• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.813-816
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• 1991

Direct-drive SCARA-type industrial robots are increasingly used in the assembly process of small mechanical parts as well as electronic components, which uses direct-drive (DD) motors instead of reduction gear-type conventional motors for the actuators of manipulator arms. There are many advantages in using DD motors for robots, such as no backlash, low friction, high mechanical stiffness capability for fast and precise arm control, and high repeatability of positioning. However, there exist a number of difficulties which must be overcome to ensure proper construction and operation; increasing effects of load veriation and nonlinear and coupling dynamics, severe vibration caused by resonance of the manipulator components and low mechanical damping, etc. In order to handle these difficulties, lots of efforts have been made such as reduction of the arm inertia and elimination of the resonance, Performance evaluation of a recently developed, domestic DD robot shows that it works excellently compared with conventional robots. It, however, requires proved reliability and price competitiveness against its foreign counterparts.

• 한국군사과학기술학회지
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• 제7권4호
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• pp.36-43
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• 2004

In 1909 Hiram P. Maxim invented one of the first metal silencers for reducing sound levels in firearms. Silenced me have been mainly applied in the hunting and military operation. In particular special force make use of silenced rifle because it is low sound level. This paper considers experimental analysis for the characteristics of shock wave caused by shooting of a silenced me. Experimental results Indicate that the sound level of K-7 silenced rifle was lower than the sound level of MP5 silenced rifle. And, Sound Power Level of K-7 silenced rifle at a distance more than 75m or loom have nearly the constant value. This results that suggested the characteristics data about K-7 rifle's impulse noise will be apply to design the silencer of a small arms.

• 로봇학회논문지
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• 제9권3호
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• pp.140-146
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• 2014

This paper introduces a dual-arm robot painter system which is capable of sketching a camera-captured image with short line segments. To express various curved edges in the image by combining line segments, we first apply edge detection algorithm to the entire image, split the edged image into small boxed pieces, and then apply Hough Transformation to each piece so that the edges inside the piece can be approximated with short line segments. To draw the picture within a reasonable time, we designed a simple dual-arm robot system and controlled both arms concurrently according to linear interpolation algorithm. From the experiments, we could verify that simple linear motions can describe various images effectively with a unique brush style.

• Journal of Species Research
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• 제5권3호
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• pp.351-354
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• 2016

Some asteroid specimens of genus Henricia were collected at a depth of 50-90 m near waters of Moseulpo, Jeju Island, Korea using fishing nets on September 2015. The specimens were identified as Henricia elachys Clark and Jewett, 2010 belonging to the family Echinasteridae of order Spinulosida. This small species can be distinguished from other Henricia species by short arms, moderately inflated arm base, and slightly broad disk. The morphological characteristics of this species were described with illustrations. Up to date, there are nine species of genus Henricia reported in Korean fauna.

• 천문학회지
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• 제29권spc1호
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• pp.79-80
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• 1996

We performed CCD surface photometry in B,V,R and I filters for three southern spiral galaxies:ESO598-G009,NGC1515 and NGC7456. Isophotal map, luminosity profile, ellipticity profile and position angle profile were obtained for these galaxies using SPIRAL package. The results show that one of the galaxies, ESO598-G009 has relatively large bulge component and changes in position angle due to spiral arms. The NGC7456 has very small bulges; and the isophotal map of the NGC1515 shows that it is a typical spiral galaxy with bar.

• 제어로봇시스템학회논문지
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• 제6권4호
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• pp.295-304
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• 2000

In the teleoperation system, force and velocity signals are communicated between a master and a slave robot. The addition of force feedback to a teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The control scheme proposed in this paper is based on the estimator with virtual master model. Delayed signal from the master robot can be replaced by the estimated signal with the virtual master model. This control scheme makes the teleoperation system stable for the given time delay while the conventional scheme is not. This new control scheme is verified through numerical simulations and an experiments using the dual axis testbed of the teleoperation system.

• Journal of Mechanical Science and Technology
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• 제18권12호
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• pp.2069-2079
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• 2004

This paper represents the description of a complex mathematical model of biomechanical interaction for human-rifle system during shooting. The model is developed by finite element method using bar elements. And three typical shooting positions, i.e. standing, kneeling and prone are used. Characteristics of interior/exterior ballistics and behaviors of human-rifle system are evaluated by this model, which takes into account the influence of environment, bullet, powder, barrel geometry parameters and anthropological parameters. The results of this study can be applied to anthropology, biomechanics, medical science, gait analysis, interior ballistics and exterior ballistics.

• Journal of Plant Biology
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• 제21권1_4호
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• pp.29-32
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• 1978

The karyotype of Lilium cernum has been analysed by means of C-banding technique. Most of clones observed were 2n=24 chromosomes which consist of two pairs of submetacentric and ten pairs of subtelocentric chromosomes, among which two pairs of chromosomes(B and E) showed secondary constriction in the short arm. In addition to these chromosomes a small supernumerary telocentric chromosome was seen in the eight clones. Sixtyeight bands were observed in the twentytwo chromosomes of complement and one band in the supernumerary chromosome. A pair of chromosome (L) did not show any band. The bnads on the chromosome. A pair of chromosome (L) did not show any band. The bands on the chromosomes were distributed in the centromere, secondary constriction and intercalary regions of arms. Of the twelve pairs of chromosomes ten pairs showed symmetric banding patterns in each, but two pairs (I and K) showed asymmetric banding patterns.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2004년도 춘계학술발표대회 논문집
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• pp.139-142
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• 2004

As fiber reinforced composite materials are widely used in aircraft, space structures and robot arms, the study on the non-destructive testing methods of the composite materials has become an important research area for improving their reliability and safety. In this paper, the AE signal analyzer with the resonance circuit to extract the specified frequency of the acoustic emission signal were designed and fabricated. The noise levels of the fabricated AE signal analyzer by the disturbance such as impact or mechanical vibration had a very small value comparable to those of the conventional AE signal analyzer. Also, the crack detection capabilities of the fabricated AE signal analyzer under the static and dynamic tensile test were evaluated and compared with the conventional AE signal analyzer.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.722-727
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• 2004

This paper includes the comparative study between Cr plating and nitriding process with an aim at improving corrosion, wear and maintainability for KNR(Korean Next Generation Rifle) 5.56mm barrel. The endurance test was conducted to compare the performance of standard barrel, Cr plating barrel and nitriding barrel. Main activities are described as follows; optimal Cr plating and nitriding process set-up for KNR 5.56mm barrel; durability test of each barrel(20,000 rounds); salt water immersion test; dispersion, initial velocity, inner diameter data acquisition. According to the results of this firing test, Cr plating barrel is superior to standard barrel and nitriding barrel in view of corrosion, wear and maintainability