• 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.

• KIEAE Journal
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• v.10 no.4
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• pp.59-66
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• 2010

Natural ventilation is major strategy of 'sustainable building'. It aims to supply fresh air to the indoor, and to remove heat from the indoor during summer. In the latter point of view, natural ventilation can be grouped into two main strategies, daytime ventilation and night cooing. If we take advantage of these two natural ventilation strategies, indoor thermal comfort can be significantly improved. This study focused on grasping the current situation and problem of indoor thermal comfort of the naturally ventilated residential buildings to seek for direction of later studies. Additionally, thermal comfort of residence where the interior blind and exterior insulation were applied was analyzed. It was analyzed that the percentage of the time which satisfy the indoor acceptable operative temperature during summer was 90 ~ 95% and the heat control performance of natural ventilation has a limitation. When the interior blind and exterior insulation were applied, indoor thermal comfort was significantly improved. However, it still need more improvement.

• Fire Science and Engineering
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• v.15 no.1
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• pp.116-126
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• 2001

Fire investigation to examine ignition and combustion enlargement etc., to assess fire damage and to investigate a fire suspect, is used as a valuable data for better fire suppression and fire prevention police. Fire investigation is divided in to fire-cause investigation, fire-damage investigation, and fire-criminal investigation. At present, fire-cause investigation is lacking In scientific technology; specially is deficient in accurate damage assessment. And considering fore criminal investigation, since the police lacking in specialty on fire take exclusive charge of fire criminal investigation upon general investigation, it is difficult to investigate fire criminal effectively. Finally deficiency in fire investigation operates as very big blind-spot in fire safety having important axis in social safely; the loss is shifted on nation's shoulder. To solve those problems, legal, institutional, operational preparation is urgent. And so, this study tried to stabilize specialty of fire-fighting to offer more active, qualitative fire administration service, and to contribute to public peace and welfare by grasping problems after diagnosing Korean fire investigation and proposing the solutions.