• Journal of the Korea Institute of Military Science and Technology
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• v.9 no.3
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• pp.5-11
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• 2006

This paper is launched to get an exact bore-sighting value in the process of assembling for a dual-barrel weapon. Image processing method with a CCD(Charged Coupled Device) camera is chosen for the error reduction of bore-sighting. The results of this method by using a CCD camera and the testing target method are described in this paper. After the performance of the dual-barrel weapon and that of the fire-control system in the dual barrel weapon system is confirmed, the bore-sighting which is a part of the process in the system assembly is accomplished. In this process, the position of the barrel is identified by using the testing target method that is an existing bore-sighting method. Then, the fixing line of the fire-control system is checked by a day-optical part. The precision of the bore-sighting is required within several mils, however the manual method using the naked eyes makes it worse. Therefore, a CCD camera is installed in the eyepieces. Next, we can get an image of the sighting and the center coordinate values of the laser-pointer from each barrel by image processing method. A required bore-sighting value is calculated from the eccentricity of the center coordinate. Finally, It can be applied to adopt this result in the assembling process of the dual-barrel weapon.

• Transactions of Materials Processing
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• v.19 no.6
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• pp.337-343
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• 2010

Current need of weight reduction in automotive part increases the application for high strength steel (HSS). The various types of high strength steels have been used to produce chassis part, control arms and trailing arms for weight reduction and increasing of fatigue durability such as dual phase steel (DP) and ferrite bainite steel (FB). But, DP and FB steels have proven to show inferiority in durability as well as press formability. Edge cracking occurred often in flange forming and hole expansion processes is the major failure encountered. This paper discussed the behavior of edge stretchability of high strength steel of DP and FB steels. Experimental works have been conducted to study the effect of punch clearance and burr direction on hole expansion ratio (HER). Also finite element simulation (FEM) has been preformed to clarify the mechanism of flange crack and support the experimental results on HER of DP and FB steels. It was simulated the whole process of blanking process following by hole expansion process and ductile fracture criterion named the modified Cockcroft-Latham model which was used to capture the fracture initiation. From the hole expansion tests and FEM simulation studies it was concluded that ferrite bainite steel showed better stretch-flangeability than dual phase steel. It was attributed to the lower work hardening rate of ferrite bainite steel than dual phase steel at the sheared edge.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.100-106
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• 2020

In the agricultural field, interests in research using robots for fruit harvesting are continuously increasing. Dual arm manipulators are promising because of its abilities like task-distribution and role-sharing. To operate it efficiently, the task sequence must be planned adequately. In our previous study, a collision-free path planning method based on a genetic algorithm is proposed for dual arm manipulators doing tasks cooperatively. However, in order to simplify the complicated collision-check problem, the movement between tasks of two robots should be synchronized, and thus there is a problem that the robots must wait and resume their movement. In this paper, we propose a heuristic algorithm that can reduce the total time of the optimal solution obtained by using the previously proposed genetic algorithm. It iteratively desynchronizes the task sequence of two robots and reduces the waiting time. For evaluation, the proposed algorithm is applied to the same work as the previous study. As a result, we can obtain a faster solution having 22.57 s than that of the previous study having 24.081 s. It will be further studied to apply the proposed algorithm to the fruit harvesting.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.1
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• pp.7-12
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• 2008

A GNSS(Global Navigation Satellite System) using GPS provides us with very useful information concerning the positioning of users in many sectors such as transportation, social services, the justice system and customs services, public works, search and rescue systems and leisure. A GNSS using the Galileo satellite is due to work in 2008 and expected to be used in various fields such as aviation, marine transportation, land surveying, resources development precise agriculture, telemetics, and so on. In this paper, we discuss the implementation and testing of a combined GPS/Galileo receiver which we named KSTAR V1.0. Each tracking module of GPS/Galileo dual mode correlator has the five track arms which consist of Very Early code, Early code, Prompt code, late code, and Very late code. Each of 24 tracking modules can be assigned to GPS and/or Galileo signal by changing mode selection register. The basic correlator integration dump period is set to 1ms for GPS C/A code and fast Galileo signal tracking. The performance of the developed combined GPS/Galileo receiver was tested and evaluated using the IF (Intermediated Frequency)-level GPS/Galileo signal generator.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.3
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• pp.345-352
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• 2011

