• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.177-178
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• 2009

• 한국해양공학회지
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• 제18권1호
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• pp.47-52
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• 2004

Greater holding force of an anchor is required for maintaining the position of a larger floating structure. According to the series of model tests of pile anchors with movable fluke, the square type pile anchor, with fluke, showed more than 6 times of the uplift pulling force, compared to the same type pile anchor, without fluke. This uplift force is 100 times its weight. When the water depth is more than 40m, It is difficult to install the pile anchor. For a convenient installation method, a type of manipulator is proposed for the separation of a weight and buoyancy controller, using TRIZ.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.205-206
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• 2012

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2508-2513
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• 2003

This paper presents a nuclear steam generator tube inspection/maintenance robot system. The robot assists in automatic non-destructive testing and the repair of nuclear steam generator tubes welded into a thick tube sheet that caps a hemispherical or quarter-sphere plenum which is a high-radiation area. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water-chamber entering and leaving device for the manipulator and a manipulator base pose adjusting device. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3-D graphic simulation function which offers remote reality to operators and so on. The image information acquired from the camera attached to the end-effecter is used to calibrate the end-effecter pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• 플랜트 저널
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• 제6권1호
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• pp.71-75
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• 2010

In this study, the validity study has been carried out to apply the combustion burner in an electric arc furnace. The validity of applying the combustion burner has been studied in the aspect of the operation through the calculation of heat balance. The average decrease rate of power on time is 11.2%. When the maintainability is compared to the door lance manipulator type, the multi-functional combustion burner is simple to replace and repair. The location of burner can be adopted according to the drawings which are recommended in this study. As a result, the validity of applying the combustion burner to improve an efficiency of electric arc furnace has been confirmed.

• 한국진공학회지
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• 제10권2호
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• pp.145-154
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• 2001

조정독립성을 갖춘 새로운 형식의 조립식 거울조정기가 포항가속기연구소에서 건설중인 EPU6 빔라인용으로 개발되었다. 새로이 고안된 구형관절의 회전 중심에 거울면 중심을 위치시켜, roll 및 pitch의 회전변위가 병진변위를 인가하지 않고 서로 독립적이도록 설계하였다. 거울조정기의 roll 및 pitch 마이크로메터를 조정하면서 중력기준형 각도기를 이용하여 임시거울의 회전각을 5 $\mu$rad의 정밀도로 측정하였다. 분해능의 설계치는 3.937 $\mu$rad/$\mu\textrm{m}$인데, 측정된 분해능은 roll 회전에 대해서 3.94 $\mu$rad/$\mu\textrm{m}$이었고 pitch 회전에 대해서는 3.85 $\mu$rad/$\mu\textrm{m}$이었다. pitch 각도에 대한 roll 회전의 영향은 -3.18%, roll 각도에 대한 pitch 회전의 영향은 -5.21%로 측정되었다. 본 거울조정기의 설계는 조정 독립성과 표준화에 중점을 두고 이루어짐으로써, 다종의 거울에 대한 거울조정기의 개발기간 단축과 설계비용 절감뿐만아니라 거울조정기의 제작, 설치 및 조정의 용이성을 도모할 수 있다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1476-1481
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type parallel manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.