• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.267-267
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR peformed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.434-438
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• 1996

In this paper we present the multi-agent robot system and the vision system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Micro robot are equipped with two mini DC motors witf encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit(AISI vision computer). The vision algorithm is based on morphological method. And it takes about 90 msec to detect ball and 3-our robots and 3-opponent robots with reasonable accuracy

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.418-423
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• 2003

The balancing performance of an automatic ball balancer (ABB) in the vertical or horizontal position is studied in this paper. Considering the effects of gravity and angular velocity profiles, a physical model for an ABB installed on the Jeffcott rotor is adopted. The non-linear equations of motion for the rotor with ABB are derived by using Lagrange's equation. Based on derived equations, dynamic responses for the rotor are computed by using the generalized-u method. From the computed responses, the effects of gravity and angular velocity profiles on the balancing performance are investigated. It is found that the rotor with ABB can be balanced regardless of the gravity effect. It is also shown that a smooth velocity profile yields relatively smaller vibration amplitude than a non-smooth velocity profile.

• Journal of the Korean Society for Nondestructive Testing
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• v.32 no.3
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• pp.291-295
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• 2012

In the industrial field, real-time monitoring system like a fault early detection is very important. For this, the infrared thermography technique as a new diagnosis method is proposed. This study is focused on the damage detection and temperature characteristic analysis of ball bearing using the non-destructive infrared thermography method. In this paper, thermal image and temperature data were measured by a Cedip Silver 450 M infrared camera. Based on the results, the temperature characteristics under the conditions of normal, loss lubrication, damage, dynamic loading, and damage under loading were analyzed. It was confirmed that the infrared technique is very useful for the detection of the bearing damage.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2003.11a
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• pp.50-55
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• 2003

Tribological testing of DLC films was conducted using a rotating type ball on a disk friction tester in a dry chamber. This study made use of four kinds of mating balls that were made with stainless steel but subjected to diverse annealing conditions in order to achieve different levels of hardness. In all load conditions using martensite mating balls, the test results demonstrated that the friction coefficient was lower when the mating materials were harder. The high friction coefficient found in soft martensite balls appeared to be caused by the larger contact areas. The wear track on the mating balls indicated that a certain amount of material transfer occurs from the DLC film to the mating ball during the high friction process. Raman Spectra analysis showed that the transferred materials were a kind of graphite and that the contact surface of the DLC film seemed to undergo a phase transition from carbon to graphite during the high friction process.

• Proceedings of the KWS Conference
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• 2005.11a
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• pp.231-233
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• 2005

Laser have been utilized as a heat source for the soldering of electronic components for the their capability of localized heating and faster heating rate. Laser soldering process, especially the diode laser soldering of BGA solderball was investigated. In this study, an attempt was made to investigate the possibility of laser soldering using Sn-37Pb and Sn-3Ag-0.5Cu solderball. The laser energy absorbed on the pad raised the temperature of the solderball forming a reflowed solder bump. The result were discussed based on the measurement of pull and shear strength of the bond.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.483-485
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• 1998

Neural Network has advantages of learning and normalizing capabilities. Fuzzy controller is based on a fuzzy logic that is so effective to represent uncertain phenomena of real world and make its approximation. In this paper, Fuzzy Neural Network controller which equipped with adaptive control algorithm is described. Proposed Fuzzy Neural Network Controller applied to a ball on beam system which have nonlinear characteristics shows a good performance.

• Bulletin of the Korean Chemical Society
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• v.27 no.2
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• pp.193-194
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• 2006

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.1-7
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• 1998

Robots utilized in the field of welfare or agriculture should be light in weight and flexible in structure. A pneumatic actuator has properties such that it is more powerful compared with a motor of same weight, and that it is flexible, clean and unexplosive. In this paper we propose a new structure of the pneumatic actuator with two-degree-of-freedom. By using proposed pneumatic actuators, we can easily construct multi-degree-of-freedom pneumatic manipulators. Here we constructed a fourteen-degree-of-freedom pneumatic dual manipulator. The performance of the dual manipulators is confirmed through experiments for ball-handling with impedance control. In the experiments several control schemes, including the decentralized control and the simple adaptive control (SAC), were used. The results show that a flexibility of the pneumatic actuator is appropriate to accomplish the coordinative motion of the right and left arms of the robot.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.218-226
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• 1998

In this study a neural network based expert system designed to diagnose operating status of a rotating spindle system supported by ball bearings was introduced. In order to facilitate practical failure situations, five exemplary abnormal status was fabricated. Out of several possible data source locations, seven most effective spots were chosen and proven to be the most successful in predicting single and multiple abnormalities. Increased signal strength was measured around where abnormality was embedded. Signal mea-surement locations producing high prediction rate were also classified. Even though multiple abnormalities were hard to be decoupled into their individual causes, proposed diagnostic system was somewhat effective in predicting such cases under certain combination of sensor locations. Among several abnormal operating conditions, highest prediction rate can be expected when signal is spoiled by the failure or damage in outer race. Proposed diagnostic system was again proven to be the most effective system in analyzing and ranking the importance of data sources.