This paper focuses on the properties analysis of 9mm bullet dual structure core to substitute current lead core by environment-friendly combination of W-Cu-Ni system high density composite materials. So the four combination samples were made of dual core with the different center of gravity location backward or forward compare to that of lead type bullet, and we experimented about the performance of 9mm bullet dual structure core. In the experimental results, the outer shape of core of four environment friendly samples on the target maintain marginally, while the current lead core bullets are completely crushed after hitting the target. The penetration depth of environment friendly samples excel seven times to lead type bullet and the three out of four samples with forward adjusted center of gravity penetrate deep as twice as ones backward. The impact tolerance of all four samples satisfies military specification, however, more firing tests are required to improve reliability of scattering distribution.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.130-140
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• 2011

This paper proposes an optimal posture for the task-oriented movement of dual arm manipulator. A stability criterion function which consists of three kinds of feature-representative parameters has been utilized to define the optimal posture. The first parameter is the force which is applied to the object. The torque of each joint and position of arm are attained from the current sensor and encoder, respectively. From these two data, the applied force to an object is estimated using sum of vectors of the joint torques estimated from the measured current. In order to investigate the robustness of each posture, the variation of the end-effector from the encoder information has been utilized as the second parameter. And for the last parameter for the optimality, the total energy consumption has been used. The total consuming energy of each posture can be computed from the current information and the battery voltage. The proposed robot structure consists of a mobile inverted pendulum and dual manipulators. In order to define the optimal posture for the each object, external disturbances are applied to the mobile inverted pendulum robot and the first and second parameters are investigated to find the optimal posture among the pre-selected most representative postures. Finally, the proposed optimal posture has been verified by the proposed stability criterion function which consists of total force to the object, the fluctuation of the end-effector position, and total energy consumption. The effectiveness of the proposed algorithms has been verified and demonstrated through the practical simulations and real experiments.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.441-447
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• 2017

Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research, we developed a high payload dual-arm robot, in which the forearm module is replaceable to meet the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously. In this paper, the design of the high payload dual-arm robot with replaceable forearm function is described in detail. Two forearms are developed here. Each of forearm has quite a different goal. One of the forearms is specialized for human rescue in human familiar flat aspect and compliance parts. Other is for general heavy objects, more than 30 kg, handling with high degree of freedom more than 7.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.40 no.11
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• pp.77-84
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• 2003

This paper presents a multi-functional microstrip spital antenna that operates in dual frequency bands. Several types of beam shape can be selected by controlling the phase difference of two spiral arms with the phase shifters located on each feed line. It has a normal beam at the lower frequency band, and four different patterns at the higher frequency band: normal beam, conical beam and two types of tilted beam. The antenna exhibits more than 10% of bandwidth at each band. The antenna is fabricated with conductor backed electromagnetic absorber in order to attain unidirectional radiation pattern and confirmed the multi-functionality by measurements.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.35-44
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• 2012

This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.

• Journal of the Korea Institute of Military Science and Technology
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• v.14 no.2
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• pp.264-270
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• 2011

This paper focuses on possibility to design and fabrication new combination of bullet core to substitute current toxic material of heavy metal such as lead by environment-friendly ones. The core is designed as dual structure to manipulate the core center of gravity easily by combining materials, which of basis is tungsten of low cost and easily acquired. Those combinations are W-M series such as W-Cu, W-Sn, W-Cu-Sn, and W-Cu-Ni to target the density of lead, $11.34g/cm^3$ through powder-metallurgy. Out of four, combination of W-Cu-Ni shows the highest compression density of 96% and is confirmed as the most suitable substitution for lead due to the excellent property of matter and sintering. All combination samples is simulated on the PRODAS software for designing and structure analysis by adjusting the center of gravity of dual core samples forward and backward. The simulations confirm the similarity of current bullet core with respect to properties of mass, aero dynamics, and flying stability.