• Proceedings of the KSME Conference
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.754-758
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• 2001

A new kind of piezoelectric actuation structure named double amplified multilayer actuator is proposed. Double amplified multilayer actuator combines both dimentional and flextensional amplification concepts. As a result the displacement of the actuator can be more than one hundred times larger than the displacement of multilayer actuator and can be used in in-pipe locomation robot such as an endoscope actuator. This paper studied the dependence of displacement on actuator parameters theoretically and experimentally.

• Proceedings of the KIPE Conference
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• 전력전자학회 2014년도 추계학술대회 논문집
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• pp.129-130
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• 2014

본 논문은 배관 청소에 최적화된 PWMC 기반 청소로봇 개발을 제안한다. 제안하는 배관 청소로봇은 최적화된 배관 청소 환경을 제공하기 위하여 배관 요소를 분석하여 이에 따른 모터, 조인트, 솔, 스프링 등을 설계하였다. 설계를 통하여 개발된 청소로봇은 조정에 따라 지름 200~300mm의 좁은 배관에서 PWMC 를 통하여 속도를 제어하여 자동 청소가 가능하다. 또한 개발된 청소로봇은 6.8kg로 기존 배관 청소 기계를 50%이상 경량화 하여 휴대성과 간편한 조작에 따른 편의성을 제공하며, 기존의 장비에 대한 소모성을 낮추고 무게의 경량화 및 동작 자동화에 초점을 두었다.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.143-148
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• 2003

The issue with the drainpipe now a day is that they are laid underground. Causing us to perform additional work to repair, such as digging up the ground and peeling off the insulator that surrounds the pipe. And such series works are difficult that concession appears from government and municipal office. However, if we can save time and money. Performance of piping robot that we are studied in existing session through fixing unit and improvement of cutting byte shorten and wished to heighten work efficiency. This is why we are trying to develop a unit that can cut up the projecting parts which connects with the interior part of the drainpipes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1166-1169
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• 2003

The issue with the drainpipe now a day is that they are laid underground Causing us to perform additional work to repair, such as digging up the ground and peeling off the insulator that surrounds the pipe. And such series works are difficult that concession appears from government and municipal office. However, if we can save time and money. Performance of piping robot that we are studied in existing session through fixing unit and improvement of cutting byte shorten and wished to heighten work efficiency. This is why we aye trying to develop a unit that can cut up the projecting parts which connects with the interior part of the drainpipes.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1516-1519
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• 2004

A tele-operated robot should be used to maintain and inspect nuclear power plants to reduce the radiation exposure to the human operators. During an overhaul of the nuclear power plants in Korea, a ROV(Remotely Operated Vehicle) may enter a cold-leg connected to the reactor to examine the state of the thermal sleeve and it's position in the safety injection nozzle. To measure the positions of the thermal sleeve or scratches from the video images captured during the examination, the camera parameters should be identified. However, the focal length of the CCD camera could be increased to a close up of the target and the aspect ratio and the center of the image could also be varied with capturing devices. So, it is desired to self-calibrated the intrinsic parameters of the camera and capturing device with the video images captured during the examination. In the video image of the safety injection nozzle, two or more circular grooves around the nozzle are shown as ellipse contours. In this paper, we propose a camera self-calibration method using a single image containing two circular grooves which are the greatest circles of the cylindrical nozzle whose radius and distance are known.

• Journal of the Korean Geotechnical Society
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• 제28권10호
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• pp.69-77
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• 2012

Clogging of drainage pipes by scale is an important problem in civil engineering works. Although scale deposits can be removed by acid treatment or water jetting, these treatments are costly and have many disadvantages. In this study, scale samples from tunnel drainage pipes were analyzed using SEM-EDS and XRD. The main ingredient in scale was $CaCO_3$ of the calcite crystal form. Drainage experiments and recirculation type experiments were conducted to control and remove scale deposits, which were determined through visual and weight measuring analysis. As a result, Quantum Stick has the effect of limiting formation of scale.