• Annual Conference of KIPS
• /
• 2019.10a
• /
• pp.645-648
• /
• 2019

본 논문은 벽면 이동 로봇의 진공흡착 방법 개선에 관한 연구로서, 로봇의 무게에 따른 중력을 견딜고 벽면에 흡착 및 이동할 수 있는 동작 환경을 시뮬레이션을 통해 효율적으로 설계한다. 이동로봇에 미치는 다양한 힘의 조건들을 판단하며 특히 벽의 수직방향으로 미는 힘과 챔버 내의 저압조건 등과의 상관관계를 고려하여 흡착 능력을 개선하기 위한 방법을 제시하고 실험을 통해 성능을 검증하였다 또 한 본 연구에서는 압력센서를 이용하여 실시간으로 압력을 체크 하면서 모터의 속도인 PWM의 한계치를 설정하여 압력에 따라 필요한 임펠러의 속도를 PWM으로 적절히 조절해줌으로써 흡착에 관련된 제어 능력을 개선하고 흡착에 필요한 일정 압력 값에 도달하지 못할 때 작업이 종료되는 기술을 개발하였다.

• Annual Conference of KIPS
• /
• 2019.10a
• /
• pp.1034-1037
• /
• 2019

본 논문은 진공을 이용한 흡착방식과 바퀴형 이동방식을 사용하는 벽면 이동로봇의 구성과 로봇 내부에서의 균열검출 및 처리 프로세스에 관한 연구이다. 임베디드 시스템에서 기계학습을 이용한 균열검출을 구현하기 위해 YOLO v3를 수정하여 구동하였으며, 검출된 균열의 영상을 저장하고 위치 정보를 추정하였다. 또한, 균열 정보를 수집하기 위해 고정 IP를 갖는 서버를 구축하고 각 기기 간의 효율적인 통신 네트워크를 구성하였다. 본 기술은 균열검출 작업뿐만 아니라 보수작업에도 활용될 수 있어, 대형 구조물과 건축물 등의 안전진단뿐만 아니라 안전성 향상에 이바지할 수 있을 것으로 예상한다.

• Annual Conference of KIPS
• /
• 2015.04a
• /
• pp.1071-1074
• /
• 2015

본 논문은 진공을 이용한 흡착방식과 바퀴형 이동방식을 이용하고 환경 탐지용 센서를 부착한 벽면 이동형 로봇의 물리적 해석을 통한 이동 성능 개선에 관한 연구로서, 대형 구조물의 안전 검사 및 위험한 시설물의 보수 작업등을 보조하기 위한 목적이 있다. 로봇의 무게에 따른 중력을 견딜 수 있는 강력한 진공흡착방식과 고성능 모터 제어에 의한 바퀴 이동방식을 혼합하고 효율적으로 평형을 유지 또는 제어하기 위하여 로봇에 미치는 다양한 힘과 모멘트를 분석하고 수식화 하였으며 기존의 수직이동 속도를 개선하기 위한 로봇의 물리적 변수를 추출하여 변수와 이동력간의 관계를 고찰하였다.

• Applied Microscopy
• /
• v.41 no.2
• /
• pp.139-145
• /
• 2011

Parthenocissus tricuspidata is an epiphyte that lacks a main axial stem, but develops adhesive disks along the stem for climbing support. In this study, scanning electron microscopy (SEM) and energy dispersive X-ray spectroscopy (EDS) were utilized to examine the brick wall surface and the adhesive disks of P. tricuspidata that attached to the surface successfully. The study was mainly focused the outermost layers of both structures before and after adhesion to find out whether there has been some structural and/or physical interactions between the two. The adhesive disks adhered firmly to the brick wall by secreting adhesive materials that help them for a tight attachment to the surface. The rough wall surface appeared facilitating better attachment of the adhesive disks by infiltrating the materials into those spaces leading to some degree of interactions at the interface. EDS analysis on the outermost layers of the adhesive disks that were separated from the substrates was also consistent with the SEM data on the interaction between the adhesive disks and the substrate surface. EDS analysis of the brick wall surface and the adhesive disks demonstrated similar elements of O, Si, Fe, Al, K, Mg, and Na in their components.

• Korean journal of applied entomology
• /
• v.48 no.2
• /
• pp.197-202
• /
• 2009

The Luciola lateralis larva took 5.3 days from climbing on the land to the pupal cocoon formation. It took 6.6 days for a larva to eventually transform to a pupa after building a pupal cocoon. The size of pupal cocoon was 10.1 mm in length, 4.7 mm in width and its wall thickness was 1.3 mm. The mean pupal period was 10.5 days. The adult stayed 6.8 days in the pupal cocoon before escaping the cocoon. The peak adult emergence appeared around 9 p.m., and decreased after 10 p.m. The optimal soil temperature for emergence was $23.4^{\circ}C$. The female adult of the natural population (Nat-type) lived shorter, laid fewer eggs, and the oviposition frequency was fewer than that of the Lab-type individuals. However, a few individuals from the natural population laid 200-400 eggs. The less number of oviposition in the natural population may be due to the fact that the female adults might lay eggs before the collection for the experiment.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.5
• /
• pp.383-389
• /
• 2016

