• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.159-165
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• 2010

The moving object monitoring and transforming personal robot system based on remote controls is designed and implemented, and the performance of the system is analyzed in this paper. The major considering factors in the system design are such as 1) the control scheme design (button based and the remote control schemes); 2) the operation modes design (wheel driving mode/pedestrian mode/auto driving mode/observation mode); 3) the remote control function design; 4) the design of the monitoring function of the changes in neighbor environments; 5) the design of the detection of obstruction. From the experiments, it is assured that the developed personal robot can walk to the grounds that covered with doorsill or electric wires in indoors by control the leg articulations, and can escape from the obstruction using three infrared sensors in the 30cm*30cm obstruction styled space under the auto driving mode.

• Proceedings of the Korean Institute of Surface Engineering Conference
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• 2014.11a
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• pp.216-218
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• 2014

자동차용 고광택 크롬 도금 박리액에는 질산과 유가금속인 구리 및 니켈이 다량 함유되어 있는 것으로 알려져 있다. 질산($HNO_3$) 및 유가금속은 고가이며 유독하므로 경제적 및 친환경적으로 반드시 회수하여 재활용하여야 한다. 본 연구에서는 도금박리액으로부터 질산과 구리, 니켈을 용매 추출법을 이용하여 분리하였다. 수상에 존재하는 질산의 농도는 0.01 ~ 1N NaOH를 이용하여 적정하여 분석하고, 금속의 농도는 ICP-MS 및 ICP-AES 등을 이용하여 분석하였다. 도금 박리액을 분석한 결과 Cu(76850mg/L), Ni(51990 mg/L)이 함유되어 있음을 알 수 있었다. 용액 내 질산의 양을 NaOH 용액을 이용하여 적정법으로 측정하였을 때, 질산의 양은 대략 1.02 M 임을 알 수 있었다. 50 % Tributylphosphate (TBP)를 이용하여 3단 추출한 유기층의 용액을 증류수를 이용하여 3회의 역추출을 하였을 때, 원액으로부터 48.1 %의 질산을 회수할 수 있음을 알 수 있었으며, 순도는 99.5% 이상이었다. 질산 회수 후 용액 내에 남은 구리와 니켈은 ISE-106로 구리를 추출하여 니켈을 분리한 후 황산을 이용해 역추출 하였다. 회수된 구리는 NaOH를 이용하여 pH를 조절하고 수산화구리 형태로 침전시킨 후 $N_2H_4$를 이용하여 환원시켰고, 온도와 pH 및 환원제를 이용하여 다양한 조건 하에 구리 분말을 제조하였다. 구리를 추출하여 라피네이트 용액으로 분리된 니켈은 $NaBH_4$를 이용하여 환원시켰고, 다양한 조건 하에서 니켈 분말을 제조하였다. 환원 된 분말은 분석결과 99%의 순수한 분말임을 알 수 있었다.

• 연구논문집
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• s.30
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• pp.101-110
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• 2000

Weft insertion mechanism is for completing the structure of yarn and weft yarn and its driving method is screw type. In the high speed rapier loom, weft yarn is thrown by insert rapier and carrier rapier into the shed which make divide two parts of upper part ant lower part for warp yarn. It is possible for this mechannism to reduce the size of rapier and wheel, and directly connected to the main shaft without gear belt. Therefore, exact rapier motion through realization of arbitrary acceleration diagram requested rapier and optimal design for high speedization and operating rate increasing are necessary. In this study, with a view to exact system analysis for understanding of overall trace and high speedization of rapier loom through computer simulation. we report not only deduction of displacement, velocity, and acceleration components of rapier for analysis theory establishment, of weft insertion mechanism and exact motion induction according to screw rotation, but also development of simulation program for realization these on the monitor.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.791-793
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• 2016

In the development of various types of sensor technology, the general users smartphone, the environment is increased, which can be seen in contact with the movement recognition device, such as a console game machine (Nintendo Wii), an increase in the user needs of the action recognition-based input device there is a tendency to have. Mouse existing behavior recognition, attached to the outside, is mounted in the form of mouse button is deformed, the left mouse was the role of the right button and a wheel, an acceleration sensor (or a gyro sensor) inside to, plays the role of a mouse cursor, is to manufacture a compact, there is a difficulty in operating the button, to apply a motion recognition technology is used to operate recognition technology only pointing cursor is limited. Therefore, in this paper, using a MEMS-based motion-les Koguni tion sensor (Motion Recognition Sensor), to recognize the behavior of the two points of the human body (thumb and forefinger), to generate the motion data, and this to the foundation, compared to the pre-determined matching table (moving and mouse button events cursor), and generates a control signal by determining, were studied the generated control signal input device of the computer wirelessly transmitting.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.5
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• pp.581-587
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• 2016

