• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.143-144
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• 2010

Nowadays, sounding is done by either manually on a boat or through the use of survey. These existing measures are considered to be very inefficient. they are not only greatly limited by environmental circumstances but also requires much of time, expenses, and manpower. Therefore, there emerges a greater need for a new sounding system which will allow us to measure the depth of water, less affected by financial and environmental restrictions, within a short period of time. This is a base study for developing an automatic sounding system, which will enhance the advantages of manned sounding and unmanned sounding, raise the effectiveness and economic efficiency, and acquire more precise data.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.88-94
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• 2016

In this paper, we describe a new approch to control method of a four joints-robot gripper for the purpose of parts assemblying. The robot gripper is specifically modeled by using a 3D CAD program (ANSYS), considering artificial grippers, and then the proposed control method is illustrated through the dynamic simulation tool (Adams). Each gripper finger is individually controlled to be located at the optimal positions where the maximal joint torque can be calculated. To verified the effectiveness of the proposed control method, we proposed two cases for the reference position of gripper. By comparing the control performance of two method, the performance of the proposed control method was verified.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2149-2151
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• 2003

본 논문에서는 마이컴(PIC16C74)과 Tabu 탐색법 및 지능기법(퍼지 및 신경회로망)을 이용하여 고정밀 제어 및 강인한 제어 성능을 가지는 초소형 DC 모터용 지능형 제어기를 개발하였다. 이를 위해 마이컴(PIC16C74)를 이용한 지능형 제어 알고리즘을 개발하고, 초소형 DC 모터용 드라이브 회로 설계 및 제작하였다. 개발한 초소형 DC 모터 지능형 제어기는 디지털 자동 용접캐리지에 적용할 예정이며, 다른 응용 분야로써는 자동배수장치, 반도체 분야, 산업용 로봇 분야 및 조립자동화 시스템 분야 등에 사용되는 구동모터에 적용함으로서 정밀도와 외부의 잡음에 대한 영향을 경감시켜 안정성과 효율향상 및 에너지절약이 가능할 것이다.

• 월간 기계설비
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• no.12 s.209
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• pp.34-43
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• 2007

환경부는 산하 수처리선진화사업단에서 수돗물 수질개선대책의 일환으로 연구개발한 옥내급수관 진단, 세척 및 갱생기술을 적용, 서울시와 공동으로 시범사업을 실시한다고 밝혔다. 이 사업은 서울 둔촌동 주공아파트 2개동 80세대를 대상으로 약 1억2000만원의 예산을 들여 지난 8월 말부터 시행, 수돗물 녹물발생 방지를 위한 갱생기술의 완성도를 검증·확인한다는 것. 기존 옥내급수관 갱생기술은 평균 관직경 15mm인 소형관에 대한 정밀시공이 어려워 녹이 재발하는 경우가 많았다. 하지만 이번에 개발된 기술은 수도관 내부의 녹 제거 및 관 내부 표면이 균일토록 코팅할 뿐 아니라 시공 후 마이크로 로봇을 이용, 관 내부 촬영 및 절연도 체크를 통해 코팅 완성도를 확인, 녹 재발 가능성을 미연에 방지한다. 이번 기술이 검증되면 환경부는 선박배관, 빌딩, 냉각수배관, 소화용배관, 산업용배관 등에도 확대 적용하고 해외진출을 통해 물산업 육성 아이템으로 발전시킬 계획이다. 한편 환경부는 지난 2005년 수도법을 개정, 건축연면적 6만$m^2$이상 다중이용건축물과 연면적5,000$m^2$이상 국.공립 공공시설은 준공 5년 후부터 매년 수질검사를 실시, 결과에 따라 수도관을 세척·갱생 또는 교체토록 올해 1월부터 의무화 하고 있다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.7
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• pp.2913-2918
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• 2011

This paper proposed the friction model using Preisach algorithm with neural network based on experimental results. In order to apply the neural network algorithm, the back propagation update rule was used and the updated weighting factor of neural network was applied to distribute function of Preisach model. In order to implement the proposed algorithm, the LabView software was used to apply to the precision control of mechanical system. The evaluation of the proposed friction model was executed through experiments.

• Journal of Broadcast Engineering
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• v.28 no.2
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• pp.230-237
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• 2023

Self-driving is a key technology of the fourth industry and can be applied to various places such as cars, drones, cars, and robots. Among them, localiztion is one of the key technologies for implementing autonomous driving as a technology that identifies the location of objects or users using GPS, sensors, and maps. Locilization can be made using GPS or LIDAR, but it is very expensive and heavy equipment must be mounted, and precise location estimation is difficult for places with radio interference such as underground or tunnels. In this paper, to compensate for this, we proposes an image retrieval using attention module and image segmentation maps using color images acquired with low-cost vision cameras as an input.

