using semiconductor devices. Therefore, the proposed open-phase protection device (OPPD) enhances the sensing speed and precision, and has the advantage of simple fitting in the three-phase motor control panel in the field, as it manufactures into small size and light weight. As a result, the proposed OPPD protects the three-phase motor, minimizes the electrical fire from openphase, and contributes for the stable driving of the power system. The performance and confidence of the proposed OPPD is confirmed by a great variety of the experiments of operation characteristic.