• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.11 s.242
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• pp.1534-1541
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• 2005

Unlike industrial manipulators, the manipulators mounted on service robots are interacting with humans in various aspects. Therefore, safety has been one of the most important design issues. Many compliant robot arms have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safety mechanism based on passive compliance is proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safety mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of this mechanism is verified by simulations and experiments. It is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms or active methods.

• Nuclear Engineering and Technology
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• v.48 no.1
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• pp.268-273
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• 2016

An innovative safety concept for a light water reactor has been developed at the Korea Atomic Energy Research Institute. It is a unique concept that adopts both a fast heat transfer mechanism for a small containment and a changing mechanism of the cooling geometry to take advantage of the potential, thermal, and dynamic energies of the cold water in the containment. It can bring about rapid cooling of the containment and long-term cooling of the decay heat. By virtue of this innovative concept, nuclear fuel damage events can be prevented. The ultimate heat transfer mechanism contributes to minimization of the heat exchanger size and containment volume. A small containment can ensure the underground construction, which can use river or seawater as an ultimate heat sink. The changing mechanism of the cooling geometry simplifies several safety systems and unifies diverse functions. Simplicity of the present safety system does not require any operator actions during events or accidents. Therefore, the unique safety concept of PX can realize both economic competitiveness and inherent safety.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.180-185
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• 2004

Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.128-134
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• 2009

This paper aims to design a variable-stiffness type economical safety joint for service robots. The safety joint was designed to have a passive shock absorbing mechanism for protecting human from a catastrophic collision under service condition of robots. A simple mechanism composed of two action disks for switching the load transfer, a spring and a screw for pre-load was proposed. In order to evaluate the performance of the safety joint a testing platform which can carry out the static and impact tests was also designed and fabricated. From the test results, the designed safety joint was proved to have a variable load-carrying capacity and about 42% impact absorption capacity with simple manipulation of the control screw.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.6
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• pp.267-276
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• 2021

The automotive industry and academic research have been continuously conducting research on standardization such as AUTOSAR (AUTomotive Open System ARchitecture) and ISO26262 to solve problems such as safety and efficiency caused by the complexity of electric/electronic architecture of automotive. AUTOSAR is an automotive standard software platform that has a layered structure independent of MCU (Micro Controller Unit) hardware, and improves product reliability through software modularity and reusability. And, ISO26262, an international standard for automotive functional safety and suggests a method to minimize errors in automotive ECU (Electronic Control Unit)s by defining the development process and results for the entire life cycle of automotive electrical/electronic systems. These design methods are variously applied in representative automotive safety-critical systems. However, since the functional and safety requirements are different according to the characteristics of the safety-critical system, it is essential to research the AUTOSAR functional safety design method specialized for each application domain. In this paper, a software functional safety mechanism design method using AUTOSAR is proposed, and a new failure management framework is proposed to ensure the high reliability of the product. The AUTOSAR functional safety mechanism consists of memory partitioning protection, timing monitoring protection, and end-to-end protection. The fault management framework is composed of several safety SWCs to maintain the minimum function and performance even if a fault occurs during the operation of a safety-critical system. Finally, the proposed method is applied to the Shift-by-Wire system design to prove the validity of the proposed method.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.323-330
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• 2008

This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.

• Journal of the Korean Society of Safety
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• v.17 no.1
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• pp.25-32
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• 2002

The tensile tests for [0/90]s, [90/0]s, and $[0/{\pm}45/90]s$ laminate composite were accomplished with acoustic sensor and failure processes were recorded by a video camera in real time. Also SEM examinations for fracture and side surface were carried out. The purpose of study is estimation of the failure mechanism and the mechanical properties effected by lay-up orientation for CFRP laminate composite with the hole notch. From the results, mechanical properties were obtained and they are similar between two kinds of cross-ply orientation in CFRP laminate composites, but not on $[0/{\pm}45/90]s$. And accordings to increasing the load, accumulate AE count was increased, regardless of lay-up orientation. Futhermore, failure mechanism was described by a video monitoring and SEM.

• Journal of the Korean Society of Systems Engineering
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• v.10 no.1
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• pp.49-56
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• 2014

Since steam generator (SG) tubes are located in the boundary between the primary and secondary systems of nuclear power plant (NPP), the SG is one of the most important components in the aspects of the safety of NPP. The magnetite ($Fe_30_4$) deposition, so-called fouling, is generally known as a major aging mechanism of CANDU SGs, and this aging mechanism makes the heat transfer efficiency between the primary and secondary systems of NPP reduced. Therefore, the development of SG safety assessment system which can evaluate the effect of the SG aging degradation mechanism should be needed for safety of NPP. In this study, through the suggestion of the guideline for SG safety assessment, it is possible to strengthen the basic of establishing the effective SG aging management technique. The SG safety assessment is carried out by CATHENA(Canadian Algorithm for THErmalhydraulic Network Analysis). It is possible to determine the integrity of SGs by identifying the main safety parameters which can be changed by the aging degradation of CANDU SGs.

• International Journal of Safety
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• v.9 no.2
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• pp.29-34
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• 2010

When doing maintenance works at the trackside of railway, the method which delivers information on approaching of train to maintenance workers through alarm devices such as the flag or indication light, etc., is being used by locating persons in charge of safety alarm in addition to the maintenance workers at fixed distances in the front and rear of the workplace. Workers maintaining at the trackside may collide with the train since they cannot recognize the approach of train although it approaches to the vicinity of maintenance workplace because of the sensory block phenomenon occurred due to their long hours of continued monotonous maintenance work. The clash or rear-end collision accidents between many maintenance trains called motor-cars can be occurred since there are cases where the signal systems for safe operation of motor-car such as track circuit etc. are blocked or not operated normally. We developed the new safety equipment for protection of trackside maintenance workers using radio frequency signals and bidirectional detection mechanism. The developed safety equipment must analyze the several operational mechanism for each different operation situations. In this paper the analysis results are represented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.463-464
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• 2008