• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.247-255
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• 2013

This paper shows the development of a snake robot (KAEROT-snake V) which consists of 16 1-DOF actuator modules and head module. The modules are connected serially and the joint axis of each module is rotated by $90^{\circ}$ with respect to the previous joint so that the snake robot can move in the 3D space. A tail actuator module includes slip-ring and metal connector. KAEROT-snake IV developed in prior research could move in the 3D space and climb up in a narrow pipe. But its design was not appropriate to the unstructured tough environment and its speed was somewhat slow. A new actuator module is designed to enclose all parts of the module so that any wire is not exposed. The size and weight of the new module was slightly reduced. And the rotation speed and torque of the joint was increased by about twice when compared with pre-module. An embedded controller was developed so small that it can be mounted inside the module. The performance of the developed robot was demonstrated through various locomotion experiments.

• Journal of Welding and Joining
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• v.26 no.4
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• pp.85-91
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• 2008

The grooving corrosion is caused mainly by the different microstructures between the matrix and weld which is formed during the rapid heating and cooling cycle in welding. By this localized corrosion reaction of pipes, it evolves economic problems such as the early damage of industrial facilities and pipe lines of apartment, and water pollution. So lots of researches were carried out already about grooving corrosion mechanism of ERW carbon steel pipe but there is seldom study for water hammer happened by fluid phenomenon and corrosion rate by flow velocity. In this study, the analysis based on hydrodynamic and fracture mechanics was carried out. ANSYS, FLUENT and STAR-CD were used for confirmation of flow phenomenon and stress on the pipe. As the results, fatigue failure is able to be happened by water hammer and grooving corrosion rate is increased cause by turbulent. Grooving corrosion is happened on the pipe, then friction loss of fluid is occurred from corroded part. Erosion can be happened enough in corroded region of microscopic size that wear "V" form. Also pipe is able to be damaged by water hammer effects because of corroded region is general acting as a notch effects. Corrosion depth was more than half of total thickness, it can be damaged from water hammer pressure.

• Journal of Platform Technology
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• v.11 no.1
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• pp.38-51
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• 2023

We propose an intelligent interface algorithm using hand gesture recognition information based on artificial intelligence. This method is functionally an interface that recognizes various motions quickly and intelligently by using MediaPipe and artificial intelligence techniques such as KNN, LSTM, and CNN to track and recognize user hand gestures. To evaluate the performance of the proposed algorithm, it is applied to a self-made 2D top-view racing game and robot control. As a result of applying the algorithm, it was possible to control various movements of the virtual object in the game in detail and robustly. And the result of applying the algorithm to the robot control in the real world, it was possible to control movement, stop, left turn, and right turn. In addition, by controlling the main character of the game and the robot in the real world at the same time, the optimized motion was implemented as an intelligent interface for controlling the coexistence space of virtual and real world. The proposed algorithm enables sophisticated control according to natural and intuitive characteristics using the body and fine movement recognition of fingers, and has the advantage of being skilled in a short period of time, so it can be used as basic data for developing intelligent user interfaces.

• The KSFM Journal of Fluid Machinery
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• v.18 no.5
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• pp.26-32
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• 2015

This paper describes performance evaluation of design parameters, air velocity inside a pipeline and pressure along a pipeline, using experimental measurements in an automated vacuum waste collection system. Automatic robot having six cameras is introduced to analyze the internal pipeline conditions whether waste accumulates at the bottom of the pipeline or not. Throughout the experimental measurements of the pipeline having the various shapes, it is found that pressure and internal air velocity linearly increase along the pipeline from a waste inlet to a waste collection station while air density decreases due to the air compression effect with high pressure. Although air velocity inside the pipeline at a waste inlet keeps design velocity range between 20 m/s and 30 m/s, it is noted that air velocity near the waste collection station exceeds maximum design velocity of 30 m/s. Pressure increase per unit length is changed from 17.6 Pa/m to 18.9 Pa/m, which depends on the air velocity inside the pipeline. From the investigation inside the pipeline with CCTV loaded on an automated robot, waste accumulated at the bottom of the pipeline is mainly found at the downstream of a circular curved pipe, an inclined pipe and a bended pipe.

