• Nuclear Engineering and Technology
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• v.27 no.5
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• pp.661-669
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• 1995

A mobile robot, named KAEROT, has been developed for inspection and maintenance operations in nuclear facilities. The main feature of locomotion system is the planetary wheel assembly with small wheels. This mechanism has been designed to be able to go over the stairs and obstacles with stability. This paper presents the inverse kinematic solution that is to be operated by remote control. The automatic stair climbing algorithm is also proposed. The. proposed algorithms generates the moving pathes of small wheels and calculates the angular velocity of 3 actuation wheels. The results of simulations and experiments are given for KAEROT peformed on the irregular stairs in laboratory. It is shown that the proposed algorithm provides the lower inclination angle of the robot body and increases its stability during navigation.

• PNF and Movement
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• v.5 no.1
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• pp.49-56
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• 2007

Objectives : We find that the reaction force on the elbow joint during elbow flexion, extension with and without an object in the hand can be calculated the equations of motion that the sum of the torque and the sum of the force acting on the elbow joint must be zero and (moment of inertia x angular acceleration) and (mass x acceleration). Methods : we have calculated the equations of motion (${\Sigma}F=0$, ${\Sigma}{\tau}=0$, ${\Sigma}F=ma$, ${\Sigma}{\tau}=Ia$) to investigate the reaction force on the elbow joint during elbow flexion, extension by means of the simplified free-body technique for coplanar forces. Results : we found that the reaction force on the elbow joint during elbow flexion, extention as constant acceleration motion is more than constant velocity, static motion. Also, we found that the relation between during flexion and during extension like this ; $J_{flexion}$ < $J_{extension}$.

• Transactions of the Korean Society of Mechanical Engineers
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• v.10 no.2
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• pp.265-279
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• 1986

Ra=$10^{6}$, Pr=5에서 관열전도율과 두께가 변화할 때의 단일수평관에서의 자연대류 열전달에 관하여 유한차분법을 이용하여 해석적으로 연구하였다. .delta.$_{w}$ /d$_{o}$ =0.1에서 관열전도율이 높을수록 높은 온도와 높은 국소 누셀트 수를 나타 내며, .theta.=20。에서의 원주방향속도는 (r-r$_{o}$ )=0.08에서 최대가 되며 반경방향속 도는 (r-r$_{o}$ )=0.14에서 최대가 된다. 관외벽온도는 관 두께가 증가함에 따라 거의 유사하게 감소한다. $K_{w}$ /K$_{f}$ =75에서 각도변위가 증가함게 따라 국소 누셀트수는 현저히 증가하나 관 두께가 증가함에 따라서는 감소한다. .delta.$_{w}$ / d$_{o}$ =0.1에서 평균 누셀트수와 평균 온도는 무차원 열전도율이 증가함에 따라 $K_{w}$ /K$_{f}$ ＞15에서는 평균 누셀트 수는 서서히 증가하고 평균 온도는 거의 같 은 값을 가지며 지수함수로 표시할 수 있었다. $K_{w}$ /K$_{f}$ =75,50에서 평균 누 셀트수와 온도는 무차원 관 두께가 증가함에 따라 거의 직선적으로 감소되며 선형 함 수로 나타낼 수 있었다.

• Korean Journal of Applied Biomechanics
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• v.20 no.2
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• pp.175-182
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• 2010

The purpose of this study was to evaluate the biomechanical effect of sports taping on the lower limb during drop landing. Twelve male university students who have no musculoskeletal disorder were recruited as the subjects. Principal strain, median frequency, vertical GRF, loading rate, angular velocity and resultant joint moment were determined for each trial. For each dependent variable, paired t-test was performed to test if significant difference existed between taped and untaped conditions(p<.05). The results showed that principal strain of the thigh and the shank in taping group were significantly less than those found in control group. These indicated that sports taping may prevent excessive mechanical strain caused by impact force during the deceleration phase. Flexion(-)-extension(+) and varus(-)-valgus(+) resultant joint moment of the knee joint in taping group were greater than corresponding value for control group. It seems that extensor muscle of the knee joint were not only supported by sports taping during knee flexion but also sports taping is effective for minimizing the possibility of injury.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.411-416
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• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.933-934
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• 2006

High level perceptual tasks such as context understanding, SLAM and object recognition are essential for intelligent robot to provide services for human supports. Those intelligent robots often use camera sensor for vision information, sonar or laser sensor for range information, encoder for angular velocity of wheel and so on. The information is generated at different time intervals by the different H/W devices and S/W algorithms. The generation of high level information requires the specific mixture of low level information. And the information should be represented to be useful for robots to use in their ecological niche. In conventional robot systems, perceptual module requires the resource to use by tightly coupling whenever it is needed. So the resource and information cannot be easily shared and even could be invalid for the delayed information. In this paper, we propose a synchronization system of robot-centered information for context understanding. Our system represents information for the robot capacity and synchronizes the information that is asynchronously generated, where is employed the black-board architecture.

• Journal of The Korean Astronomical Society
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• v.39 no.1
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• pp.25-30
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• 2006

We completed four color light curves of the near-contact binary CN And during three nights from September to December 2004 using the 61-cm reflector and BV RI filters at Sobaeksan Observatory. We determined four new times of minimum light (two timings for primary eclipse, two for secondary). Newly obtained BV RI light curves and the radial velocity curves from Rucinski et a1. (2000) were simultaneously analyzed to derive the system parameters of CN And. We used the semi-detached mode 4 of the 2003-version of the Wilson-Devinney binary model, and interpreted the asymmetry of the light curve by introducing two spots; a cool spot on the primary component and a hot spot on the secondary component. New photometric parameters are not much different from those of Cicek et a1. (2005), and it is considered that the system is in the era of broken contact. From the orbital period study with all available timings including our data, we found a continous period decrease with a rate of $P_{obs}=--1.82{\times}10^{-7}\;d\;yr^{-1}$ that can be explained with two possible mechanisms. We think the most likely cause of the period decrease is a thermal mass transfer from the primary to the secondary component, rather than angular momentum loss due to a magnetic stellar wind.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.12
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• pp.2291-2299
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• 2008

Hall effect force sensors have been used to measure clamping force in conventional Electric Parking Brake(EPB) systems. Estimation of clamping force without the sensors has drawn attentions due to mounting space limitations and cost issues. Removing the sensor requires the estimation of the initial contact point where the clamping force is effectively applied to the brake pads. In this paper, we propose how to estimate the initial contact point finding the relation between the angular velocity of an actuator and the initial contact point. For force estimation a look-up table is used as a function of the displacement of parking cable from the initial contact point. The proposed method is validated by experiments. From the experimental results we observe that the proposed method satisfies the specifications. The designed method is also able to estimate clamping force although parking cables are loosened and brake pads are worn out. Applying the proposed method enables manufacturing of low cost EPB systems.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.21 no.5
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• pp.475-482
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• 2008

This paper indicates that the use of Euler angles lacks in its consistency and exactness of analysis when it was applied to incorporate the rotational equation of motion for rotor systems by previous researcher. Kinetic energy and angular velocity are different from case to case depending on the way of choosing Euler angles and thus only the linear system has been investigated even though the rotor system has a very nonlinear behavior. A new methodology is applied by using both spherical coordinate and quaternion in the rotor rotation to overcome weaknesses of Euler angles and shows its superiority It is found through numerical examples that the use of quaternion will be a more useful and valid tool to derive the numerical model of the rotor system.