• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.179-185
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• 2019

This paper presents cable-hydraulic driven 3DoF (Degree-of-Freedom) manipulator for cooperative robot with high output/low inertia and enhancing lager workspace of hydraulic manipulator. Hydraulic actuation could be solution to design more higher output manipulator than the one of electric motor actuation due to install actuation source and robot joint separated. In spite of this advantage, the conventional hydraulic driven manipulator using cylinder or vane actuator is not suitable for the candidate of cooperative robot because smaller workspace owing to small RoM (Range of Motion) hydraulic actuator. In this paper, we propose 3DoF manipulator with cable-hydraulic actuation which is more larger ratio of payload-to-weight than the one of conventional cooperative manipulator and larger workspace than the one of existing hydraulic driven manipulator. The performance of proposed manipulator was demonstrated by the experiments for confirming overall workspace task, high payload operation task under worst situation and comparing repeatability between developed manipulator and existed cooperative robots. The results of experiments showed that the appropriate performance of proposed manipulator for cooperative robot.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.686-691
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• 2001

In this paper, the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantage of good compliance, high payload-to-weight and payload-to-volume ratios, high speed and force capabilities. Using pneumatic actuators which have low stiffness, the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory, the pneumatic service robot is evaluated and verified.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2017.05a
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• pp.764-765
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• 2017

A trajectory analysis program was developed using a 3 DOF model to analyze KSLV-II performance with the reducing weight. The program estimates the injection performance on the SSO orbit, which is determined as payload weight for the orbit, with various vehicle structural ratios. The KSLV-II can transport 2.58 ton to the target orbit with a reduced structural ratio similar to the Angara rockets.

• Journal of Industrial Technology
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• v.16
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• pp.113-121
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• 1996

In the early developmental stages of robotics,hydraulics played an important role. As the power-to-weight ratio of electric motors increased, they eventually replaced hydraulic actuators in robot manipulators. Recently, however, task requirements have dictated that the manipulator payload capacity increase to accomodate greater payload, greater length, greater reaction forces, and hydraulic actusators are being studied as an effective form of robot actuation again. For efficient control of hydraulic actuators, the knowledge of its dynamic equation is essential. However, the dynamic equation of hydraulic actuators are nonlinear, and the dynamic coefficients are time varying. In this paper, an estimation algorithm of the dynamic coefficients of the hydraulic piston dynamics are formulated. Simulation results are presented to show the possibility of the parameter estimation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.11
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• pp.900-907
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• 2013

Payload fairing(PLF) protects satellites and related equipment from the external environment. They are separated before the satellite separation. Payload fairing made of composite sandwich materials due to their considerable bending stiffness and strength-to-weight ratio. Payload fairing have compression, shear and bending load during the flight. In this study, To check the strength of PLF and connected part, structural test of PLF accomplished using an actuator and a fixture. Purpose of structural test is to verify the strength of PLF in force of separation spring and combination structural load applied. Test result shows that the PLF have an acceptable margin of safety for the combination structural load and force of separation spring.

• Journal of Biomedical Engineering Research
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• v.24 no.2
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• pp.127-132
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• 2003

In this paper. the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantages of good compliance , high Payload-to-weight and payload-to-volume ratios. high speed and force capabilities. Using pneumatic actuators. which have low stiffness. the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into Positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory. the Pneumatic service robot is evaluated and verified.

• ETRI Journal
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• v.35 no.3
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• pp.512-522
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• 2013

In this paper, the radius weight mean (RWM) and the feature-embedding technique are used to present a novel watermarking scheme for color images. Simulations validate that the stego-images generated by the proposed scheme are robust against most common image-processing operations, such as compression, color quantization, bit truncation, noise addition, cropping, blurring, mosaicking, zigzagging, inversion, (edge) sharpening, and so on. The proposed method possesses outstanding performance in resisting high compression ratio attacks: JPEG2000 and JPEG. Further, to provide extra hiding storage, a steganographic method using the RWM with the least significant bit substitution technique is suggested. Experiment results indicate that the resulting perceived quality is desirable, whereas the peak signal-to-noise ratio is high. The payload generated using the proposed method is also superior to that generated by existing approaches.

• Journal of the Korean Society of Propulsion Engineers
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• v.22 no.5
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• pp.141-151
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• 2018

A trajectory analysis program was developed to predict KSLV-II (Korea Space Launch Vehicle-II) performance with the reducing weight. The program estimates the LEO (Low Earth Orbit) / SSO (Sun-Synchronous Orbit) injection performance, which is determined as payload weight for the orbits, with decreasing the structural ratio or increasing rocket engine power. It is expected that the KSLV-II can transport up to 4.5 tons, 3 tons of space payloads at LEO, SSO with a reduced structural ratio by 60% of the original. It also shows that the KSLV-II can transport up to 3.65 tons at SSO by applying advanced engines of 90 tonf, 10 tonf class with the reduced structure.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.393-396
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• 2008

Propellant consumption control for space launch vehicle can be achieved by propellant utilization system (PUS) and tank depletion system (TDS). In the course of developing new space launch vehicles, the main target of design is on reducing of space launch vehicle weight, which results in increasing both specific impulse and payload weight. The weights of space launch vehicles are generally allocated to structure, propulsion system, and propellants loaded. The quantity of propellants filled in propellant tanks may be estimated with the propellants actually consumed by propulsion system to complete its mission and the propellants left on-board at the time of engine shut-off. To minimize the remaining quantity of propellants on-board the supplying propellants' O/F ratio should be controlled from the certain time before engine shutdown. To control an O/F ratio, a control system, which accurately measures and compares the remainder of propellants in tanks and pipes, should be needed. This paper solely dedicates its contents to explore the merits and demerits of various level sensor, which is one of the important elements for PUS and TDS, and the transmission and control of signals within space launch vehicle.

• The Journal of Korea Robotics Society
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• v.8 no.3
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• pp.164-172
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• 2013

This paper presents a new concept of a 1-DOF elbow exoskeleton driven by a twisted strings-based actuator. A novel joint actuation mechanism is proposed and its kinematic model is presented along with its experimental evaluation, and guidelines on how to choose the strings suitable for such an exoskeleton are given. We also proposed and experimentally verified a human intention detection method which takes advantage of intrinsic compliance of the mechanism. The study showed that the developed twisted strings-driven elbow exoskeleton is light, compact and have a high payload-to-weight ratio, which suggests that the device can be effectively used in a variety of haptics, teleoperation, and rehabilitation applications.