• The Journal of Korea Robotics Society
• /
• v.6 no.3
• /
• pp.220-229
• /
• 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 the Korea Institute of Information and Communication Engineering
• /
• v.6 no.5
• /
• pp.661-666
• /
• 2002

We need the flexible method for communication network configuration and fault management business procedure. Therefore development of systematic integrating fault management system is essential to meet on these requests. We must design the integrating fault management system so that can run the repair processing for both data communication network management and new next generation data communication network of various type. In general it is effective that the system is consisted of decentralized module to be accessibele for business logic and datum to remote area. To Solve these problem, a method is to use object-oriented design technique. That is, it is to abstract reusability objects and make component module using the abstracted objects. In this paper, we propose a fault management system of communication network service using object-oriented design techniques which are UML(Unified Modeling Language) and EJB(Enterprise Java Bean).

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.38 no.2
• /
• pp.115-120
• /
• 2014

In this study, a module is developed for modeling and analyzing dynamic behavior of a wind turbine using RecurDyn, which is a commercial multi-body dynamics software developed by FunctionBay, Inc. The wind turbine consists of tower, nacelle, hub and blades. Tower and blades are regarded as flexible bodies for considering elastic effect using beam theory and spring force. In this paper, a constant speed wind was assumed and aerodynamic force is modeled using BEM theory. Dynamic analysis applying this aerodynamic force is carried out. To verify the validity of analysis results, these results are compared to those of GH-Bladed which is a commercial software for analyzing wind turbine system distributed by Garrad Hassan.

• Science of Emotion and Sensibility
• /
• v.14 no.4
• /
• pp.627-636
• /
• 2011

The purpose of this study is to develop the multi-modal interaction system. This system provides realistic and an immersive experience through multi-modal interaction. The system recognizes user behavior, intention, and attention, which overcomes the limitations of uni-modal interaction. The multi-modal interaction system is based upon gesture interaction methods, intuitive gesture interaction and attention evaluation technology. The gesture interaction methods were based on the sensors that were selected to analyze the accuracy of the 3-D gesture recognition technology using meta-analysis. The elements of intuitive gesture interaction were reflected through the results of experiments. The attention evaluation technology was developed by the physiological signal analysis. This system is divided into 3 modules; a motion cognitive system, an eye gaze detecting system, and a bio-reaction sensing system. The first module is the motion cognitive system which uses the accelerator sensor and flexible sensors to recognize hand and finger movements of the user. The second module is an eye gaze detecting system that detects pupil movements and reactions. The final module consists of a bio-reaction sensing system or attention evaluating system which tracks cardiovascular and skin temperature reactions. This study will be used for the development of realistic digital entertainment technology.

• Land and Housing Review
• /
• v.12 no.3
• /
• pp.67-78
• /
• 2021

After World War II, modular housing was developed as a means of quickly and efficiently meeting the housing supply demand. For the past 30 plus years, efforts have been made to improve modular housing in South Korea and to increase their competitiveness in the housing market. This study investigated modular houses based on a steel framed rahem structure which provides a flexible floor plan where walls are easily reconfigured to create rooms of various sizes and functions. Similar to the factory production methods used in the automotive industry, the modular housing industry can also benefit by standardizing such aspects as building components, manufacturing and construction methods, materials, process management, and floor plans. This study examined the feasibility of using a 3m × 3m module for developing various floor plans which are easy to produce and transport. Each 3m × 3m module can be configured to meet different living needs resulting in a complete home when multiple modules are connected. The module configurations can be varied to meet ground transportation and crane limitations. This study found that a 3m × 3m steel framed modular unit is a promising step towards providing residents with plans that meet their living preferences while improving and increasing the supply of modular houses.

• International Journal of Highway Engineering
• /
• v.5 no.1 s.15
• /
• pp.1-10
• /
• 2003

The objective of pavement design, just as with the design of other structures, is to obtain the most economical designs at specified levels of reliability. Methods that yield designs with different levels of reliability are undesirable, and over the course of time design approaches in the U.S. and Europe have converged toward the Load and Resistance Factor Design (LRFD) format in order to assure uniform reliability. At present the LRFD format has been implemented in concrete, steel, wood and bridge design specifications. In this paper, reliability theories are used to illustrate the development of an LRFD format for Mechanistic-Empirical (M-E) design of flexible pavements as an alternative of its reliability module. It is shown in this paper that ten candidate pavement sections designed with a reliability level using the AASHTO design guide (1986) do not have uniform structural reliability in terms of pavement mechanistic distress such as fatigue cracking and the uniform reliability can be achieved by using the LRFD format.

