• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1676-1681
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• 2003

The attachment of mobile vehicle is necessary for the automated operation on the inclined or vertical walls of steel structures. Since the vehicle requires attaching devices additionally, its overall efficiency can be reduced by the devices. Therefore, external shapes of mobile vehicles have to be researched to give the effective movement on the vertical face. For the design of mobile vehicle, the guideline has been derived from the modeling of wall-climbing, so that the vehicle should have a specific external shape for vertical movement due to the gravitational force. Hence, some adequate arrangement of attaching device to the mobile vehicle has been presented for the effective movement. In the experiments with four permanent magnetic wheels, a plausible result was achieved as a vertical attaching force of 185.2(N), a friction force of 153.8(N) and a curvature radius of 1.4m. The mobile vehicle should be modified according to the proposed design guideline. and then it could be applied to a specific operation as an appropriate external shape. Also, Further research is recommended on an optimal posture and a moving method in a specific application. as the attaching force ortho vehicle can be affected by its posture.

• 한국정밀공학회지
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• 제21권9호
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• pp.77-84
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• 2004

The attachment of mobile vehicle is necessary for the automated operation on the inclined or vertical walls of steel structures. Since the vehicle requires attaching devices additionally, its overall efficiency can be reduced by the devices. Therefore, external shapes of mobile vehicles have to be researched to give the effective movement on the vertical face. For the design of mobile vehicle, the guideline has been derived from the modeling of wall-climbing, so that the vehicle should have a specific external shape for vertical movement due to the gravitational force. Hence, some adequate arrangement of attaching device to the mobile vehicle has been presented for the effective movement. In the experiments with four permanent magnetic wheels, a plausible result was achieved as a vertical attaching force of 185.2(N), a friction force of 153.8(N) and a curvature radius of 1.4m. The mobile vehicle should be modified according to the proposed design guideline, and then it could be applied to a specific operation as an appropriate external shape. Also, Further research is recommended on an optimal posture and a moving method in a specific application, as the attaching force of the vehicle can be affected by its posture.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1429-1432
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• 2005

This work is towards the development of a low-cost, small-sized inertial navigation system(INS) which consists of 3 accelerometers, 3 semiconductor gyros and a magnetic compass sensor. This paper explains in detail the structure of the developed system and proposes a 3 dimensional attitude estimation algorithm with Indirect Kalman Filter. The experiments are performed with the developed system attached to a 6 DOF robot for showing the effectiveness of the algorithm.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.769-772
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• 1995

Most turbo machines, which operate at high speeds, such as gas turbines, jet engines, pumps, and compressors are prone to perrturbing vibrations. The best vibration control method for rotors is to eliminate destabilizing factors. Careful balancing application of "more stable" oil-lubricated bearing, such as tilting pad bearings or use of anti-swirl devices in seals, are examplse of passive vibration control methods. the use of magnetic bearing is an active control method. An obvious advantage of active control is that it provides damping (or modifies system stiffness or other parameters) only when there is a need for that, i.e., in emergency states, while not affecting the rotor normal operational conditions. Moreover, active control methods provide exact position control through on-line control. In this study, a magnetic actuator, digital contrliier using DSP, and bipolar operational power supply/amplifiers were developed to show the effectiveness of reducing robot vibration. Also the curve fitting procedure to obtain the transfer function of frequency dependent component was developed. Results presented in this dissertation will provide a well-defined technical parameters in designing magnetic damper system.er system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 A
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• pp.36-38
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• 1995

AC servo motors are widely used for various mechatronic devices such as FA, OA and robot machines. To obtain more accurate simulation results, a method of analysis for AC servo motor is described using transient magnetic formulation coupled with external circuit equation of the motor. The external circuit of the motor to be analyzed is described using FLUX2D program and linked to multiple finite element regions. The simulation results show that transient magnetic analysis coupled with extenal circuit has more accurate than those results from magnetostatic.

• 한국해양공학회지
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• 제31권2호
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• pp.177-182
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• 2017

This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.

• 한국전기전자재료학회논문지
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• 제34권6호
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• pp.401-415
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• 2021

Soft robots are promising devices for applications in drug delivery, sensing, and manufacturing. Traditional hard robotics are manufactured with rigid materials and their degrees of motion are constrained by the orientation of the joints. In contrast to rigid counterpart, soft robotics, employing soft and stretchable materials that easily deforms in shape, can realize complex motions (i.e., locomotion, swimming, and grappling) with a simple structure, and easily adapt to dynamic environment. Among them, the magnetic actuators exhibit unique characteristics such as rapid and accurate motion control, biocompatibility, and facile remote controllability, which make them promising candidates for the next-generation soft robots. Especially, the magnetic actuators instantly response to the stimuli, and show no-hysteresis during the recovery process, essential for continuous motion control. Here, we present the state-of-the-art fabrication process of magnetically controllable nano-/micro-composites, magnetically aligning process of the composites, and 1-dimensional/multi-dimensional multimodal motion control for the nextgeneration soft actuators.

