• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.754-758
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• 2001

A new kind of piezoelectric actuation structure named double amplified multilayer actuator is proposed. Double amplified multilayer actuator combines both dimentional and flextensional amplification concepts. As a result the displacement of the actuator can be more than one hundred times larger than the displacement of multilayer actuator and can be used in in-pipe locomation robot such as an endoscope actuator. This paper studied the dependence of displacement on actuator parameters theoretically and experimentally.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2014년도 추계학술대회 논문집
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• pp.129-130
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• 2014

본 논문은 배관 청소에 최적화된 PWMC 기반 청소로봇 개발을 제안한다. 제안하는 배관 청소로봇은 최적화된 배관 청소 환경을 제공하기 위하여 배관 요소를 분석하여 이에 따른 모터, 조인트, 솔, 스프링 등을 설계하였다. 설계를 통하여 개발된 청소로봇은 조정에 따라 지름 200~300mm의 좁은 배관에서 PWMC 를 통하여 속도를 제어하여 자동 청소가 가능하다. 또한 개발된 청소로봇은 6.8kg로 기존 배관 청소 기계를 50%이상 경량화 하여 휴대성과 간편한 조작에 따른 편의성을 제공하며, 기존의 장비에 대한 소모성을 낮추고 무게의 경량화 및 동작 자동화에 초점을 두었다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.143-148
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• 2003

The issue with the drainpipe now a day is that they are laid underground. Causing us to perform additional work to repair, such as digging up the ground and peeling off the insulator that surrounds the pipe. And such series works are difficult that concession appears from government and municipal office. However, if we can save time and money. Performance of piping robot that we are studied in existing session through fixing unit and improvement of cutting byte shorten and wished to heighten work efficiency. This is why we are trying to develop a unit that can cut up the projecting parts which connects with the interior part of the drainpipes.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1166-1169
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• 2003

The issue with the drainpipe now a day is that they are laid underground Causing us to perform additional work to repair, such as digging up the ground and peeling off the insulator that surrounds the pipe. And such series works are difficult that concession appears from government and municipal office. However, if we can save time and money. Performance of piping robot that we are studied in existing session through fixing unit and improvement of cutting byte shorten and wished to heighten work efficiency. This is why we aye trying to develop a unit that can cut up the projecting parts which connects with the interior part of the drainpipes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1516-1519
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• 2004

A tele-operated robot should be used to maintain and inspect nuclear power plants to reduce the radiation exposure to the human operators. During an overhaul of the nuclear power plants in Korea, a ROV(Remotely Operated Vehicle) may enter a cold-leg connected to the reactor to examine the state of the thermal sleeve and it's position in the safety injection nozzle. To measure the positions of the thermal sleeve or scratches from the video images captured during the examination, the camera parameters should be identified. However, the focal length of the CCD camera could be increased to a close up of the target and the aspect ratio and the center of the image could also be varied with capturing devices. So, it is desired to self-calibrated the intrinsic parameters of the camera and capturing device with the video images captured during the examination. In the video image of the safety injection nozzle, two or more circular grooves around the nozzle are shown as ellipse contours. In this paper, we propose a camera self-calibration method using a single image containing two circular grooves which are the greatest circles of the cylindrical nozzle whose radius and distance are known.

• 한국지반공학회논문집
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• 제28권10호
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• pp.69-77
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• 2012

최근 국내 터널들이 노후화됨에 따라 배수공 막힘현상이 가장 큰 문제점 중 하나로 보수대책 공법이 필요한 실정이다. 현재는 유지 관리용 Robot이나 Water Jet Cleaning공법 등으로 배수공 내 생성된 스케일을 제거하고 있지만 비용이 비싸고 주기적인 관리를 필요로 하는 단점을 가지고 있다. 본 연구에서는 터널 배수공 내의 스케일을 SEM-EDS와 XRD로 분석하였고, 침전물은 탄산칼슘($CaCO_3$)성분의 스케일로 calcite로 확인되었다. 침전물 생성 억제 및 제거를 위해 퀀텀스틱 신기술을 사용하여 개방형 배수시험, 순환식 폐쇄수조시험을 실시하였다. 무게측정분석, 육안분석, 경도변화분석을 통하여 요소기술로 인한 스케일 생성량이 확연히 줄었음을 확인하였다. 결과적으로 퀀텀스틱이 배수공 내 침전물 생성을 방지하는데 효과가 있음을 확인할 수 있었다.