• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.489-492
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• 2016

In this paper, 본 논문에서는 경사/장애물/특수표면을 이동할 수 있는 얀센 매커니즘 기반의 보행기구 설계에 대해 다루고 있다. 얀센 매커니즘 자체의 조건과 전체 보행기구의 조건을 알아보며, 기구의 완전한 회전운동 조건과 장애물이 있는 거친 표면을 이동할 수 있는 조건을 알아보고자 한다.

• Journal of The Korean Society of Agricultural Engineers
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• v.60 no.5
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• pp.29-40
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• 2018

Even if a small amount of arsenic (As) is entering to small agricultural reservoir from upper streams, small agricultural reservoir becomes sensitive to changes in arsenic concentration depending on the water level in case of accumulation continuously because of its scale. If we want to manage arsenic concentration in small agricultural reservoir, it is very important to understand arsenic changes in agricultural reservoir. In spite of the fact that modeling is the most accurate method for analyzing arsenic concentration changes in small agricultural reservoirs, but, it is difficult to monitor arsenic change everyday. So, if data is prepared for modeling arsenic changes, water quality modeling is more effective than monitoring. Therefore, in this study, arsenic concentration changes was simulated and arsenic concentration change mechanism in small reservoir was analyzed using hydrological and water quality monitoring data and by conducting EFDC (Environment Fluid Dynamics Code)-WASP (Water Quality Analysis Simulation Program) linkage. EFDC-WASP coupling technique was very useful for modeling arsenic changes because EFDC can consider hydrodynamic and WASP can perform arsenic concentration simulation, separately. As a results of this study, during dry season, As concentration was maintained relatively high arsenic concentrations. Therefore, water level control will be needed for managing As concentration of reservoir.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.5
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• pp.79-88
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• 2020

This paper propose the method to drive a solar panel cleaning robot efficiently on an inclined panel using vacuum pad pressure. In this method, the rubber pads using the vacuum pressure are used to attach robot body to the panel surface. By applying the linkage mechanism to the vacuum pads, it was possible to reduce robot weight and power consumption and to prevent slipping of the robot. In addition, the use of solenoid valves, proximity sensors, and encoders to detect movement of the robot body and the control of the pad pressure dedicate to the driving of the robot on an inclined panel. In order to move the robot forward, the operation sequence of multiple solenoid valves was completed, and the six vacuum pads mounted to both legs were accurately controlled to form vacuum and atmospheric pressure in right order so that the robot could move forward without slipping. At last, it was confirmed through experiments that straight-forward moving and rotational movement could be performed up to 36 degrees of inclination angle of solar panel.

• Progress in Superconductivity and Cryogenics
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• v.18 no.2
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• pp.42-47
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• 2016

A free-piston reciprocating expander is a device which operates without any mechanical linkage to a stationary part. Since the motion of the floating piston is only controlled by the pressure difference at two ends of the piston, this kind of expander may indispensably require a sophisticated active control system equipped with multiple valves and reservoirs. In this paper, we have suggested a novel design that can further reduce complexity of the previously developed cryogenic free-piston expander configuration. It is a simple replacement of both multiple valves and reservoirs by a combination of an orifice valve and a reservoir. The functional characteristic of the integrated orifice-reservoir configuration is similar to that of a phase controller applied in a pulse tube refrigerator so that we designate the one as a phase controller. Depending on the orifice valve size in the phase controller, the different PV work which affects the expander performance is generated. The numerical model of this unique free-piston reciprocating expander utilizing a phase controller is established to understand and analyze quantitatively the performance variation of the expander under different valve timing and orifice valve size. The room temperature experiments are carried out to examine the performance of this newly developed cryogenic expander.

• Proceeding of EDISON Challenge
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• 2017.03a
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• pp.560-565
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• 2017

본 논문에서는 jansen's linkage와 기구설계를 기반으로 Theo Jansen의 strandbeast을 DC모터를 통해 구동하는 8족 보행로봇으로 설계 및 제작하고, 그에 대한 해석을 제시한다. 제작된 로봇은 크게 구동부, 제어부, 센서부로 나눌 수 있으며, 구동부는 모터와 다리로, 제어부는 Arduino 보드로 그리고 센서부는 광센서로 구성되어 있다. 구동부의 다리부분은 에디슨의 M-sketch를 통해 설계하였고, 제어부는 센서의 신호를 트랙에 맞추어 적합하게 받아드릴 수 있도록 코딩을 작성하였다. 제작된 로봇은 일반적인 로봇이 아니라 트랙에 맞추어 특화된 로봇으로 그 목적이 제한되어 있음을 밝히는 바이다.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.455-462
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• 2016