• 한국구조물진단유지관리공학회 논문집
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• 제24권1호
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• pp.74-79
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• 2020

케이블지지 교량 건설의 증가로 인하여 이러한 시설물의 안전 점검에 대한 관심도 점차 증가하고 있다. 케이블지지 교량에서는 주 부재인 케이블의 성능 평가가 필수적으로 이루어져야 함에 불구하고, 기존의 점검 방식으로는 다양한 제한적인 요인 때문에 적절한 점검이 이루어지지 못하고 있는 실정이다. 이러한 문제점을 보완하기 위해 케이블 점검 로봇 제작이 필요하고, 본 연구에서는 기존의 개발된 케이블 점검 로봇의 성능을 향상시켜서 로봇의 운용 효율성을 높이는데 주목적을 두었다. 성능 보완 요소로는 대 구경 케이블(>200mm)에도 적용할 수 있도록 로봇의 가용범위를 조절할 수 있도록 하였으며, 주행능력도 향상시켜 점검의 효율성을 향상시켰다. 케이블의 내부 손상을 점검하기 위해 전자기센서를 탑재하였고, 실내 실험을 통해 다양한 케이블 손상 유형에 따른 손상 검출 시험을 실시하였다. 추가로 현재 공용중인 교량에서 현장 성능평가를 실시하였다. 그 결과로 본 연구에서 개발된 케이블 점검 로봇은 주행속도에서는 ~0.2m/s로 기존의 점검 로봇에 비해 향상된 주행 능력을 보였으며, 케이블 내부 손상 점검 실험에서는 케이블 손상 부분을 검출을 할 수 있었다. 마지막으로, 케이블 점검 로봇의 현장 검증 실험에서는 실내 실험과 같은 성능을 보이는 것을 확인하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2007년도 춘계학술대회 학술발표 논문집 제17권 제1호
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• pp.37-40
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• 2007

Digital Magnetic Compass(DMC)는 실내의 전자기적 요소나 강한 자성체 건물구조에서는 쉽게 방해를 받던 Compass보다 실내에서 간섭에 강한 특징을 가지고 있다. 그리고 적외선 센서와 초음파 센서는 서로 물체와의 거리를 보완적으로 계산해 줄뿐만 아니라 값싼 센서로서 경제적인 이점을 가지고 있어 Simultaneous Localization and Mapping(SLAM)에서 많이 사용하고 있다. 본 논문에서는 자율 이동 로봇의 구동에서 Digital Magnetic Compass(DMC)와 Ultrasonic Sensors을 이용한 SLAM의 구현에 대해 연구하였다. 로봇의 특성상 한정된 Sensing 데이터만으로 방향과 위치를 파악하고 그 데이터 값으로 가능한 빠르게 Localization을 하여야 한다. 그러므로 자율 이동 로봇에서의 SLAM 적용함으로 Localization 구현과 Mapping을 수행하고 SLAM 구현상의 주된 연구 중의 하나인 Kid Napping 문제에 중점을 두고 연구한다. 특히, Localization 구현을 수행을 위한 데이터의 Sensing 방법으로 적외선 센서와 초음파 센서를 같이 사용하였고 비슷한 위치의 데이터 값이 주어지거나 사전 정보 없는 상태에서는 로봇의 상태를 파악하기 위해서 DMC을 같이 사용하여 더 정확한 위치를 측정에 활용하였다.

• 한국지능시스템학회논문지
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• 제25권1호
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• pp.48-56
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• 2015

본 논문에서는 지자기센서와 스마트폰을 사용하여 개인이동시스템(PMS)을 구현한다. 지자기센서를 사용한 PMS 제어 시스템은 탑승자가 원하는 방향으로 스마트폰을 향하게 하면 PMS는 탑승자가 원하는 방향으로 이동한다. 본 논문에서 제안한 스마트폰 제어 PMS는 지자기센서를 사용함으로써 버튼 조작에 의한 제어보다 더 직관적으로 PMS를 제어하므로 사용자에게 더욱 편리한 인터페이스를 제공한다. 그리고, PMS에 장착된 모터의 기계적 특성을 보정하기 위하여 지자기센서가 사용되었다. 또한, 본 논문은 지자기센서 기반의 PMS의 제어방법으로 절대방향과 상대방향 제어방법을 제안한다. 실험 결과로서 제안된 두 가지 방법으로 지자기센서 기반의 PMS가 편리하고 효과적으로 제어되었다.