• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.70-75
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• 2003

There come various types of robot with researches for mobile robot. This paper introduces the multi-joint snake robot having 16 degree of freedom and composing of eight-axis. The biological snake robot uses the forward movement friction and the proposed artificial snake robot uses the un-powered wheel instead of the body of snake. To determine the enable joint angle of each joint, the controller inputs are considered such as color and distance using PC Camera and ultra-sonic sensor module, respectively. The movement method of snake robot is sequential moving from head to tail through body. The target for movement direction is decided by a certain article be displayed in the PC Camera. In moving toward that target, if there is any obstacle then the snake robot can avoid by itself. In this paper, we show the method of snake robot for tracing the target with experiment.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Proceedings of the KWS Conference
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• 2004.05a
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• pp.324-326
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• 2004

l2wt%Cr Steel has been applied on turbine bucket and nozzle partition material of power plant. Turbine bucket and nozzle get damaged by solid particle within steam, therefore they are protected by surface treatments such as ion nitriding, boriding and chrome carbide HVOF spray coating. In this study, solid particle erosion(SPE) characteristics after these surface treatments are examined at operating temperature 540$^{\circ}C$ and 590$^{\circ}C$ of fossil power plant and the mechanism of damage was studied. Erosion of 12wt%Cr steel is originated by micro cutting and that of boriding and chrome carbide HVOF spray is originated by these mechanism - repeating collision, crack initiation and propagation. As the results of SPE test at 540$^{\circ}C$ and 30$^{\circ}$ impact angle that is the most commonly occurred in power plant, Boriding had the best SPE -resistance property, Cr$_2$C$_3$-25(Ni20Cr) HVOF spayed and ion nitrided samples were also better than bare metals(l2wt%Cr Steels). At 590$^{\circ}C$ and 30$^{\circ}$ impact angle, Boriding had also the most superior characteristic and HVOF spay sample was better than bare metal.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.612-620
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• 2006

This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consumption energy of a multi-dof biped robot. Each joint angle trajectory is defined as a 4-th order polynomial of which the coefficients are chromosomes or design variables to approximate the walking gait. Constraints are divided into equalities and inequalities. First, equality constraints consist of initial conditions and repeatability conditions with respect to each joint angle and angular velocity at the start and end of a stride period. Next, inequality constraints include collision prevention conditions of a swing leg, singular prevention conditions, and stability conditions. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot model that consists of seven links in the sagittal plane. The optimal trajectory is more efficient than that generated by the Modified Gravity-Compensated Inverted Pendulum Mode (MGCIPM). And various trajectories generated by the proposed GA method are analyzed from the viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.2
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• pp.235-240
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• 2010

The recent trend of vehicle design aims at crash safety and environmentally-friendly aspect. For the crash safety aspect, energy absorbing members should be absorbed with collision energy sufficiently. But vehicle structure must be light weight for the environmentally-friendly aspect, in order to improve fuel efficiency and to reduce tail gas emission. Therefore, the light weight of vehicle must be achieved in a status of securing safety of crash. An aluminum or CFRP (Carbon Fiber Reinforced Plastics) is representative one among the light-weight materials. In this study, impact collapse behavior of circular hybrid thin-walled member is evaluated. The hybrid members are manufactured by wrapping CFRP prepreg sheets outside the aluminum circular members in the autoclave. Because the CFRP is an anisotropic material whose mechanical properties change with its stacking condition, special attention is given to the effects of the stacking condition on the collapse behavior evaluation of the hybrid thin-walled member. Collapse mode and energy absorption capability of the hybrid thin-walled member are analyzed with change of the fiber orientation angle and interface number.

• Journal of Auto-vehicle Safety Association
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• v.13 no.3
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• pp.69-77
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• 2021

Although accident data from the National Police Agency and insurance companies do not know the vehicle safety, the damage level information can be obtained from the data managed by the bus credit association or the bus company itself. So the accident severity was analyzed based on the side impact accidents using accident repair cost. K-means clustering analysis separated the cost of accident repair into 'minor', 'moderate', 'severe', and 'very severe'. In addition, the side impact accident severity was analyzed by using an ordered logit model. As a result, it is appeared that the longer the repair period, the greater the impact on the severity of the side impact accident. Also, it is appeared that the higher the number of collision points, the greater the impact on the severity of the side impact accident. In addition, oblique collisions of the angle of impact were derived to affect the severity of the accident less than right angle collisions. Finally, the absence of opponent vehicle and large commercial vehicles involved accidents were shown to have less impact on the side impact accident severity than passenger cars.

