• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.1696-1699
• /
• 1997

The robot mainpulator for inspection of pressurizer in the nuclear power plant has been developed, which consists of four parts : 2 arms, movable gripper, base frame, contorl console. To extract the damaged electric heating rod inside pressurizer, the gripper has been developed using wire lope and self-locking mechanism. for the examination of the structural stability of the robot manipulator, stress analysis is performed by using the ANSYS code.

• 제어로봇시스템학회논문지
• /
• 제17권8호
• /
• pp.824-832
• /
• 2011

An essential consideration to differentiate prosthetic hand from robot hand is its convenience and usefulness rather than high resolution or multi-function of the robot hand. Therefore, this study proposes a myoelectric hand with a 2 DOF auto wrist module which has 6 essential functions of the human hand such as open, grasp, pronation, supination, extension, flexion, which improves the convenience of the daily life. It consists of the 3 main parts, the myoelectric sensor for input signal without additional attachment to operate the prosthetic hand, hand mechanism with high-torqued auto-transmission mechanism and self-locking module which guarantee the safety under the abrupt emergency and minimum power consumption, and dual threshold based controller to make easy for adopting the multi-DOF myoelectric hand. We prove the validity of the proposed system with experimental results.

• 한국정밀공학회지
• /
• 제34권4호
• /
• pp.243-246
• /
• 2017

In this study, flexible fixtures and end effectors are conceptually designed for the holding of thin-walled carbon-fiber reinforced-plastic (CFRP) workpieces in machining processes. Firstly, the fixture scenarios and system requirements for the conceptual designs of flexible-fixture and core units are proposed, including the propounding of the workpiece-holding mechanism and the core-unit requirements. A ball-joint pneumatic system is determined as a locking mechanism of the flexible-fixture system for the machining of thin-walled components. Secondly, conceptual designs of the core units are suggested with the driven requirements from the fixture scenarios. A self-tilting mechanism and an end-effector return mechanism are also proposed. Finally, the prototypes of the core units are manufactured, and the workpiece-holding capacity of each prototype is measured.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2307-2310
• /
• 2005

A pressurizer is one of the major safety related equipment of nuclear power plants. In order to inspect and maintain the internal structures of a pressurizer, jumpers have to enter the pressurizer, in spite of the high dose exposure. Therefore, a tele-operated robotic manipulator has been developed, which consists of four parts with 2DOFs arms, a gripper, base frame, and control console. The task of this robotic manipulator is to extract the damaged electric heaters and inspect the internal structure of the pressurizer. The gripper hanging from the manipulator approaches the heaters and extracts the damaged heater by using a self-locking mechanism. In order to investigate the structural stability of the robotic manipulator, a stress analysis has been performed by using the ANSYS code. The results of this paper include the position control and vibration control of robotic gripper and the development of processing visual information for a vision sensor.

• 대한교통학회지
• /
• 제30권4호
• /
• pp.107-118
• /
• 2012

본 연구는 음주운전 전력(최근 5년간 단속 횟수) 집단별 음주운전과 관련한 심리학적 이론변수의 모형 구축 및 검정과 경로분석 등을 통하여 집단별 특성을 도출하고 상습적 음주운전자에 대한 대책을 제시하고자 하였다. 본 연구의 결과 상습적 음주운전에 대한 예방대책을 요약하면 다음과 같다. 첫째, 음주운전과 관련한 운전자의 심리적 경로는 집단(회수)별로 방어기제와 죄의식, 수치심, 곤혹감 등에 많은 차이를 보여 음주운전 전력별로 대책의 차별화가 필요한 것으로 나타났다. 둘째, 상습적 음주운전자는 자기 합리화의 방어기제가 높은 것으로 나타나 단순 정보제공이나 집체 교육만으로 예방효과를 거두기는 곤란한 것으로 나타나 자동차 시건장치 및 운전면허 제한 제도의 도입, 그리고 집단 상담형태의 교육 및 처방이 이루어져야 할 것으로 분석되었다. 셋째, 상습적 음주운전자는 방어기제 중 특히 투사성이 높아 감수성 훈련과 같은 프로그램을 의무적으로 부과하는 제도적 보완이 필요한 것으로 나타났다.