• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1998년도 추계학술대회논문집:21세기에 대비한 지능형 통합항만관리
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• pp.167-174
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• 1998

Recently several researches of high speed container ship and loading system are mainly accomplished in U.S.A. and Japan. Its shipping service is not realized but it is realized in near future. To effective use of the feature and efficiency of them, quay, loading/unloading. yard operation system, port management system and connection transport system must be well integrated and operated. Specially, loading /unloading speed of container crane is important for making effective use of them. To speed up loading/unloading system, RO-RO and LO-LO methods that are mostly exclusive system are studied on the container crane with special structure and mechanism to handle individual container or bundle of containers. In this paper these methods are shown. When new high speed loading system of container is desighed, the realistic constrains must be considered.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.76.1-76
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• 2001

Up to now, various continuous-processing systems are used in the various industrial applications such as textile machines, iron-manufacturing plants, paper-making machines, printing machines, and so on. In these applications, the tension forced on the products in the control volume can be changed according to the velocity difference between the feeding roll and the delivery roll. Specially, the tension variation generated by the velocity difference, or the inertial effect can decreases the quality of the products in the textile process. In this paper, the tension control problem in a circular knitting machine system is treated to cope these problems. Firstly, the tension relationship in the winding mechanism of general continuous-processing ...

• 한국표면공학회:학술대회논문집
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• 한국표면공학회 2018년도 춘계학술대회 논문집
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• pp.124-124
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• 2018

Polydopamine은 수중 접착력, 친환경 접착제, nanoparticle absorption 등 다양한 특성으로 많이 연구되고 있는 소재이다. 본 연구에서는 dopamine을 이용하여 수중 금속을 흡착시키는 thin film을 제작하였다. 종래의 Polydopamine coating 방법으로 wet coating 이 사용되고 있다. 하지만 wet 방식의 경우 시간이 오래 걸릴 뿐만 아니라 in-line, roll to roll 방식을 적용하는 것이 어렵기 때문에 생산적이지 않다. 이에 본 연구에서는 Atmospheric Pressure Plasma(APP)를 이용 하여 Polydopamine-like film을 coating 하였다. APP의 경우 vacuum system, solution tank가 필요 없고 in-line, roll to roll 방식을 적용 할 수 있기 때문에 더 경제적이고 생산적인 공정이다. 또한 기존의 Plasma polymerization 방법은 Plasma energy가 높기 때문에 source의 분자구조가 바뀌거나 atom 단위로 분해된다. source의 분자구조가 바뀌는 "Atomic polymerization", Neiswender-Rosskamp Mechanism이 적용되면 wet 방식 coating한 film과는 다른 특성을 갖게 된다. 하지만 APP polymerization은 Plasma energy가 vacuum plasma 보다 매우 낮기 때문에 stile polymerization mechanism을 구현 하는데 적합 하다. stile polymerization mechanism은 Plasma 내부에서 polymer source를 분해 성장 시켜서 Polymer film 얻는 것이 아닌 source의 분자구조가 깨지지 않으면서 polymer growing 시키는 방법이다. dopamine source의 분자구조를 최대한 유지하려고 하는 이유는 metal absorption과 같은 특성이 dopamine chemical structure에 영향을 받기 때문이다. 많은 논문들에서 dopamine의 catechol group이 metal absorption, adhesion force에 영향을 주는 주요 인자라고 주장하고 있기 때문이다. 그래서 본 논문에서는 Dopamine source의 형태를 보존하면서 Polymerization 하는 방법으로 APP process를 사용 하여 낮은 전압에서 Polydopamine-like film을 제작 하였다. APP system 의 Plasma 방전부 에 Dopamine source를 유입하기 위하여 본 논문에서는 Piezo Spray 방식을 사용 하였다. Dopamine을 evaporator 하는 것이 어렵고 chemical composition이 유사한 monomer를 사용해서 Plasma Polymerization으로 Dopamine 분자 구조를 재현하는 것도 어렵다. 그래서 본 연구에서는 Dopamine을 water에 immerse 하고 Dopamine solution을 mist 상태로 만들어서 Plasma discharge area에 유입하였다. 이러한 방법으로 만들어진 film은 Polydopamine film은 아니지만 Polydopamine film과 유사한 Chemical composition, chemical structure, metal absorption을 갖는 것을 FT-IR, SEM, XPS을 이용 하여 확인 하였다. Dopamine source의 보존에 대하여 명확하게 확인하기 위하여 FT-IR을 측정 하였다. 전압에 따른 Benzene ring, hydroxyl group의 비율을 확인 하였다. 낮은 전압으로 coating 된 Polydopamine-like film 일수록 hydroxyl group peak($3400{\sim}3000cm^{-1}$)과 비교하여 Benzene ring peak($1600{\sim}1580cm^{-1}$ and $1510{\sim}500cm^{-1}$)이 흡수를 더 많이 하는 것을 확인 할 수 있다. 이것은 Benzene ring이 파괴되지 않고 보존되는 것을 보여준다. Dopamine에서 Benzene ring은 absorption main factor인 catechol에 있는 chemical structure이다. 즉 Benzene ring peak이 높을수록 Catechol이 잘 보존 되었다는 의미 이다. Catechol의 보존은 absorption main factor가 보존 된다는 의미 이다. 이러한 Polydopamine-like film으로 As, Cr, Mg, Cu 200ppm solution에 대한 filtration 능력을 확인 하였다. As, Cr, Cu, Mg 의 제거율이 각각 약25%, 35%, 45%, 65%인 것을 확인 하였다. 이 수치는 시중에 판매되는 제품들과 비교했을 때 300%~500% 향상된 수치 이다.