Braking is a basic and an important safety feature for all vehicles, and the final braking performance of a vehicle is determined by the vehicle's ABS performance and tire performance. However, the combination of excellent ABS and tires will not always ensure good braking performance. This is due to the fact that tire performance has non-linearity and uncertainty in predicting the repeated increase and decrease of wheel slip when activating the ABS, thus increasing the uncertainty of tire performance prediction. Furthermore, existing studies predicted braking performance after using an ABS that used a wheel slip control as a controller, which was different from an actual vehicle's ABS that controlled angular acceleration, therefore causing a decrease in the prediction accuracy of the braking performance. This paper reverse-designed the ABS that controlled angular acceleration based on the information on brake pressure, etc., which were obtained from vehicle tests, and established a braking performance prediction analysis model by combining a multi-body dynamics(MBD) vehicle model and a magic formula(MF) tire model. The established analysis model was verified after comparing it with the results of the braking tests of an actual vehicle. Using this analysis model, this study analyzed the braking effect by vehicle factor, and finally designed a tire that had optimized braking performance. As a result of this study, it was possible to design the MF tire model whose braking performance improved by 9.2 %.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.1D
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• pp.73-79
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• 2006

A major purpose of this study is to develop high modulus asphalt mixtures for perpetual asphalt pavements which can save maintenance cost by increasing the design and performance periods of the pavements. Various physical and mechanical laboratory tests are performed for the high modulus asphalt binder developed in this study. The test results show that the properties of the high modulus binder are similar to those of the French high modulus binders. In addition to the binder tests, various performance tests are conducted for the high modulus and conventional mixtures. The dynamic modulus test results indicate that the dynamic modulus values of the high modulus mixtures are higher than those of the conventional mixtures by 10~15% at $5^{\circ}C$, 20~25% at $15^{\circ}C$ and 100% at $30^{\circ}C$. It is observed from the performance tests that the high modulus mixtures yield better fatigue, rutting and moisture damage performance than the conventional mixtures.

• Journal of Wellness
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• v.7 no.4
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• pp.177-186
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• 2012

The purpose of this study was to find out how Accumulation of Short Duration exercises influence on expression of apoptosis genes in a mouse skeletal muscle. The subjects, ICR-type mice, were divided into three cohorts, Accumulation of Short Duration exercise group, continuous aerobic exercise group, and control group. Accumulation of Short Duration exercise group performed wheel-running for fifteen minutes respectively in the morning and afternoon three times a week. Continuous exercise group performed wheel-running for thirty minutes three times a week. Both split and continuous groups completed the wheel-running trials for sixteen weeks. To identify the difference of apoptosis expression between groups, the data colleted from the skeletal muscle were analysed by one way ANOVA. Analyses of the data revealed that significant differences of apoptosis concentration in both continuous and Accumulation of Short Duration exercise groups, there was a notable differences were observed in control group.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.6
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• pp.26-34
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• 2008

The information of traversability and path planning is essential for UGV(Unmanned Ground Vehicle) navigation. Such information can be obtained by analyzing 3D terrain. In this paper, we present the method of 3D terrain modeling with color information from a camera, precise distance information from a 2D Laser Range Finder(LRF) and wheel encoder information from mobile robot with less data. And also we present the method of 3B terrain modeling with the information from GPS/IMU and 2D LRF with less data. To fuse the color information from camera and distance information from 2D LRF, we obtain extrinsic parameters between a camera and LRF using planar pattern. We set up such a fused system on a mobile robot and make an experiment on indoor environment. And we make an experiment on outdoor environment to reconstruction 3D terrain with 2D LRF and GPS/IMU(Inertial Measurement Unit). The obtained 3D terrain model is based on points and requires large amount of data. To reduce the amount of data, we use cubic grid-based model instead of point-based model.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.2
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• pp.171-176
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• 2016

By developing rider robot using omni wheel drive, a usability test for 6 people was conducted after finding out inconvenient factors and ways of improvement. The results of this research are as follows. First, we researched inconvenient factors captured by object of experiment using a rider robot who is living in the dormitory. It showed that the disabled showing 1.6 of satisfaction degree felt more inconvenient for normal people showing 4 of satisfaction degree. It was found that the height of seats is 10 centimeters higher, which caused inconvenience for moving. Second, each of the disabled and normal people showed 2.33 and 2.62 of satisfaction degree below the average for seats, back of a seat, armrest, footrest, security belts. However, for the revised design both of them showed 3.5 of satisfaction degree over the average. Third, most people felt this robot is quite expensive and said they would purchase it if subsidized by the government. Therefore, based on inconvenient factors and ways of improvement found in this research, further study needs to be conducted so as to improve the quality of life of the disabled.

• Journal of Bio-Environment Control
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• v.19 no.3
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• pp.123-129
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• 2010

A study on modeling of medium temperature drops of the elevated-bench hydroponic system for strawberry cultivation during low temperature season was conducted. Four different conditions were used for the experiment. These consisted of two kinds of bed types (plant, V), four kinds of medium (rice, perlite, rice hulls80% and peatmoss20%, perlite80% and peatmoss20%), two kinds of mulched bed (mulched, non mulched) and four kinds of greenhouse air temperature (l.5, 3.2, 5.0, $6.7^{\circ}C$), and the results were summarized as follows: Temperature drop of medium in the V-bed was slower than that in the plant bed, showing better insulation effect of V-bed. Temperature drop of medium with mulching on the top of the bed was slower than the case without mulching, as a result, the beneficial effect of temperature drop was appeared in mulched bed. Linear regression of the temperature descent rate and the temperature difference between medium and air showed significant correlation. The regression equation for the Pearlite80% and Peatmoss20% in the V-bed was f(x) = -0.2656 + 0.1345x at the $R^2$ of 0.9269. Using the model, the temperature drop during night can be predicted for the various media at the different depths.