• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1427-1432
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• 2008

This paper describes the locomotion of a water jumping robot which attempts to emulate the fishing spider’s ability to jump on the water surface. While previous studies of the robots mimicking arthropods living on water were focused on recreating their horizontal skating motions, here we aim to achieve a vertical jumping motion. The robot jumps by pushing the water surface with rapidly released legs which were initially bent. The motion is triggered with a latch driven by the shape memory alloy actuator. The robot is capable of jumping to the maximum height of 26mm. Jumping efficiency, defined the maximum jumping height on water over the maximum jumping height on rigid ground, is 0.26 This work represents a first step toward robots that can locomote on water with superior versatility including skating and jumping.

• International Journal of Fluid Machinery and Systems
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• v.7 no.3
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• pp.125-129
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• 2014

The paint removal and recoating are the very important process in airplane maintenance. The traditional technology is to use the chemical way corroding the paint with paint remover. For changing the defects, corrosion & pollution & manual working, of the traditional technology, the physical process which removes the paint of airplane with 250MPa/250kW ultra-high pressure rotary water jetting though the surface cleaner installed on the six axes robot is studied. The paint layer of airplane is very thin and close. The contradiction of water jetting paint removal is to remove the paint layer wholly and not damage the surface of airplane. In order to solve the contradiction, the best working condition must be reached through tests. The paint removal efficiency with ultra-high pressure and move speed of not damaged to the surface. The move speed of this test is about 2m/min, and the paint removal efficiency is about $30{\sim}40m^2/h$, and the paint removal active area is 85-90%. No-repeat and no-omit are the base requests of the robot program. The physical paint removal technology will be applied in airplane maintenance, and will face the safety detection of application permission.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.1
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• pp.163-168
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• 2016

For the quality increase of agricultural and aquatic products, it is necessary to the efficient management system of integrated control and accurate data for improving the water quality of reservoirs. This may be using the USN save time and money. In this paper, the water surface robot was designed and manufactured for measuring and announcing the environment informations, and it's network was constructed. The robot had more excellent durability and was more inexpensive than previous model. The network was designed considering connection with ZigBee, TRS, Wi-Fi or LTE network. Also the exploration function of the robot was confirmed by the simulation and the user interface was programmed.

• Journal of Sensor Science and Technology
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• v.28 no.6
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• pp.407-413
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• 2019

Using 3D printing technology, we created a biomimetic water strider robot that can monitor environments. We found ways to increase the bearing capacity of the fluid-driven water strider robot by conducting experiments then comparing with more stable robots. The controller of the robot is based on Arduino, and can be controlled wirelessly with a Bluetooth module. The speed of the robot is 7.37 cm/s, and the bearing capacity is 29 g. A lithium polymer battery that can be charged with a solar cell was used as a power source, and both the charging and driving times were also explored.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.234-239
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• 2003

A cylindrical shape object is widely used as a mechanical part and a water pipe or an oil pipeline which are of cylindrical shape are widely used in the infrastructure. In order to handling such objects automatically using a robot, the posture i.e. orientation in 3D space should be recognized. However, since there is no edge or vertex in the pipe, it is very difficult task for the robot. In this paper in order to guide the robot, two kind of algorithms which find the axis using the measured range data from the robot to the object surface are to be developed. The algorithms are verified using both the simulated range data and the measured one.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.1
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• pp.8-15
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• 2003

The cylindrical object such as a water pipe or an oil pipeline are widely used in the infrastructure. Those pipes should be inspected periodically by human or a robot. However, since there is no edge or vertex in the pipe, it is very difficult for the robot to navigate along the pipe. In this paper in order to guide the robot along the axis of the pipe, an algorithm which find the axis using the measured range data from the robot to the pipe wall is developed The algorithm is verified using both the simulated range data and the measured one.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.58 no.1
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• pp.68-74
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• 2022

This study analyzed the wake characteristics of the rim-driven propeller (RDP) used in an underwater robot. For underwater robots to perform specific missions, not only propulsion characteristics but also wake characteristics must be considered. In this study, a blade was designed based on NAC 0012 with a symmetrical cross-section. The RDP was hubless with three or four blades. The influence of both the free water surface and the bottom was considered, and the wake was measured using a particle image velocimetry in the advance ratio of 0.2 to 1. Model 1 showed symmetrical wakes in the entire advance ratio section. Model 2 showed asymmetric wakes due to the influence of the free water surface and the bottom at low advance ratio.

• Fisheries and Aquatic Sciences
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• v.5 no.1
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• pp.36-42
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• 2002

Microarrayer is used to make DNA chip and microarray that contain hundreds to thousands of immobilized DNA probes on surface of a microscope slide. This paper shows the develop-ment results for a printing type of microarrayer. It realizes a typical, low-cost and efficient microarrayer for generating low density micro array. The microarrayer is developed by using a prependicular type robot with three axes. It is composed of a computer-controlled three-axes robot and a pen tip assembly. The key component of the arrayer is the print-head containing the tips to immobilize cDNA, genomic DNA or similar biological material on glass surface. The robot is designed to automatically collect probes from two 96-well plates with up to 12 pens at the same time. To prove the performance of the developed microarrayer, we use the general water types of inks such as black, blue and red. The inks are distributed at proper positions of 96 well plates and the three color inks are immobilized on the slide glass under the operation procedure. As the result of the test, we can see that it has sufficient performance for the production of low integrated DNA chip consisted of 96 spots within $1cm^2$ area.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.899-904
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• 2003

Microarrayer makes DNA chip and microarray that contain hundreds to thousands of immobilized DNA probes on surface of a microscope slide. This paper shows the development results for a printing type of microarrayer. It realizes a typical, low-cost and efficient microarrayer for generating low density microarray. The microarrayer is developed by using a robot of three-axes perpendicular type. It is composed of a computer-controlled three-axes robot and a pen tip assembly. The key component of the arrayer is the print-head containing the tips to immobilize cDNA, genomic DNA or similar biological material on glass surface. The robot is designed to automatically collect probes from two 96-well plates with up to 32 tips at the same time. To prove the performance of the developed microarrayer, the general water types of inks such as black, blue and red. The inks are distributed at proper positions of 96 well plates and the three color inks are immobilized on the slide glass under the operation procedure. As the result of the test, it can be shown that it has sufficient performance for the production of low integrated DNA chip consisted of 96 spots within 1 $cm^2$ area.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2023.11a
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• pp.17-18
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• 2023

This study aims to compare the hardness value development characteristics according to the water-cement ratio during a series of experiments to develop a setting estimator for an AI-based concrete finishing automation system. For the test variables, water-cement ratios are varied with 30, 40 and 50%. Proctor penetration test and surface hardness test by setting time estimator are conducted to estimate the setting time. For the effect of water-cement ratios, they did not affect the surface hardness either, while initial set time and final set time are not constant with water-cement ratios.