• 한국정밀공학회지
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• 제29권2호
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• pp.178-184
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• 2012

This paper presents a transformable track mechanism for wall climbing robots. The proposed mechanism allows a wall climbing robot to go over obstacles by transforming the track shape, and also increases contact area between track and wall surface for safe attachment. The track mechanism is realized using a timing belt track with one driving actuator. The inner frame of the track consists of serially connected 5R-joints and 1P-joint, and all joints of the inner frame are passively operated by springs, so the mechanism does not require any actuators and complex control algorithms to change its shape. Static analysis is carried out to determine design parameters which enable $90^{\circ}$ wall-to-wall transition and driving over projected obstacles on wall surfaces. A Prototype is manufactured using the transformable track on which polymer magnets are installed for adhesion force. The size of the prototype is $628mm{\times}200mm{\times}150mm$ ($Length{\times}Width{\times}Height$) and weight is 4kgf. Experiments are performed to verify its climbing capability focusing on $90^{\circ}$ wall to wall transition and driving over projected obstacle.

• 한국조경학회지
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• 제35권6호
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• pp.74-83
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• 2008

As urban residents' standard of living has recently risen, efforts to improve urban landscapes have increased. It is very important to manage streetscapes to improve the urban landscape because they are one of the essential elements in city construction and urban landscaping. This study focuses on the indicators that manage streetscapes more accurately and realistically. To achieve this purpose, this study used dynamic simulations considering shape and layout of buildings, the primary factors in streetscapes. This study can be summarized as follows: 1. Two indicators to manage streetscape were investigated in previous studies: one to increase visual openness and the other to reduce visual overstimulation. These indicators had high correlation with scenic beauty. Therefore, increasing openness and reducing overstimulation are essential to improve streetscapes. 2. Two household tower type buildings should be arranged along roadsides to increase openness and scenic beauty. However, low tower buildings with two household are not suitable along roadsides because they create monotony and intervals are needed between buildings. 3. To increase openness, the angled arrangement of buildings is suggested $75^{\circ}{\sim}90^{\circ}(105^{\circ}{\sim}135^{\circ})$ for low buildings, $30^{\circ}{\sim}45^{\circ}(135^{\circ}{\sim}150^{\circ})$ for mid-sized buildings, and $75^{\circ}{\sim}90^{\circ}(105^{\circ}{\sim}135^{\circ})$ for high buildings. 4. To reduce overstimulation, the height and setback control regulations should be at an angle of less than $45^{\circ}$. This study suggests more accurate management guidelines by organizing the indicators that could effectively manage streetscapes and by overcoming limitations of reality shown in a static simulation.

• 한국정밀공학회지
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• 제26권2호
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• pp.35-44
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• 2009

Long stroke Fast Tool Servo (LFTS) with maximum stroke of $432{\mu}m$ is designed, manufactured and tested for fabrication of optical free-form surfaces. The large amount of stroke in LFTS has been realized by utilizing the hinge and lever mechanisms which enable the displacement amplification ratio of 4.3. In this mechanism the peculiar shape was devised for maximizing the displacement of end tip in LFTS and special mechanical spring has been mounted to provide the sufficient preload to the piezoelectric actuator. Also, its longitudinal motion of tool tip can be measured by capacitive type displacement sensor and closed-loop controlled to overcome the nonlinear hysteresis. In order to verify the static and dynamic characteristics of designed LFTS, several features including step response, frequency response and cut-off frequency in closed-loop mode were experimentally examined. Also, basic machining result shows that the proposed LFTS is capable of generating the optical free-form surface as an additional axis in diamond turning machine.

• Nuclear Engineering and Technology
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• 제38권5호
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• pp.411-416
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• 2006

The Advanced Test Reactor (ATR), at the Idaho National Laboratory (INL), is one of the world's premier test reactors for providing the capability for studying the effects of intense neutron and gamma radiation on reactor materials and fuels. The physical configuration of the ATR, a 4-leaf clover shape, allows the reactor to be operated at different power levels in the comer 'lobes' to allow for different testing conditions for multiple simultaneous experiments. The combination of high flux (maximum thermal neutron fluxes of 1E15 neutrons per square centimeter per second and maximum fast [E>1.0 MeV] neutron fluxes of 5E14 neutrons per square centimeter per second) and large test volumes (up to 122 cm long and 12.7 cm diameter) provide unique testing opportunities. The current experiments in the ATR are for a variety of test sponsors - US government, foreign governments, private researchers, and commercial companies needing neutron irradiation services. There are three basic types of test configurations in the ATR. The simplest configuration is the sealed static capsule, which places the capsule in direct contact with the primary coolant. The next level of experiment complexity is an instrumented lead experiment, which allows for active control of experiment conditions during the irradiation. The most complex experiment is the pressurized water loop, in which the test sample can be subjected to the exact environment of a pressurized water reactor. For future research, some ATR modifications and enhancements are currently planned. This paper provides more details on some of the ATR capabilities, key design features, experiments, and future plans.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1808-1813
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• 2005

In this paper, we present the finger tip tactile sensor which can detect contact normal force as well as slip. The developed sensor is made of two different materials, such as polyvinylidene fluoride(PVDF) that is known as piezoelectric polymer and pressure variable resistor ink. In order to detect slip to surface of object, a PVDF strip is arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, we developed a tactile sensing system by miniaturizing the charge amplifier, in order to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.

