• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.648-651
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• 2004

Biped robot has better mobility than other mobile robot, but it is hard to maintain balance during walking. In order to maintain balance, stability analysis is a key point for a biped robot. The zero moment point analysis has been used most in stability analysis. In this paper, we propose different method of stability analysis using wrench system. It is possible to generate a wrench system by applying a force along an axis in space and simultaneously applying a moment about the same axis. Wrench system is equivalent to a force and moment applied along the same axis. We compare the result of wrench system analysis with that of zero moment analysis in biped robot stability using simulation program.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.298-301
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• 1990

This paper presents technologies to improve the control of an impact wrench. Impact wrench is a tool which is held by the electro-mechanical manipulator and used to fasten and loosen the bolts for remote maintenance of equipment in hostile environment. Vision system was developed to measure the distance and improve the positioning of the impact wrench. The vision system used two laser beams with a CCTV camera. Also, a torque adjusting method was developed to limit the fastening torque.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2013년도 춘계학술대회 논문집
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• pp.373-378
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• 2013

Impact wrench has a sophisticated structure to implement various pre-designed mechanisms with specific functions. In the structure of impact wrench, the gear box has an important role to generate impacting force of anvil from actuating torque. Since, it requires to design systematically the gear box for accurate mechanism of operation and transferring motions. In this paper, a methodology of dynamic analysis, which is useful to design mechanical system, is proposed and applied to impact wrench, sequentially. At first, the way to perform dynamic analysis for design, which is progressed from component to assembled system, is introduced. Secondly, the proposed methodology is applied to designing impact wrench. Eventually, the results of parameter study with proposed methodology are applied to actual design for design optimization. And optimized-design is evaluated in the view of accurate operation and structural stability.

• 산업경영시스템학회지
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• 제35권2호
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• pp.88-97
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• 2012

The muscle strengths in various postures are still used in the workplace, although mechanization and automation have been continuously accomplished. The aim of this study is to measure the maximum muscle strength and analyze the muscle fatigue during the various wrench jobs which are one of the upper limbs related works. Four hundreds and eighty five college students (243 males and 242 females) participated in this study. Twelve muscle strengths which are using for pulling, pushing, lifting and lowering the wrench with various postures are measured. For every moment, the muscle strengths for both hands were measured. In each measurement, five seconds averaged value and peak value were collected. The averaged value of preferred hand and non-preferred hand was compared. Also, the averaged value of opposite movement was compared through t-test. The fatigue of agonist for each movement was analyzed using EMG analysis. The result of this study can provide some basic information not only in designing the tools in work but also in selection, training and management of workers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.832-837
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• 1991

After many years of proliferation, the nuclear industry is indebted for a formidable consequence, the safe management of spent fuel. Naturally, the high radioactivity involved with such process motivates the development of effective telerobotic systems. Nevertheless, the existing master-slave type of tele manipulators are limited in effectiveness by the human operator's limited sensory and manipulation capabilities. This paper presents the result of a research effort to resolve such problems by assigning the slave manipulator a certain degree of intelligence; sensing and actuation. In the presented system, a perception-action loop is achieved using ultrasonic range sensor and laser distance sensor interfaced with the PUMA 760 industrial robot system, and applied to automating impact wrenching task for unbolting the lid of nuclear spent fuel cask. The perception-action loop performs determination of the cask location, collision avoidance and centering of the impact wrench onto the bolt head. To aid the insertion task and to provide versatility a mounting module consisting of an RCC device and an automatic tool changer is designed and implemented. The performance of the developed system is tested on the model cask and the result is given.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.14-19
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• 1998

In this paper, a target approachable force-guided control with adaptive accommodation for the complex assembly is presented. The complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of the manufacturing automation and various robot applications. To make CA successful, both the bounded wrench condition and the target approachability condition should be satisfied simultaneously during insertion. By applying the convex optimization technique, an optimum target approaching twist can be determined at each instantaneous contact state as a global minimum solution. Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning nor contact analysis which requires the geometry of the part and the environment. Finally, a VME-bus based real-time control system is built to experiment various CA task. T-insertion task as a planar CA and double-peg assembly task as a spacial assembly were successfully executed by implementing the new force-guided control with adaptive accommodation.

• The Korean Journal of Ceramics
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• 제2권4호
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• pp.226-230
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• 1996

A small amount of fine particle graphite was added to $\alpha$-SiC and $\beta$-SiC having certain particle distributions, and they were mixed clay and frit. After forming, they were sintered at 140$0^{\circ}C$ for 3 hours. Tribological properties of sintered $\alpha$-SiC-$\beta$-SiC-graphite-clay (frit) system showed that kinetic friction coefficient was 0.108, specific wear rate was 1.3${\times}10^-8\;mm^2$.$kgf^1$, and torque was 0.01kgf.cm at the wrench torque of 100 kgf.cm.

