• ICROS
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• v.16 no.3
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• pp.34-39
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• 2010

근육 활성화시 나타나는 근육의 기하학적 형상인 단면적 변화를 움직임 의도 예측에 사용했다. 밴드 형태로 구성한 유연한 압전 케이블(flexible piezoelectric cable)을 이용하여 단면적을 측정하는 착용형 근육 활성도 측정 센서(pMAS, piezo cable muscle activation sensor)를 설계했고, 상완부에 적용하여 팔꿈치의 움직임을 예측했다.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.9
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• pp.723-730
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• 2016

This paper presents a cable-driven hydraulic actuator named Cable Rod Hydraulic Actuator (CRHA). The cable actuating system is attractive for designing a compact joint in robotic applications since it can be installed remotely from the joint. Recently, cable rods have been used in pneumatic area for inertia reduction. However, designing cable rods in hydraulics is challenging because it is difficult to achieve flexibility and endurance simultaneously under high pressure conditions. In this paper, the cable rod, which consists of a cable and jacket, is proposed to meet both requirements. To design the CRHA, we determined the design parameters, such as cylinder size, and selected the cable rod's material by friction and leakage test. Finally, comparisons experiments about step and frequency responses with conventional hydraulic actuators were performed to assess feasibility for robotic joints, and the results show that the proposed system has good bandwidth and fast response as robotic joints.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2726-2728
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• 2000

본 논문은 필드버스를 이용한 실시간 로봇제어 시스템의 설계와 체계적인 설계 방법을 제안한다. 설계의 주요 잇점은 케이블링 비용의 절감과 유지 보수의 용이함을 들 수 있다. 최악 시간 분석에 의하여 필드버스를 이용하는 로봇 제어 시스템이 주어진 시간 제한요구를 만족할 수 있는지를 검증하기 위하여 실시간 제어 시스템의 패러미터들을 어떻게 결정할 수 있는지 보여주며, 태스크와 메시지의 실시간 스케쥴링 방법을 제안한다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.04a
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• pp.495-499
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• 2014

In this study, the finite element modeling for the signal cable and pneumatic hose of the industrial robot is developed. The modulus of elasticity of signal cable and pneumatic hose is predicted by deflection test. Finite element model for the signal cable and pneumatic hose is developed by using the modulus of elasticity obtained from the tests. The developed finite element model is estimated through the vibration analysis. This study shows that the developed finite element model can be effectively utilized in the dynamic analysis.

• Journal of Industrial Technology
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• v.22 no.B
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• pp.251-260
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• 2002

In this thesis, a three degrees of freedom robot, which is able to provide sufficient precision for various robot researches, has been developed. The cable mechanism is used as a basic transmission of robot joints. Based on an optimal design strategy, link and joint parameters are determined and then overall geometry of the robot is designed. As an architecture of robot control, real time control system using real time linux and RtiC-Lab(Real Time Controls Laboratory) is developed. This system, written in C and based on Linux O/S, includes text editor, compiler, downloader, and real time plotter running in host computer for developing control purpose. Using these hardware and software, simple PD position control is implemented, the results shows the effectiveness of the system.

• 전기산업
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• v.3 no.4
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• pp.77-91
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• 1992

• Proceedings of the Korea Information Processing Society Conference
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• 2017.04a
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• pp.685-687
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• 2017

최근 공중, 지상에 대해 무인 시스템이 빠른 속도로 발전하고 있다. 해양 분야에 대해서도 무인시스템이 발전함으로 인해 사람의 힘을 빌려 작업하기에는 많은 위험도와 각종 변수들에 의해 인명피해가 발생할 수 있는 건설, 케이블 매설, 해양 관측에 대해 무인 로봇을 통해 작업이 이루어지고 있다. 이러한 무인 시스템의 발전을 하드웨어는 빠르게 발전하여 컴포넌트 형태로 발전하였다. 이런 하드웨어의 발전에 맞춰 소프트웨어 컴포넌트 설계 방법을 제안하고자 한다.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.6
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• pp.502-508
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• 2001

In this paper, slack is computed from a comparison of the cable pay out rate and the ship ground speed in accordance with laying conditions, and the speed controller of the cable engine based on an H(sub)$\infty$ servo control id designed for adjusting the cable engine in order to lay a desired amount of slack. The controller is designed for robust tracking of the cable engine under disturbances. The performance of the designed controller is evaluated by computer simulation, and, consequently, a feasibility study for laying the submarine cable stably is done through analyzing simulation results.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.25 no.4
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• pp.287-292
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• 2012

In this study, Multi-Channel Magnetic Flux Leakage(MFL) sensor - based inspection system was applied to monitor the condition of cables. This inspection system measures magnetic flux to detect the local faults(LF) of steel cable. To verify the feasibility of the proposed damage detection technique, an 8-channel MFL sensor head prototype was designed and fabricated. A steel cable bunch specimen with several types of damage was fabricated and scanned by the MFL sensor head to measure the magnetic flux density of the specimen. To interpret the condition of the steel cable, magnetic flux signals were used to determine the locations of the flaws and the level of damage. Measured signals from the damaged specimen were compared with thresholds set for objective decision making. In addition, the magnetic flux density values measured from every channel were summed to focus on the detection of axial location. And, sum of flux density were displayed with threshold. Finally, the results were compared with information on actual inflicted damages to confirm the accuracy and effectiveness of the proposed cable monitoring method.

• NEWSLETTER 전기공업
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• no.92-25 s.68
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• pp.1-23
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• 1992