• Journal of the Korean Society of Industry Convergence
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• v.24 no.4_2
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• pp.475-480
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• 2021

The purpose of this study is to obtain the natural frequency of fuel supply pipes for vehicle engines through modal analysis and testing and compare the resulting values to ensure the reliability of the analysis. In other words, in this study, we obtain the unique frequency of the fuel pipe of the vehicle engine through analysis and testing and compare its results. Comparing the natural frequency obtained through analysis and testing, the first and third vibration modes obtained accurate natural frequency results of less than 1% and very similar results of less than 5% maximum error over the fourth vibration modes. These results are determined that if design changes of fuel pipes are made depending on the vehicle in the future, there will be no problem in obtaining the natural frequency of pipes that have been changed by analysis. Through future analysis and testing, durability and stability evaluation of connections of fuel supply pipes for vehicle engines will be carried out.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.1
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• pp.114-122
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• 2018

In this paper, we propose new water pressure measurement system to measure the water pressure of water pipe laid underground beneath the manhole efficiently. For this purpose, we installed water pressure sensor(IoT) which has built-in bluetooth module at valve of water pipe. The proposed system can be managed through collected data which measured at sensor and then transmitted to smart phone through bluetooth connectivity and re-transmitted to server on this system. By checking out water pressure data stored in server from remote location, the persons in charge can confirm the leakage of water pipe or propriety of water pressure in management area. By this procedure, they can detect the existence of condition of water pipe and manage water pressure of water pipe efficiently.

• Korean Journal of Construction Engineering and Management
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• v.5 no.1 s.17
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• pp.157-167
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• 2004

In developing an automated construction system, it is essential to propose a performance evaluation model and methodology, which can measure productivity, quality, safety and economic feasibility in order to verify its superiority. Recently, a tele-operated hume concrete pipe laying machine has been developed to solve several problems related to safety, quality, productivity in conventional method. The primary objective of this study is to propose a model and methodology for the performance evaluation of the developed tele-operated hume concrete pipe laying machine. Furthermore, this study evaluates the automation machine's performance compared with the existing hume pipe laying work by using data which obtained in many field trials. It is anticipated that the proposed model and methodology might be effectively used in analyzing the performance of other automation robots.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• autumn
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• pp.634-637
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• 2003

A tele-operated hume concrete pipe laying machine has been developed to solve several problems on safety, quality, productivity, etc. It is required to propose a performance evaluation model and methodology in order to measure productivity, economic feasibility, quality and safety. The primary objective of this study is to propose a model and methodology for the performance evaluation of the developed tele-operated hume concrete pipe laying machine. Furthermore, this study evaluates its performance compared with the existing hume pipe laying work by using data which obtained in field trials. It is anticipated that the proposed model and methodology might be effectively used in analyzing the performance of other automation robots.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.314-321
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• 2002

An endoscope is usually inserted into the human body for the inspection of the gullet, stomach, and large intestine (colon) and this may cause discomfort to patients and damage to tissues during diagnostic or therapeutic procedures. This situation necessitates a self-propelling endoscope. There are many kinds of mechanism to move in a rigid pipe. However, these methods are difficult to apply directly to the endoscope. The main reason is that human intestine cannot be considered as a uniform, straight, and rigid pipe. This paper proposes a flexible loop wheel mechanism, which is adaptable to the human intestine. This mechanism is designed and fabricated by a simple modeling, and tested by an experiment. Finally, the actuator is inserted into the pig colon.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.6 no.4
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• pp.89-95
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• 1997

Welding technique is widely applied to general industry such as pressure vessel for chemical plant, pipe system, heavy industry, and automobile. There are some points which must be considered when robot system is used in welding automation process for productivity improvement. Welding quality is governed by heat input, and this quantity can be different according to shape, property, and thick of material . For desired heat input , weld input parameters such as welding voltage, current, and welding velocity must be determined with those consideration. Until now these parameters have been determined mainly by experience of operator. In this study, the size of welding zone was predicted by fuzzy rules were constructed from the relation between welding variables and weld pool size. Inverse model method which welding control input for welder is determined with optimum voltage and current by fuzzy controller is validatied by computer simulation.