• 소음진동
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• 제4권1호
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• pp.43-50
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• 1994

Chatter vibration of a rolling machine in steel plants has a significant effect on thickness quality of the products. The cause and mechanism of the mill chattering is addressed through measurement of vibration and dynamic torque. An FFT system and an FM telemetry system are employed to collect data at several locations of possible damages. The results reveal the followings as sources of the mill vibration. The first is defects in roller bearings of a work roll chock. The second is instability of an oil film bearing in a backup roll chock, which has been investigated with a theoretical model describing the phenomenon. Dynamic torque is not the direct cause of mill vibration but rather influenced by the vibration. Appropriate treatment methods are suggested to address each of the above sources.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.955-958
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• 2003

Strip top mark is one of the major problem areas in hot strip coiling operation. The key for good coiling is having a precise detection instrument of strip head end and an understanding of QOC(quick open control) control algorithm and mechanism. Therefore, this study aims at developing QOC monitoring system that is useful for avoiding strip top mark at coiling process. In this study, strip movement between mandrel and unit roll(wrapper roll) was thoroughly studied using high speed camera. The monitoring system was developed to calculate QOC open time and to estimate optimal open time values for good coiling operation. Its performance has been proven by extensive field tests on downcoiler of #2 Hot Strip Mill Line in Pohang Works.

• 콘크리트학회지
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• 제6권6호
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• pp.151-158
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• 1994

본 연구에서는 수경성 시멘트 경화체의 구조적 결함인 휨강도를 향상시키시 위해 보통 포틀랜드 시멘트비를 0.1로 하여 혼합수량을 줄이고 수용성 고분자 물질인 Hydroxy Propy Methyl Cellulose(HPMC)를 첨가하여 시멘트입자의 윤활작용에 따른 균일한 분산효과와 결합효과를 얻도록 하였으며, twin roll mill로 혼련 성형하여 치밀하고 균일한 경화제 시편을 제조하였다. 이러한 고강도 시멘트 경화체의 휨강도는 약 96MPa, 탄성계수는 60GPa로 우수한 특성을 나타내었다. 고강도 시멘트의 고강도화 기구는 100${\mu}m$ 이상의 큰 기공제거 및 균열성장경로인 모세관 기공의 감소, 미수화 시멘트의 증가로 인한 탄성계수의 증가와 crack toughening(입자 가교, 고분자 섬유 가교, frictional interlocking)에 의한 파괴 인성의 향상 때문인 것으로 판단된다.