• Korean Chemical Engineering Research
• /
• v.47 no.5
• /
• pp.558-564
• /
• 2009

POF(Polymer optical fiber) offers advantages of lighter, inexpensive, and easier to use over GOF(glass optical fiber). Its higher transmission loss and low bandwidth, however, make it suitable only for short distance networking such as LAN. The polymer materials and its synthesis technology of low transmission loss and the broader application for flexible POF are the two of many critical areas to be investigated more. In the current study, low-noise POF modules are developed and optimized with a low noise amplifier and low cost LED of 650 nm. In order to demonstrate the dynamic characteristics of the POF module for optical communication and sensing, we have built an image transfer module, optical transmission speed measurement module, optical transceiver for RS-232, and sound-transfer module, and the signal characteristics of them are evaluated. It is found that the module can be readily used for a quick and simple measurement of optical transfer speed. With help of analog amplifier, LED, and PD, sound and image transfers through a maximum 60 m optical waveguide have been confirmed. Real-time data transfer was also demonstrated in PID control, which is thought to be valuable to industrial plant design and control.

• Journal of the Institute of Convergence Signal Processing
• /
• v.15 no.3
• /
• pp.104-111
• /
• 2014

In this paper, we deal with robotic automation for assembling car brake modules. A car brake module is comprises of a torque member, two brake pads, and two pad liners. In the assembly process, brake pads and pad liners are needed to be inserted in a torque member. If we use a typical robotic hand for the assembly, task time takes too long. So, we propose two methods. The first method is to use an end effector that has five grippers capable of gripping five assembly parts. In the first method we attached the implemented end effector to a conventional 6 degrees of freedom industrial manipulator and performed the bake module assembly task. Experimental results show that the task time is remarkably reduced. The brake module assembly task needs the robot to change its orientation frequently, so, in the second method, we added one degree of freedom to the end effector that is used in the first method. By attaching it to a conventional 6 degrees of freedom industrial manipulator, we composed a 7 degrees of freedom redundant manipulator. A redundant manipulator has the advantage of flexible manipulation so the robot can change its orientation easily and can perform assembly task very fast. Experimental results show that the second method dramatically reduce whole task time for brake module assembly.

• The Journal of Sustainable Design and Educational Environment Research
• /
• v.16 no.2
• /
• pp.54-63
• /
• 2017

The various colors and transparency of DSC and operability unrelated with directions greatly expand the use of BIPV, as a multi-functional composite of module. Therefore the possibility of DSC BIPV is examined by the case study and the analysis and then its applicability is examined. Most of the DSC BIPVs, which are found through a total of six case studies and analyzes in Korea and abroad, are mainly implemented with window glass and shading devices. This is related to the DSC transparency property. Improvements are due to the irritation of the eye due to the color of the red module. Therefore, it is important to take into account the color of the BIPV window depending on the use of the building and the room. Meanwhile, some colors of application model may stimulate eyes and such colors should be considered by use of buildings and rooms in the application of BIPV window. DSC BIPV has prospective diffusibility with the development of flexible module for the application of building surface.

• 한국전산유체공학회:학술대회논문집
• /
• 2009.11a
• /
• pp.151-158
• /
• 2009

To implement the insects' flapping flight for developing flapping MAVs(micro air vehicles), the unsteady flow characteristics of the insects' forward flight is investigated. In this paper, two-dimensional FSI(Fluid-Structure Interaction) simulations are conducted to examine realistic flow features of insects' flapping flight and to examine the flexibility effects of the insect's wing. The unsteady incompressible Navier-Stokes equations with an artificial compressibility method are implemented as the fluid module while the dynamic finite element equations using a direct integration method are employed as the solid module. In order to exchange physical information to each module, the common refinement method is employed as the data transfer method. Also, a simple and efficient dynamic grid deformation technique based on Delaunay graph mapping is used to deform computational grids. Compared to the earlier researches of two-dimensional rigid wing simulations, key physical phenomena and flow patterns such as vortex pairing and vortex staying can still be observed. For example, lift is mainly generated during downstroke motion by high effective angle of attack caused by translation and lagging motion. A large amount of thrust is generated abruptly at the end of upstroke motion. However, the quantitative aspect of flow field is somewhat different. A flexible wing generates more thrust but less lift than a rigid wing. This is because the net force acting on wing surface is split into two directions due to structural flexibility. As a consequence, thrust and propulsive efficiency was enhanced considerably compared to a rigid wing. From these numerical simulations, it is seen that the wing flexibility yields a significant impact on aerodynamic characteristics.