• 자원환경지질
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• 제40권4호
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• pp.473-490
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• 2007

서해 대륙붕 군산분지 까치-1공의 퇴적층을 통합층서적 접근을 통하여 분석하였다. 분석 결과, 까치-1공 내에서 (1)트라이아스기 돌로마이트 기반암층, (2) 후기 쥬라기 말-전기 백악기 초 퇴적층, (3) 전기 백악기 퇴적층, (4) 후기 백악기 퇴적층 및 (5) 중기 마이오세 이후 퇴적층 등 5개의 단위층들이 인지되었다. 각 단위층은 부정합에 의해 경계되는 구조층서 단위층으로 군산분지의 형성, 퇴적 및 변형에 대한 정보를 제공해 준다. 후기 쥬라기 말에 들어와 탄루탄층대를 따라 이차 및 삼차 순위의 주향이동 단층들이 분지되면서 소규모 열개 분지들이 형성되기 시작하였다. 전기 백악기 이후 팔레오세 말까지 지속된 분지단층들의 좌수향 이동에 의해 군산분지는 대규모의 인장력을 받게 되어 소규모 열개 분지들은 대규모의 인리형 분지로 확장되었다. 그러나 팔레오세 말에 시작된 인도판과 유라시아판의 연성충돌에 의한 1차 히말라야 조산운동의 영향으로 탄루단층이 우수향으로 이동을 시작하면서 군산분지는 서서히 변형을 받기 시작하였다. 이후 에오세 중기에 일어났던 인도판과 유라시아판의 강성충돌에 의한 2차 히말라야 조산운동에 의해 탄루단층의 우수향 이동이 본격화되면서 군산분지는 극심한 구조역전의 현상이 일어났다. 따라서 에오세 말과 올리고세 동안 군산분지에서는 심한 구조역전에 의한 분지변형이 일어났다. 올리고세 이후 현재까지, 군산분지는 간헐적인 해침과 함께 광역적인 침강을 유지하면서 안정된 대륙 연변부 침강분지로 전이되었다.

• 콘크리트학회논문집
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• 제20권6호
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• pp.681-687
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• 2008

이 연구는 적외선 열화상을 이용하여 철근의 부식을 정량적으로 파악하는 기법을 개발하는 것이다. 연구 진행 과정에서 전기적 가열방법이 실험 데이터에 지대한 영향을 끼치는 것을 발견했다. 가열접촉 방법에 대한 여러 실험적 연구를 통하여 실험 데이터의 신뢰성 확보와 효율적인 연구를 추구하였다. 사각어스클램프를 이용하여 철근을 가열하였을 때 철근의 온도변화를 통해 집게어스클램프보다 표면저항이 적다는 것을 입증하였다. 또한 접촉 방법의 표준화를 위해 토크렌치를 활용한 실험을 진행하였다.

• 자원환경지질
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• 제51권3호
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• pp.233-248
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• 2018

통합층서적 접근을 통하여 서해 대륙붕 군산분지 중앙소분지의 퇴적층을 분석하였다. 분석 결과, 음향 기반암 상부에서부터 시퀀스 I (Cretaceous or older(?)), 시퀀스 II (Late Cretaceous), 시퀀스 III (late Late Cretaceous or younger(?)), 시퀀스 IV (Early Miocene or older(?)), 시퀀스 V (Middle Miocene) 등 5개의 시퀀스로 분대된다. 후기 쥐라기 말부터 탄루 단층대를 따라 주향이동 단층들이 발달하면서 소규모 열개 분지들이 형성되었고 이후 후기 백악기까지 지속된 분지단층들의 좌수향 이동에 의해 대규모의 인장력을 받게 되어 소규모 열개 분지들은 대규모의 인리형 분지로 확장되었다. 하지만 이후 팔레오세 말부터 시작되는 히말라얀 조산운동의 영향으로 변형이 되기 시작하고, 후기 에오세-전기 마이오세에 동중국에는 남북 주향의 습곡을 수반하는 강한 지구조운동이 나타나 구조 역전 현상이 일어났다. 지구조운동이 완화되면서 심한 습곡으로 인해 생긴 요철부를 부분적으로 채우며 퇴적층이 형성되고, 이후 광역적인 침강과 함께 플라이오세 및 제4기에 걸친 해침의 결과로 수평적인 양상의 퇴적층이 만들어졌으며, 현재와 같은 안정된 대륙 연변부 침강분지로 전이되었다.