• Journal of Appropriate Technology
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• v.7 no.2
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• pp.196-205
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• 2021

As industrial safety increases, various industrial accident prevention technologies using smart factory technology are being studied. However, small and medium enterprises (SMEs), which account for the majority of industrial accidents, are having difficulties in preventing industrial accidents by applying these smart factory technologies due to practical problems. In this study, customized monitoring and warning systems for each type of industrial accident were developed and applied to the actual field. Through this, we demonstrated industrial accident prevention technology through appropriate smart factory technology used by SMEs. A customized monitoring system using vision, current, temperature, and gas sensors was established for the four major disaster types: worker body access, short circuit and overcurrent, fire and burns due to high temperature, and emission of hazardous gas. In addition, a notification method suitable for each work environment was applied so that the monitored risk factors could be recognized quickly, and real-time data transmission and display enabled workers and managers to understand the disaster risk effectively. Through the application and demonstration of these appropriate smart factory technologies, the spread of these industrial safety technologies is to be discussed.

• Korean Journal of Remote Sensing
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• v.38 no.6_3
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• pp.1827-1836
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• 2022

Disasters that occur unexpectedly are difficult to predict. In addition, the scale and damage are increasing compared to the past. Sometimes one disaster can develop into another disaster. Among the four stages of disaster management, search and rescue are carried out in the response stage when an emergency occurs. Therefore, personnel such as firefighters who are put into the scene are put in at a lot of risk. In this respect, in the initial response process at the disaster site, robots are a technology with high potential to reduce damage to human life and property. In addition, Light Detection And Ranging (LiDAR) can acquire a relatively wide range of 3D information using a laser. Due to its high accuracy and precision, it is a very useful sensor when considering the characteristics of a disaster site. Therefore, in this study, development and experiments were conducted so that the robot could perform real-time monitoring at the disaster site. Multi-sensor module was developed by combining LiDAR, Inertial Measurement Unit (IMU) sensor, and computing board. Then, this module was mounted on the robot, and a customized Simultaneous Localization and Mapping (SLAM) algorithm was developed. A method for stably mounting a multi-sensor module to a robot to maintain optimal accuracy at disaster sites was studied. And to check the performance of the module, SLAM was tested inside the disaster building, and various SLAM algorithms and distance comparisons were performed. As a result, PackSLAM developed in this study showed lower error compared to other algorithms, showing the possibility of application in disaster sites. In the future, in order to further enhance usability at disaster sites, various experiments will be conducted by establishing a rough terrain environment with many obstacles.

• Korea and Global Affairs
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• v.1 no.1
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• pp.115-152
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• 2017

This paper is to analyse the changes in the future war patterns and ROK's response. To this end the paper is composed of 5 chapters titled instruction; concept, characteristics, types, and evolution of war; changes in the war patterns of the future; Korea's response strategies for the future war. Truth can be immutable, but everything else changes. War has begun with human history, and today there are still wars in places all over the world. As ages change from agricultural society to industrial society to knowledge and information society, aspects(patterns) of war have also changed. Future warfare includes the 5th dimensional war(in the ground, the sea, the air, the universe, the cyber), the network-centric, the precision strike, the rapid maneuver, the non-gunpowder, the non-lethal, the unmanned robot, the informational & cyber, the asymmetric, the non-linear, and the parallel etc. In response to these changes in the pattern of wars, the ROK military should seek (1)to build a future-oriented military force, (2)to continuously develop military innovation and preparedness, and (3)to develop and establish a paradigm for acquiring the power of technology. A Roman strategist, Vegetius said, "If you wish peace, prepare for war." This is a universally accepted maxim in international society today. We must never forget that peace we desire is given when we have the will and ability to keep.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.121-128
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• 2016

A furan mold design and machining system for marine propeller casting was developed. In general, a large marine propeller is produced by casting in a foundry, where the upper and lower molds are constructed of cement or other materials like furan. Then, the cast workpiece is machined and manually ground. Currently, furan mold construction requires a series of manual tasks. This introduces a fairly large amount of stock allowances, which require a considerable number of man-hours for later machining and grinding, and also increase the work processes. A mold design and off-line robot programming software tool with a six-axis robot hardware system was developed to enhance the shape accuracy and productivity. This system will be applied in a Korean ship building company.