In this paper, we present the hull blasting machine with vision-based weld bead recognition device for cleaning shipment exterior wall. The purpose of this study is to introduce the mechanism design of the high efficiency hull blasting machine using the vision system to recognize the weld bead. Therefore, we have developed a robot mechanism and drive controller system of the hull blasting robot. And hull blasting characteristics such as the climbing mechanism, vision system, remote controller and CAN have been discussed and compared with the experimental data. The hull blasting robots are able to remove rust or paint at anchor, so the re-docking is unnecessary. Therefore, this can save time and cost of undergoing re-docking process and build more vessels instead. The robot uses sensors to navigate safely around the hull and has a filter system to collect the fouling removed. We have completed a pilot test of the robot and demonstrated the drive control and CAN communication performance.

• Asian-Australasian Journal of Animal Sciences
• /
• v.29 no.6
• /
• pp.879-886
• /
• 2016

As is in all economic activities, the highest yield per unit area is the main goal in animal production, while addressing the temperamental needs of animals often is ignored. Animal welfare is not only an ethical fact; it also has an economic value. Spatial environmental enrichment contributes positively to animal welfare by addressing their behavioral and mental requirements. The present study was conducted to determine the effects of weaning and spatial environmental arrangements on behaviors of goat-kids. Experimental groups were arranged in structured and unstructured spatial environments. Roughage feeder, semi-automatic concentrate feeder, bunk, bridge, and wood block were placed in the structured environment. No equipment was placed in the unstructured environment and paddock sides were enclosed with an iron sheet to prevent bipedal stance and to provide environmental isolation. In the study 10 male and 10 female Turkish Saanen goat kids were used in each group. Spatial environmental arrangements did not have significant impacts on the growth performance of kids (p>0.05). All objects in the structured group were accepted by the kids. Average use ratios of roughage feeder, semi-automatic concentrate feeder, bunk, bridge and wood block were observed as 19.3%, 14.0%, 12.6%, 3.8%, and 0.7%, respectively. There were significant differences between before- and after-weaning in use of all objects except for underneath bridge ($p{\leq}0.05$). Concentrate feed consumption, locomotion, and resting behaviors in kids showed significant differences by structural group and growth period. Roughage consumption was similar between groups, while it differed by growth period ($p{\leq}0.05$). Interaction frequency was significantly higher in structured group (p = 0.0023). Playing behavior significantly differentiated based on the growth period rather than on groups ($p{\leq}0.05$). Playing behavior significantly decreased after weaning. Abnormal oral activity was significantly higher in the structured group before weaning ($p{\leq}0.05$). Despite there being no installations facilitating climbing and bipedal stance, the kids of the unstructured group were able to exhibit 1/3 as much bipedal stance behavior as the kids of the structured group through leaning over slippery paddock wall or over their groupmates. Bipedal stance behavior of unstructured group was similar before and after weaning, while bipedal stance behavior before weaning was about 2 times that of after weaning in structured group. It was concluded that unstructured environmental arrangement limited the behavior repertoire of the goat kids.

• Journal of the Korean Institute of Traditional Landscape Architecture
• /
• v.36 no.3
• /
• pp.1-15
• /
• 2018

This study aims to investigate an aspect of physical palace by reviewing the emergences of tigers and leopards in the palace in Hanyang from the environmental historical perspective. To do so, three topics in environmental history were reviewed including 'environment,' 'impact of human-beings on the environment,' and 'sense and attitude of human-beings on the environment' based on the historical records such as "'Wangjoshilok(王朝實錄)". The results of this study are as follows. First, It was confirmed that leopards and tigers were emerged not only in the palace but also near the City Wall of Hanyang from time to time in Joseon Dynasty. Moreover, tigers lived and propagated in the backyard. Second, This situation may be caused by the natural factors of palace in Hanyang including location, philosophy and technique of building, and so on. That means 'good location' placed by palace worked favorably not only for human-beings but also for the activities of tigers and leopards. Third, In addition to the locational environment, forest policies on the palace and capital may facilitate the emergences of leopards and tigers. With the managements of pine trees, prohibition of burials, prohibition of climbing, prohibition of mountain entrance, and so on, forests were developed in the mountainous territories, which might play a role of shelters or passages for the tigers and leopards. Fourth, It was confirmed that countermeasures on the emergences of tigers in the palace as well as the capital city were different by the kings. Out of these, Jeong-jo was highlighted to seek the realistic countermeasures with actual understanding on the emergences of tigers and leopards. Fifth, In summary, frequent emergences of tigers and leopards in the palace and capital city could be a practical evidence to show 'pro-naturalism' or 'eco-friendliness' of the palace in Joseon which was mentioned superficially, paradoxically speaking. Further studies with the related disciplines are required on the cultural or ecological history of the palace. In addition, it is considered to conduct more detailed scientific studies related to the trend of ecological changes in Joseon.