• 대한기계학회논문집B
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• 제23권7호
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• pp.918-927
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• 1999

In the fully developed internal flow fields, there are complex transition flows caused by interaction of the cross flow and jet when jet is Injected Into the flow. These interactions are studied by means of the flow visualization methods. An instantaneous laser tomographic method is used to reveal the physical mechanism and the structure of vortices formation in the branch pipe flow. The velocity range of cross flow of the pipe is 0.7m/s and the corresponding Reynolds number $R_{cf}$, based on the duct height is $5.6{\times}10^3$, diameter/height ratios(d/H) 0.14 and velocity ratios 3.0. Oil mist with the size of $10{\mu}m$ diameter is used for the scattering particle. The instantaneous topological features of the vortex ring roll-up of the jet shear layer and characteristics of this flow are studied in detail by performing flow visualization in rectangular duct flow. It is found that the formation and roll-up of ring vortices is a periodic phenomenon. The detailed topology of the vortices in the near field of a cross -flow jet and the mechanism associated with them give enforced hints of vortex breakdown within the vortex system due to the interaction of the jet and the cross-flow.

• 한국정밀공학회지
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• 제17권12호
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• pp.209-216
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• 2000

The lateral behavior of the moving web is critical to the quality of the web products. The alignment of the rollers carrying the web is found to be one of important factors to the lateral behavior of the moving web. But, the study on the effect of the tilting roller in the direction of the normal to the moving web on the lateral behavior has not been reported in the literature yet. For example, the contact roller often contacts the winding roll in a tilted fashion and causes the lateral motion of the winding web, which induces the offset on the wound roll. The lateral dynamics of the moving web induced by a tilted roller in normal direction of a web is investigated in this paper. The two-dimensional dynamic model developed by Shelton is extended to investigate the effect of a titled roller in a normal direction of the moving web on the lateral motion of the moving web. New boundary conditions are developed to solve the extended model. Computer simulation study proved that the model developed can be used to predict the lateral motion of the moving web ？ to a tilted roller in normal direction of the moving web. The lateral deflection is increased exponentially a the tilting angle is increased. As the length of web span is increased, the amount of lateral deflection was increased almost linearly for the same tilting angle. The lateral dynamics turned out to be almost independent to the operating tension. The model developed can be used to solve the offset problem of the staggered winding and also to design a new web guiding mechanism.

• 대한조선학회논문집
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• 제43권1호
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• pp.15-21
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• 2006

Recently, the attention to large container ships whose size is greater than 10,000 TEU container ship has been increased due to their increasing demand. The large container ship has twin skegs because of the engine capacity and large beam-draft ratio. In this paper, the maneuvering characteristics of a container ship with twin skegs were investigated through 4DOF(four degree of freedom) HPMM(Horizontal Planar Motion Mechanism) test and computer simulation. A mathematical model for maneuvering motion with 4DOF of twin skegs system was established to include effects of roll motion on the maneuvering motion. And to obtain roll-coupling hydrodynamic coefficients of a container ship, 4DOF HPMM system of MOERI which has a roll moment measurement system was used. HPMM tests were carried out for a 12,000 TEU class container ship with twin skegs at scantling load condition. Using the hydrodynamic coefficients obtained, simulations were made to predict the maneuvering motion. Rudder forces of twin-rudders were measured at the angles of drift and rudder. The neutral rudder angles with drift angles of ship was quite different with those of single skeg ship. So other treatment of flow straightening coefficient $\gamma_R$ was used and the simulation results was compared with general simulation result. The treatment of experimental result at static drift and rudder test was very important to predict the maneuverability of a container ship with twin skegs.