• Smart Structures and Systems
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• 제22권2호
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• pp.201-207
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• 2018

This paper proposes a line laser thermography scanning (LLTS) system for multiple crack evaluation on a concrete structure, as the core technology for unmanned aerial vehicle-mounted crack inspection. The LLTS system consists of a line shape continuous-wave laser source, an infrared (IR) camera, a control computer and a scanning jig. The line laser generates thermal waves on a target concrete structure, and the IR camera simultaneously measures the corresponding thermal responses. By spatially scanning the LLTS system along a target concrete structure, multiple cracks even in a large scale concrete structure can be effectively visualized and evaluated. Since raw IR data obtained by scanning the LLTS system, however, includes timely- and spatially-varying IR images due to the limited field of view (FOV) of the LLTS system, a novel time-spatial-integrated (TSI) coordinate transform algorithm is developed for precise crack evaluation in a static condition. The proposed system has the following technical advantages: (1) the thermal wave propagation is effectively induced on a concrete structure with low thermal conductivity of approximately 0.8 W/m K; (2) the limited FOV issues can be solved by the TSI coordinate transform; and (3) multiple cracks are able to be visualized and evaluated by normalizing the responses based on phase mapping and spatial derivative processes. The proposed LLTS system is experimentally validated using a concrete specimen with various cracks. The experimental results reveal that the LLTS system successfully visualizes and evaluates multiple cracks without false alarms.

• 동력기계공학회지
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• 제14권3호
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• pp.77-82
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• 2010

In general, the control valves are essential components in hydraulic systems. Structural changes within the valves remain a challenge because many parameters of valve tend to interact in terms of static and dynamic performance. Therefore, the valve characteristics is applied directly to the stability of hydraulic system. Inner structure of the valve which is used mainly in the industries is made up poppet type and spool type. This paper made a description of the method for numerical analysis and modeling of the valve with a built-in moving part of four-type. Based on the physical parameters of the valves, a numerical model of objected valve is developed using the bond graph method. It is to verified the results that the moving part of four-type has an effect on pressure and flow characteristics. Also, It is analyzed the results which has an effect on response characteristic by angular of poppet valve face and inertia variation of the valve with a built-in moving part. In the results, it is confirmed that the rising and settling time vary with the shape of moving part in valve.

• 한국정밀공학회지
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• 제16권6호
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• pp.141-147
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• 1999

Optical disk technology with a laser beam for data recording and retrieval is one of the most promising route for high density information storage in multimedia era. As the storage density and data transfer rates are increased, mechanical issues, mainly noise and vibration, become critical. Rubber materials are extensively used in various machine design application, mainly for vibration/shock/noise control devices. Over the years an enormous effort has been put into developing procedures to provide properties of rubber components with complex shape and under pre-deformed state. In this paper, non-linear large deformations of a rubber mount for optical disk drive were investigated using the finite element method. A tension test of rubber material was performed, to calculate a strain energy function. According to the pre-deformed state, the variation of rubber mount stiffness were calculated and the reliability of numerical results were checked by compared with the measuring the deflection values. Also, the effects of the pre-deformed rubber mount on the system dynamic characteristics were investigated and the relation between the static stiffness variation of rubber mount and the natural frequence variation of system was discussed.

• 한국철도학회논문집
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• 제8권1호
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• pp.41-50
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• 2005

Steel -Concrete Composite two girder railway bridges applying high performance steel with extra thick plate have economic and aesthetic advantages due to the simplification of manufacturing and construction process. However, steel bridges are seldom adopted in domestic railway bridge, since steel bridges are not efficient as R.C bridges considering dynamic characteristics and noise, etc. While highway bridges do not have lower horizontal bracing and larger interval of diaphragm cross beam, railway bridges install lower horizontal bracings to control the torsion due to heavy eccentrical line load. Accurate finite element analysis were performed with the parameters of existence of bracing and bracing shape, with the cross beam interval and stiffness, etc. To find out the effects of secondary members such as horizontal bracings and diaphragms, static md dynamic analysis have been performed by using finite element method. In this study, few member plate-girder bridges are analyzed with variable span lengths to examine the dynamic behavior and limits of damping. And though lateral bracings are members against torsion, but lateral bracing's absence is no big problem. Time history analysis using mode superposition method makes proof of this result.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2515-2517
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• 1998

The micro fresnel lens(MFL) was modeled and fabricated on a XY-stage electrostatically driven by comb actuator. The modeled MFL was approximated as a step shape with 4-phase and 4-zone plate. The focal length and diameter of the MFL is 20mm and 912${\mu}m$, respectively. The XY-stage suspending the MFL is designed to generate a large static displacement up to about 20${\mu}m$. On SOI substrates, we first fabricated MFL using the RIE(reactive Ion etching) technology and then patterned and etched bulk silicon to make XY-stage. After the fabrication of all structures on top side of the SOI substrates. $Si_3N_4$ was deposited for passivation of all structures using PECVD(plasma enhanced chemical vapor deposition). All the MFL systems width comb drive actuator were released by KOH etching from the bottom side of the SOI wafer using double-sided alignment technique. In fabrication of MFL, a dry etching conditions is established in order to improve surface roughness and to control the etched depth.