• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.822-825
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• 1988

In this paper, we present a system which enables a real-time measurement of the number and also the body length of the fry (baby fish) using a line image sensor. Here, we consider a situation that fry are transported from a pond to another, pond through a pipe. At one position of the pipe a transparent rectanglar channel is mounted. The images of the fry, which run through this rectanglar channel, are detected by a line image sensor. The image signals are digitized to binary ones and the contour of the fry are detected. After that, a real-time image analysis is executed with a digital signal processor. Labeling program analyses the connection of every pixel. The results are transfered to a personal computer and displayed on the online monitor graphically.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1037-1042
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• 1990

The air-fuel ratio of an internal combustion engine must be controlled with accuracy for the improvements of exhaust emission and fuel consumption. Therefore, it is necessary to measure the exact instantaneous amounts of fuel and suction air, so we carried out the experiments for measuring the air flow velocity in a suction pipe of an internal combustion engine using three types of instantaneous air flowmeter. The results obtained can be summarized as follows: (1) The laminar-flow type flowmeter is able to measure both the average and the instantaneous flow rate, but it is necessary to rectify the pulsating air flow in the suction pipe. (2) The a spark-discharge type flow velocity meter is able to measure the instantaneous air velocity, but it is necessary to choose the suitable electrode form and the spark character. (3) The tandem-type hot-wire flow velocity meter indicates the instantaneous flow velocity and its flow direction.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.697-703
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• 2011

This article describes a snake robot with 2-DOF actuator modules. The 2-DOF actuator modules make the snake robot move in the 3D space so that the snake robot can cross obstacles and rough terrain. Each 2-DOF actuator module is designed to have high torque output and an embedded controller. A cross bracket connecting the modules is designed be able to support the weight of two actuator modules. The developed snake robot shows 3-D motions such as side winding, standing/monitoring, and can climb in a narrow pipe with high torque modules. The snake robot moves fast with passive wheels in a plane while crossing obstacles.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.9
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• pp.707-713
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• 2003

We investigate the ultrasonic gas flow meter for the measurement of gas volume quantity, which passing through pipe, using the transit time difference method. We have designed a receiving system of an ultrasonic signal and hardware system of a flow meter Also, we have designed an experimental system for the characteristic test and calibration of a gas flow meter system. We have developed an ultrasonic gas flow meter, which has a measurement uncertainty within $\pm$ 1.7 %. For the test, we have compared our system with a difference pressure type flow meter for a few months in the real field. Through the test, we have confirmed that our system have a good reliability and durability. Also, we have confirmed that our system follows very well the variation of gas volume quantity, which was measured by a difference pressure type flow meter.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.917-922
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• 1992

Resently there have been increasing interests in adaptive identification and control of flexible structures. In this paper, vector channel lattice filters and their applications to parameter identification of flexible structures are studied. Numerical examples are given to show its performace to estimate the natural frequencies of 5-mass system. It is observed that vector channel lattice filter convetges quickly and identifies modal frequencies even when some of them is unobservable for some measurements. Experimental results demonstrated the ability of the lattice filter to identify the natural frequencies and the damping ratios of cantilever beam and pipe.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.402-402
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• 2000

MFL(Magnetic Flux Leakage) methods are used extensively for inspection of ferromagnetic materials. As an example, pipelines that are buried underground are inspected using MFL methods. By the MFL methods, ferromagnetic pipelines are magnetized by a permanent magnet or an electromagnet and then flux leakage is detected at the defection position. In this paper, we perform modeling of the magnetized pipelines. Also we propose the method localization of th defected areas. The effectiveness of the proposed method is verified experimentally.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.345-350
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• 2008

This study aims to propose the concept design of oil spill protection robot which can rapidly intervene to control the oil spillage situation at the sea. Taking into account the fact that a huge amount of oil is transported trans-continentally by oil tanker, none of industrialized countries are completely safe from the marine oil spill which results in social, economical and ecological damages to their communities. The employment of double hull-oil tanker, pipe line transporting can be most safe way. Yet complete prevention of oil spill is probably not realistic. Accordingly the alternative solution to control marine oil spill and minimize the damages caused by the incident using intelligent robot technology based on swarm control method is proposed. The main features of oil spill protection(OSP) robot is explained via following three perspectives. Firstly, from functional point of view, OSP robot system safely and efficiently replaces oil boom installation manually conducted by human workers with intelligent robot technology based on swarm control theory. For second, its modular architecture brings efficient storage of main components including oil boom and facilitates maintenance. For the last, its geometric form and shape enables whole system to be installed to helicopter, boat or oil tanker itself with ease and to rapidly deploy the units to the oil spill area.

• 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 Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.318-322
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• 1997

A prototype of combustion zone monitoring system as been developed and installed into tuyeres of the blast furnace. The system consists of CCD(charge coupled device) cameras, sonic flow meters, an image processor and a personal computer. The personal computer collects raceway luminance data and operational data from the image processor that is connected to the color CCD camera from the blast furnace process computer, respectively. In addition, the sonic flow meters supply coal injection rate data to the personal computer. Then, the personal computer evaluates the combustion conditions with the raceway inspection algorithm. This integrated monitoring system allows us to detect abnormal raceway conditions and the clogging status of coal injection pipe. The image processing techniques of the system enable us to effectively monitor unburnt coal sticking to tuyere tip and injection lance wear conditions. Such a developed system ensures rapid and precise raceway inspection. The image processing capability of the system has helped operator to early detect both the unburnt coal sticking problem and the errosion problem of injection lance. Furthermore, the system could control the abnormal raceway condition based the the analysis results obtained from combustion monitoring.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.172-177
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• 2022

In general, detection robots using ultrasonic sensors are equipped with sensors to protrude outward or to contact objects. However, in the case of a screw-propelled robot that detects the inside of a reactor tendon duct, if the ultrasonic sensor protrudes to the outside, resistance due to grease is generated, and thus the propulsion efficiency is reduced. In order to increase the propulsion efficiency, the screw must be sharp, and the sharper the screw, the more difficult it is to apply a high-performance ultrasonic sensor, and the detection efficiency decreases. This paper proposes a screw shape-changing mechanism that can improve both propulsion efficiency and detection efficiency. This mechanism includes an overlapped helical ring (OHR) structure and a magnetic clutch system (MCS), and thus the shape of a screw may be changed to a compact size. As a result, the Screw-propelled robot with this mechanism can reduce the overall length by about 150 mm and change the shape of the screw faster and more accurately than a robot with a linear actuator.