• Proceedings of the Korean Geotechical Society Conference
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• 2010.09c
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• pp.72-77
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• 2010

The Incheon Bridge, which was opened to the traffic in October 2009, is an 18.4 km long sea-crossing bridge connecting the Incheon International Airport with the expressway networks around the Seoul metropolitan area by way of Songdo District of Incheon City. This bridge is an integration of several special featured bridges and the major part of the bridge consists of cable-stayed spans. This marine cable-stayed bridge has a main span of 800 m wide to cross the vessel navigation channel in and out of the Incheon Port. In waterways where ship collision is anticipated, bridges shall be designed to resist ship impact forces, and/or, adequately protected by ship impact protection (SIP) systems. For the Incheon Bridge, large diameter circular dolphins as SIP were made at 44 locations of the both side of the main span around the piers of the cable-stayed bridge span. This world's largest dolphin-type SIP system protects the bridge against the collision with 100,000 DWT tanker navigating the channel with speed of 10 knots. Diameter of the dolphin is up to 25 m. Vessel collision risk was assessed by probability based analysis with AASHTO Method-II. The annual frequency of bridge collapse through the risk analysis for 71,370 cases of the impact scenario was less than $0.5{\times}10^{-4}$ and satisfies design requirements. The dolphin is the circular sheet pile structure filled with crushed rock and closed at the top with a robust concrete cap. The structural design was performed with numerical analyses of which constitutional model was verified by the physical model experiment using the geo-centrifugal testing equipment. 3D non-linear finite element models were used to analyze the structural response and energy-dissipating capability of dolphins which were deeply embedded in the seabed. The dolphin structure secures external stability and internal stability for ordinary loads such as wave and current pressure. Considering failure mechanism, stability assessment was performed for the strength limit state and service limit state of the dolphins. The friction angle of the crushed stone as a filling material was reduced to $38^{\circ}$ considering the possibility of contracting behavior as the impact.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.5
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• pp.627-635
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• 2019

A programmable drone is a drone developed not only to experience the basic principles of flight but also to control drones through Arduino-based programming. Due to the nature of the training drones, the main users are students who are inexperienced in controlling the drones, which often cause frequent collisions with external objects, resulting in high damage to the drones' frame. In this study, the structural stability of the drone was evaluated by means of a structural dynamics based collision simulation for educational drone frame. Collision simulations were performed on three cases according to the impact angle of $0^{\circ}$, $+15^{\circ}$ and $-15^{\circ}$, using an analytical model with approximately 240,000 tetrahedron elements. Using ANSYS LS-DYNA, which provides excellent functions for the simulation of the dynamic behavior of three-dimensional structures, the stress distribution and strain generated on the drone upper, the drone lower, and the ring assembly were analyzed when the drones collided against the wall at a rate of 4 m/s. Safety factors resulting from the equivalent stress and the yield strain were calculated in the range of 0.72 to 2.64 and 1.72 to 26.67, respectively. To ensure structural stability for areas where stress exceeds yield strain and ultimate strain according to material properties, the design reinforcement is presented.

• Journal of the Korean Society of Safety
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• v.30 no.6
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• pp.1-6
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• 2015

The actual condition is that environmental pollution due to the development of various industries has recently become a serious issue. An interest in improving the gas mileage is rising due to an increase in the number of vehicles in the era of high oil price in particular. In order to solve this problem, priority should be given to light-weight design of car body, However, at present, a design method enabling the conventional steel plate to be replaced is direly needed in order to guarantee passengers' safety according to excessive light-weight design of car body. In this study, in order to apply a design method that could realize fuel savings and environmental pollution prevention through an improvement in gas mileage together with meeting the safety requirements for vehicles, it was supposed that CFRP/Al composites member would be used as primary structural member. And to this end, it was intended to obtain optimum design data by experimentally implementing external impulsive load applied to the car body. According to results of impact test of CFRP/Al composites member, a collapsed shape of folding, crack, and bending occurred. So, it was possible to find that energy was observed. And in case of specimen having an angle of $90^{\circ}$ in the outermost layer and stack sequence of $[90^{\circ}{_2}/0^{\circ}2]s$, its collapsed length was shown to be short. Therefore, it was possible to find that the absorbed energy was shown to be higher by 20% or above at the maximum.

• Journal of the Korean Society of Safety
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• v.32 no.1
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• pp.1-8
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• 2017

In industry AGV's(automated guided vehicles) that can detect and follow guidelines drawn on the factory floor using magnetic or optical sensors are widely used. However, such AGV's without preview capability cannot effectively avoid collision with obstacles that may occasionally pass through the guideline. Furthermore, without preview information, they consume much energy at the right angle corners as they have to make sudden directional change. Also, the risk of dropping payloads increases in such situations. In this study, infrared preview sensors were adopted to a mobile robot for detecting not only the current position but also the forward position of the guideline and the preview control technique was applied to optimally control the mobile robot's motion using the information from the infrared preview sensors. Then the effectiveness of this approach was investigated through a series of experiments. The experimental result shows that the proposed approach is effective for safety enhancement as well as for better efficiency.