Recently, followed by rapid growth of robotics field, multi-linkage mechanism which can even pass by rough road is getting lots of attention. In this paper, I focused on Jansen mechanism. It's a kinematics object which is named after Dutch artist Theo jansen. Jansen mechanism embraces structure and mechanism which creates locomotion with the combination of the power and simple structure. Theo jansen suggests a 'Holy number'. It's an ideal ratio of leg components length. However, if there's desired gait locomotion, you have to adjust the ratio and the length. But even slight change of the length could cause a big change at the end-point. To solve this problem, I suggest a reverse engineering method to get a ratio of each links by nonlinear optimization with pre-set desired trajectory. First, we converted a movement of the joint of Jansen mechanism to vectors by kinematics analysis of multi-linkage structure. And we showed the trajectory at the end-point. After that, we set desired trajectory which we found most ideal. Then we got the length of the leg components which draws a trajectory as same as trajectory we set, using Multi-objective genetic algorithm toolbox in MATLAB. Result is verified by Edison designer and mSketch. And we analyzed if it could pass through the obstruction which is set dynamically.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.334-336
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• 1995

An adaptive feedback linearization technique of a PM synchronous motor with specified output dynamic performance is proposed. The adaptive parameter estimation is achieved by a model reference adaptive technique where the stator resistance and flux linkage can be estimated with the current dynamic model and the state observer. Using these estimated parameters, the linearizing control inputs are calculated and a nonlinear coupled model of a PM synchronous motor is input-output linearized. The resultant model has the load torque disturbance. To get ti perfect decoupled model, the load torque is estimated. The adaptation laws are derived by the hyperstability theory and positivity concept. The robustness of the proposed control scheme will be proven through the computer simulations.

• Science & Technology Policy
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• v.1 no.7 s.7
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• pp.12-17
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• 1991

2차 세계대전후 선진국의 경제 성장은 소비주의와 이를 뒷받침하는 Ford식 대량생산에 의한 것이었다. 그러나 오일 쇼크 등 경제 여건의 변화는 지식 집약적 고부가가치 제품의 경쟁적 생산으로의 전환을 가져왔으며, 이를 위해 다품종 소량생산 체제가 불가피해졌고, 일본은 이에 잘 적응한 나라이다. 가장 중요한 것은 기업간, 기업내의 기술 연계(TL)인바, 기술이전, 품질향상, 시장 확대 등이 TL의 성패에 달렸다고 할 수 있다. 어떤 경우에도 인력계발은 핵심적인 요소인바,CAD/CAM,CIM의 도입에도 인간관계와 인력양성이 중요하다. TL을 성공적으로 이룩해 낸 일본의 실례는 산업 경쟁력 제고와 고부가 가치 제품 생산으로 도약을 필요로 하는 한국의 과학기술, 산업 발전에 여러가지 시사하는 바가 크리라고 생각한다.

• Journal of the Korean Applied Science and Technology
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• v.31 no.2
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• pp.238-243
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• 2014

The mechanical properties of NATM resin were measured by SEM, FT-IR spectra, tensile properties, mole ％ of [NCO/OH], and particle size analyzer on stainless steel. Growing concerns in the environment-friendly NATM resin, we have synthesized the solvent-free NATM resin to be coating on metals such as stainless. The properties of the synthesized NATM resin to be contained polyols, MDI, silicone surfactant, fillers and crosslink agents(diethyltoluene diamine, anhydrosorbitol), that they have highly stronger in intensity and longer durability than general NATM resin to be contained polyols, IPDI, silicone surfactant, fillers in general packing materials and coatings. The rigid segments of polyurethane in mechanical properties of coatings were due to cross linkage and the increase mole % of [NCO/OH]. In conclusion, the NATM microstructure with cross linkage can be good material for coating of anticorrosion of metal substrates such as stainless steel.

• Journal of Astronomy and Space Sciences
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• v.29 no.4
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• pp.381-387
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• 2012

The planetary exploration rover executes various missions after moving to the target point in an unknown environment in the shortest distance. Such missions include the researches for geological and climatic conditions as well as the existence of water or living creatures. If there is any obstacle on the way, it is detected by such sensors as ultrasonic sensor, infrared light sensor, stereo vision, and laser ranger finder. After the obtained data is transferred to the main controller of the rover, decisions can be made to either overcome or avoid the obstacle on the way based on the operating algorithm of the rover. All the planetary exploration rovers which have been developed until now receive the information of the height or width of the obstacle from such sensors before analyzing it in order to find out whether it is possible to overcome the obstacle or not. If it is decided to be better to overcome the obstacle in terms of the operating safety and the electric consumption of the rover, it is generally made to overcome it. Therefore, for the purpose of carrying out the planetary exploration task, it is necessary to design the proper suspension system of the rover which enables it to safely overcome any obstacle on the way on the surface in any unknown environment. This study focuses on the design of the new double 4-bar linkage type of suspension system applied to the Korea Aerospace Research Institute rover (a tentatively name) that is currently in the process of development by our institute in order to develop the planetary exploration rover which absolutely requires the capacity of overcoming any obstacle. Throughout this study, the negative moment which harms the capacity of the rover for overcoming an obstacle was induced through the dynamical modeling process for the rocker-bogie applied to the Mars exploration rover of the US and the improved version of rocker-bogie as well as the suggested double 4-bar linkage type of suspension system. Also, based on the height of the obstacle, a simulation was carried out for the negative moment of the suspension system before the excellence of the suspension system suggested through the comparison of responding characteristics was proved.