• Journal of the Korean Society for Precision Engineering
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• v.26 no.5
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• pp.96-103
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• 2009

This paper describes a humanoid robot's intelligent foot with two six-axis force/moment sensors. The developed humanoid robots didn't get the intelligent feet for walking on uneven surface safely. In order to walk on uneven surface safely, the robot should measure the reaction forces and moments applied on the sales of the feet, and they should be controlled with the measured the forces and moments. In this paper, an intelligent foot for a humanoid robot was developed. First, the body of foot was designed to be rotated the toe and the heel to all directions, second, the six-axis force/moment sensors were manufactured, third, the high-speed controller was manufactured using DSP(digital signal processor), fourth, the humanoid robot's intelligent foot was manufactured using the body of foot, two six-axis force/moment sensors and the high-speed controller, finally, the characteristic test of the intelligent foot was carried out. It is thought that the foot could be used for a humanoid robot.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1152-1159
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• 2013

This paper proposes an effective walking system for a hexapod robot on uneven terrain. To overcome the deficiencies of two-pair walking systems, which are effective on even terrain, the use of only three legs changes the steps required for movement. The proposed system receives feedback data from switches attached to the bottom of the legs and gyro sensor to carry out stable walking using the Bezier curve algorithm. From the coordinates of the Bezier curve, which guarantees the circular motion of legs, the motor's angle value can be obtained using inverse kinematics. The angle values are sent to each motor though RS-485 communication. If a switch is pushed by the surface during navigation in the Bezier curve pattern, the robot is designed to change its circular course. Through the changed course, each leg can be located on an optimal surface and the wobble phenomenon is reduced by using a normal vector algorithm. The simulation and experiment results show the efficiency of the proposed algorithm.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.6
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• pp.142-153
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• 2005

The brake judder is a phenomenon that the steering wheel is abnormally vibrating when the car is braked at a high speed. It is classified by the cold and the hot judder. The former is generated due to the initial uneven disk surface and the latter is resulted from the uneven heat spots on disc surface by repeatedly braking. There are two ways to reduce the judder. One is to control vibration by modification of the disk shapes and pad ingredients. The other is to improve modal characteristics of the suspension system. The latter approach is used in this research. In this paper, the real vehicle test and computer simulation are considered to systematically understand the judder phenomenon of the vehicle. The Macpherson strut suspension is employed. Especially, the judder sensitivity is calculated based on design sensitivity analysis. A bush stiffness was reworked and braking test was done to verify the sensitivity result. The judder reduction by the mode control was verified.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.448-455
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• 2003

A system design technique of automatic thickness measurement and defect inspection system, which measures the thickness of the ALC(Autoclaved Lightweight Concrete) block and inspects the defect on a realtime basis is proposed. The image processing system was established with a CCD camera, an image grabber, and a personal computer without using assembled measurement equipment. The image obtained by this system was analyzed by a devised algorithm, specially designed for the enhanced measurement accuracy. For the realization of the proposed algorithm, the preprocessing method that can be applied to overcome uneven lighting environment, an enhanced edge decision method using 8 edge-pairs with irregular and rough surface, the unit length decision method in uneven condition with rocking objects, and the curvature calibration method of camera using a constructed grid are developed. The experimental results, show that the required measurement accuracy specification is sufficiently satisfied using our proposed method.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2021.05a
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• pp.38-39
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• 2021

The use of temporary container classrooms has increased in recent years due to the development of the construction industry and renovation or rehabilitation of schools. Therefore, various problems, such as errors during assembling, design and insulation issues, and noise problems, have surfaced during the construction of temporary container classrooms. This study analyzes the causes of assembly errors during the manufacturing and installation processes to improve the quality of temporary container classrooms. Assembly errors are caused by non-level planes and inaccurate cutting during the manufacturing process. In the installation process, poor leveling is a major factor that causes errors during the assembly of temporary container classrooms. These causes result in uneven horizontal or vertical planes and uneven height. To solve these problems, quality improvement measures, such as pin connection, jig, joint coupling, and surface plates are proposed in this study.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.10a
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• pp.43-48
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• 2001

In this study, the characteristics of the surface around a hole on inlet and outlet of product which are manufactured by face mill or end mill cutting with a hole or a pocket in its surface, are investigated. Furthermore, experiment for optimization of process conditions to minimize the change of characteristics of milling cut surface after a hole cutting operation, is implemented. Applying the results in this study to surface manufacturing of mold products whose surface is uneven or metal products made by diecasting, reducing the number of sequence process to obtain fine surface is expected.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.115-118
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• 2005

A workpiece with a large surface area is likely to be uneven due to form error and waviness. These geometric disturbances can cause inaccurate micro shapes to be formed when micro features are micro-grooved into the surface and cause the resulting workpiece to fail to function as desired. Thus, real-time measurement and compensation is required to guarantee the form accuracy of micro features while machining a workpiece with a large surface area. In this study, a method is suggested for real-time measurement of geometric error for the micro grooving of a large flat surface using a laser displacement sensor. The measurements are demonstrated for the workpieces with large surface areas and the experimental results show that the waviness and form error are well detected.

• Journal of the Korean Society for Railway
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• v.7 no.1
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• pp.14-19
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• 2004

The effect of surface damage on fatigue properties of catenary wires were investigated to estimate their service lift. As surface defects of the wires caused by surface corrosion increase, surface roughness gets worse, and as roughness increases, it is easy for moisture coming from rain and dew to be condensed around uneven parts of the surface. The condensed moisture causes a locally severe corrosion which leads to damage of the wires. Corrosion of catenaty wires can make their actual lifetime shorter than that originally designed. The amount of decrease was more prominent as environmental conditions became more corrosive. They are also vibrated with some amplitude everytime pantographs touch contact line. The frequent cyclic load on the wire may result in a fatigue fracture. Surface damage by corrosion can make formation of crack initiation at fatigue. In the present study, the fatigue life of the used wire was measured 35 to 50% compared with that of new one in average.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.667-673
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• 2010

This paper proposes a control method based on a pseudo-impedance model to control the motion of biped robots walking on an uneven surface. The pseudo-impedance model simulates the action of the ankle of a foot landing on the ground when a human walks. When the foot is in contact with the ground, the human ankle goes through two different phases. In the first phase, the human exerts little or no effort and applies no torque on the ankle so that the orientation of the foot is effortlessly and passively adjusted with respect to the ground. In the second phase of landing, the ankle generates a significant amount of torque in order to rotate and move the main part of the human body forward and to support the weight of the human; this phase is called the weight acceptance phase. Computer simulations of a 12-DOF biped robot with a 6-DOF environment model were performed to determine the effectiveness of the proposed pseudo-impedance control. The simulation results show that stable locomotion can be achieved on an irregular surface by using the proposed model.

• Transactions of Materials Processing
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• v.14 no.8 s.80
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• pp.668-674
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• 2005

In sheet metal forming, drawbeads are often used to control uneven material flow which may cause deffets such as wrinkles, fractures, surface distortion and springback. Appropriate setting and adjusting of the drawbead force is one of the most important parameters in sheet forming process control. Therefore in this study, drawbead friction test with circular shape bead was performed at various sheets, lubricants(dry, three kinds of lubricants having different viscosities), bead materials and surface treatments of bead surface. The results obtained by drawbead friction test show that the friction and drawing characteristics of deforming panels were mainly influenced by strength of sheet, viscosity of lubricant and hardness of bead surface.