• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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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.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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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.

• 한국토양비료학회지
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• 제50권6호
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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.

• 한국환경생태학회지
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• 제25권1호
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• pp.1-9
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• 2011

집박쥐의 번식단계에 따른 행동권 변화를 파악하기 위하여 2009년 5월부터 8월까지 임신기, 수유기, 수유 후기로 구분하여 각 단계별 3개체씩 총 9개체를 대상으로 원격무선추적을 실시하였다. 원격무선추적은 0.38g 발신기와 R2000 수신기 그리고 3소자 안테나를 이용하였으며, 박쥐의 포획은 double-stacked mist net와 harp-trap을 이용하여 포획하였다. 행동권 분석에는 GIS용 SHP File과 ArcGIS 3.3(ESRI Inc.) Animal Movement Extension 2.0을 이용하였으며, Kernel Home Range Method와 Minimum Convex Polygon Method를 이용하여 분석하였다. 번식단계에 따른 암컷 집박쥐의 행동권을 분석한 결과 임신기의 행동권은 MCP 100% $13.46{\pm}1.84ha$, MCP 95% $12.28{\pm}2.15ha$, KHR 50% $3.00{\pm}0.71ha$로 나타났으며, 수유기의 행동권은 MCP 100% $8.13{\pm}0.23ha$, MCP 95% $7.73{\pm}0.63ha$, KHR 50%는 $1.84{\pm}1.05ha로 조사되었다. 수유 후의 행동권은 MCP 100% $125.58{\pm}97.77ha$, MCP 95% $123.89{\pm}97.73ha$, KHR 50% $28.61{\pm}26.78ha$로 분석되어 집박쥐의 행동권은 번식단계에 따라 MCP 100%, MCP 95%, KHR 50% 모두 유의적인 차이를 보이는 것으로 나타났으며, 수유 후기의 행동권이 가장 크고 수유기의 행동권이 가장 적은 것으로 조사되었다.

• 한국분말재료학회지
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• 제30권1호
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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.

• 한국디자인학회:학술대회논문집
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• 한국디자인학회 2005년도 춘계 학술발표대회 논문집
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• pp.20-21
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• 2005

• 제어로봇시스템학회지
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• 제10권4호
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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)

• 한국정밀공학회지
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• 제21권7호
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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.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2005년도 한국컴퓨터종합학술대회 논문집 Vol.32 No.1 (B)
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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.

• 한국환경과학회지
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• 제22권9호
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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.