• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1539-1543
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• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.579-584
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• 2004

In this paper, we present the mechanical, electrical system design and system integration of controllers including sensory devices of the humanoid, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. Total number of DOF of KHR-2 is 41. Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. To control all axes efficiently, distributed control architecture is used to reduce computation burden of main controller and to expand devices easily. So we developed the sub-controller as a servo motor controller and a sensor interfacing devices using microprocessor. The main controller attached its back communicates with sub-controllers in real-time by CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operation System) for fast development of main control program and easy extension of peripheral devices. And RTX HAL extension commercial software is used to realize the real-time control in Windows XP environment.

• Korean Journal of Soil Science and Fertilizer
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• v.50 no.6
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• pp.562-573
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• 2017

Some symbiotic characteristics of native Korean Rhizobium leguminosarum biovar viciae were analysed to get some informations desirable for cultivation of hairy vetch (Vicia villosa Roth) using its symbiont in Korea. The size of indigenous populations of R. leguminosarum biovar viciae was higher in seven upland soils showing $1.7{\times}10^2{\sim}5.8{\times}10^4cells\;g{\cdot}soil^{-1}$, which appeared to be 10% and 37% higher for cultivated and uncultivated soils of hairy vetch, respectively, than seven paddy soils with $1.7{\times}10^2{\sim}1.7{\times}10^4cells\;g{\cdot}soil^{-1}$. In symbiotic potentials, however, the yields of hairy vetch treated with 10-fold-diluted ($10^{-1}$) inoculum and 1000-fold-diluted ($10^{-3}$) one was 11.2% and 8.8% more, respectively, in paddy than upland. Hairy vetch inoculated with either strain KHR 106 from Sacheon or strain KHR 120 from Yesan among native Korean R. leguminosarum biovar viciae isolates was of similar yield increment of 16% (p < 0.05) in upland soils with native R. leguminosarum biovar viciae of $5.8{\times}10cells\;g{\cdot}soil^{-1}$. In case of coinoculation of the two strains, however, the yields was not significantly increased. In especial, isolate KHR 106, KHR 120, and KHR 122 from Suwon, which has also good symbiotic effectiveness, showed different protein profile patterns each other. As a result, hairy vetch is possibly able to use atmospheric nitrogen through symbiotic relationship with diverse native R. leguminosarum biovar viciae in Korean arable lands. For safe and good production of hairy, however, the use of superior strains with high symbiotic effectiveness and competitiveness will be desirable.

• Korean Journal of Environment and Ecology
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• v.25 no.1
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• pp.1-9
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• 2011

In order to analyze the change in home ranges depending on the reproductive stage of Pipistrellus abramus, radio-tracking was carried out for a total of 9 individuals, 3 individuals each, by dividing stages into a pregnancy stage, lactation stage, and post-lactation stage from May to August 2009. For radio-telemetry, 0.38g transmitters, R2000 receivers and 3-element Yagi antennas were used. Pipistrellus abramus were captured using a double-stacked mist net and a harp-trap. Analysis of home ranges used a SHP File and ArcGIS 3.3 for GIS, and used a Kernel Home Range Method(KHR) and a Minimum Convex Polygon(MCP) Method for analysis. Home ranges at the pregnancy stage were MCP 100% $13.46{\pm}1.84ha$, MCP 95% $12.28{\pm}2.15ha$, KHR 50% $3.00{\pm}0.71ha$, and home ranges at the lactation stage were MCP 100% $8.13{\pm}0.23ha$, MCP 95% $7.73{\pm}0.63ha$, KHR 50%$1.84{\pm}1.05ha$. Home ranges at the post-lactation stage were MCP 100% $125.58{\pm}97.77ha$, MCP 95% $123.89{\pm}97.73ha$, KHR 50% $28.61{\pm}26.78ha$. As a result, home ranges of pipistrellus abramus showed a significant difference in all of the MCP 100%, MCP 95%, KHR 50% depending on reproductive stages, being largest in the post-lactation stage and smallest in the lactation stage.

• Journal of Powder Materials
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• v.30 no.1
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• pp.13-21
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• 2023

In additive manufacturing, the flowability of feedstock particles determines the quality of the parts that are affected by different parameters, including the chemistry and morphology of the powders and particle size distribution. In this study, the microstructures and flowabilities of gas-atomized heat-resistant alloys for additive manufacturing applications are investigated. A KHR45A alloy powder with a composition of Fe-30Cr-40Mn-1.8Nb (wt.%) is fabricated using gas atomization process. The microstructure and effect of powder chemistry and morphology on the flow behavior are investigated by scanning electron microscopy (SEM), X-ray diffraction (XRD), X-ray photoelectron spectroscopy (XPS), and revolution powder analysis. The results reveal the formation of spherical particles composed of single-phase FCC dendritic structures after gas atomization. SEM observations show variations in the microstructures of the powder particles with different size distributions. Elemental distribution maps, line scans, and high-resolution XPS results indicate the presence of a Si-rich oxide accompanied by Fe, Cr, and Nb metal oxides in the outer layer of the powders. The flowability behavior is found to be induced by the particle size distribution, which can be attributed to the interparticle interactions and friction of particles with different sizes.

• Proceedings of the Korea Society of Design Studies Conference
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• 2005.05a
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• pp.20-21
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• 2005

• ICROS
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• v.10 no.4
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• pp.13-18
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• 2004

로봇(Robot)이란 단어는 1921년에 최초로 연극이름에서 사용되었고. 체코언어인 robota(강제노동)와 robotik (노동자)의 합성어이다. 이러한 로봇은 현대 사회에서 보통 산업용 로봇을 뜻한다. 곧, 공장에서 하기 힘든 반복적인 일들을 인간을 대신하여 작업하는 기계들을 가르켜 로봇이라고 하였다. 그런데 최근에 와서 컴퓨터와 각종 기계, 전자 산업이 발전하면서 로봇이라는 의미가 공장안의 매니퓰레이터에서 점차 지능적이고 인간 생활환경에서 적응하고 인간과 친근할 수 있는 지능형 로봇으로 바뀌어 가고 있다. 대표적으로 휴머노이드(Humanoid)라는 인간과 닮은 2족 보행로봇을 예로 들 수 있다. (중략)

• Journal of the Korean Society for Precision Engineering
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• v.21 no.7
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• pp.15-21
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• 2004

A number of Humanoids are introduced including ASIMO, HRP-2 Promet, Johnniee, Babybot, and KHR-2. Most researches are focused on the development of stable biped walking of Humanoids and it is not easy to endow an Humanoid with intelligence and service technology until now in the sense that the operation time of a Humanoid is limited less than 30 minutes even in the case that the battery is used only for the control of actuators in a Humanoid. In this paper, a brief survey on Humanoids is proposed and the concept of 'Network-based Humanoid', a Humanoid being able to provide intelligence for human-friendly services using ubiquitous networks, is introduced briefly.

• Proceedings of the Korean Information Science Society Conference
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• 2005.07b
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• pp.781-783
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• 2005

본 논문은 손 모양 인식을 이용한 비전 기반의 보행 로봇 제어 시스템을 제안한다. 손의 모양을 인식하기 위해서 움직이는 카메라 영상으로부터 정확한 손의 경계선물 추출하고 추적하는 일이 선행되어야 한다. 따라서 본 논문에서는 민 시프트 방법을 사용한 활성 윤곽선 모델 기반의 추적 방법을 제안한다. 제안된 시스템은 손 추출기, 손 추적기, 손 모양 인식기 그리고 로봇 제어기, 4개의 모들로 구성된다. 손 추출기는 영상에서 미리 정의된 손의 모양을 가지는 피부색 영역을 추출한다. 추출된 손의 추적은 활성 윤관선 모델과 민 시프트 방법을 사용하여 실행된다. 그 후 Hue moments를 사용하여 추적된 손의 모양을 인식한다. 제안된 방법을 평가하기 위해서 본 논문에서는 2족 보행 로봇 KHR-1에 제안된 방법을 적용 한다.

• Journal of Environmental Science International
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• v.22 no.9
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• pp.1227-1234
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• 2013

Between July and October 2011, radio-tracking was used to analyze the characteristics of home ranges and day roosts of Myotis aurascens by using 3 individuals (male: 2, female: 1). Bat capturing was conducted at a bridge and a nearby forest in Ulju-gun, Ulsan-si. We attached radio transmitters (0.32 g) to the bats and monitored them by using a radio receiver with a Yagi antenna. Home-range analysis of M. aurascens by using 100% minimum convex polygon (MCP) and 95% MCP showed an average of 106.5 ha and 89.3 ha, respectively, and 50% kernel home range (KHR) showed an average of 8.4 ha. Home range overlap of the 3 bats was observed at the bridge and at nearby water bodies as the core areas, and the size of the home range overlap was 7.3 ha by 100% MCP, 5.9 ha by 95% MCP, and 1.6 ha by 50% KHR. The home range for each bat consisted of the main foraging sites, and the types of foraging sites were similar. M. aurascens-01(M-01) used the bridge and nearby water bodies as the nightly main core areas, M. aurascens-02(M-02) used rice fields and water bodies adjacent to the forest as core areas, and M. aurascens-03(M-03) used water bodies and resident areas as core areas. Although rice fields and resident sites represented the core areas of the home ranges of M-02 and M-03, habitat use was the highest near water bodies as the core area for all the 3 bats. The types of day roosts in this study were a wooden house, canopies of a broad-leaved woodland, and banks of rice fields. The roosts in the wooden house and canopies of the broad-leaved woodland were located within the forest, and the roost in the banks of rice fields was also adjacent to the forest. Our results revealed that the main home range and foraging sites of M. aurascens were located near water bodies as the core area, and forests and places adjacent to the forests were used as day roosts.