• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.1
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• pp.136-142
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• 2015

In the paper, a design method of knee and pelvis joint in the biped robot is proposed for shock absorption and gravity compensation. Similarly to the human's body, the knee joints of the biped robot support most body weight and get a shock from the landing motion of the foot on the floor. The torque of joint motor is also increased sharply to keep the balance of the robot. Knee and pelvis joints with the spring are designed to compensate the gravity force and reduce the contact shock of the robot. To verify the efficiency of the proposed design method, we develope a biped robot with the joint mechanism using springs. At first, we experiment with the developed robot on the static motions such as the bent-knee posture both without load and with load on the flat ground, and the balance posture on the incline plane. The current of knee joint is measured to analyze the impact force and energy consumption of the joint motors. Also, we observe the motor current of knee and pelvis joints for the walking motion of the biped robot. The current responses of joint motors show that the proposed method has an effect on shock reduction and gravity compensation, and improve the energy efficiency of walking motions for the biped robot.

• The Korean Journal of Air & Space Law and Policy
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• v.23 no.1
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• pp.33-54
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• 2008

The damage to the third parties caused by aircraft in flight shall be fully compensated to the extent that the damage didn't occur unless the damage is caused by innocent victims. However, related international Conventions limit operator's liability of compensation to certain levels, which is one of the main reasons that such international Conventions have not been ratified by many aviation leading States. However, international community has agreed, since 9/11, that the accidents caused by terrorists and the protection of the third parties need to be addressed more actively. And the amendment of the related Rome Conventions has been drafted under the ICAO leadership by the special committee that was organized to modernize the related international Conventions. This study addresses the issues related to the draft Conventions, the draft Convention for Damage caused by Aircraft to Third Parties, in case of Unlawful Interference and the draft Convention on compensation for Damage caused by Aircraft to Third Parties. It is expected that it takes considerable time to reach an agreement on all the issues from appropriate apportionment of liability between the government and operator to the details regarding the management of Supplementary Compensation Mechanism. Under the circumstances where the needs for the air transportation as well as threats of terrorism increase, the new international Convention should be prepared taking into consideration the balance between the protection of the innocent third parties and that of air transport industry including air carriers. Along with this, the Republic of Korea should actively participate in the process of amendment to the related international Conventions to protect the life and property of the people from anticipated damages.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.12
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• pp.1067-1076
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• 2016

This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithm controls the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.694-699
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• 2002

As the demand for slim laptops requires ion'-height optical disc drives, vibration problems of optical disc drives are of great concern. Additionally, with the decrease of a track width and a depth of focus in high density drives, studies on vibration resonance between mechanical parts become more important. From the vibration point of view, the performance of optical disc drives is closely related with the relative displacement between a disc and an objective lens which is controlled by servo mechanism. In other words, to read and write data properly, the relative displacement between an optical disc and an objective lens should be within a certain limit. The relative displacement is dependent on not only an anti-vibration mechanism design but also servo control capability. Good servo controls can make compensation for poor mechanisms, and vice versa. In a usual development process, robustness of the anti-vibration mechanism is always verified with the servo control of an objective lens. Engineers partially modify servo gain margin in case of a data reading error. This modification cannot correct the data reading error occasionally and the mechanism should be redesigned more robustly. Therefore it is necessary to verify a mechanism with respect to the possible servo gain plot. In this study we propose the experimental verification method far anti-vibration mechanism with respect to the existing servo gain plot. This method verifies axial vibration characteristics of optical disc drives on the basis of transmissibility. Using this method, we verified our mechanism and modified the mechanism for better anti-vibration characteristics.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.11
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• pp.833-839
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• 2002

As the demand for slim laptops requires low-height optical disc drives, vibration problems of optical disc drives are of great concern. Additionally, with the decrease of a track width and a depth of focus in high density drives, studies on vibration resonance between mechanical parts become more important. From the vibration point of view, the performance of optical disc drives is closely related with the relative displacement between a disc and an objective lens which is controlled by servo mechanism. In other words, to read and write data properly, the relative displacement between an optical disc and an objective lens should be within a certain limit. The relative displacement is dependent on not only an anti-vibration mechanism design but also servo control capability. Good servo controls can make compensation for poor mechanisms, and vice versa. In a usual development process, robustness of the anti-vibration mechanism is always verified with the servo control of an objective lens. Engineers partially modify servo gain margin in case of a data reading error. This modification cannot correct the data reading error occasionally and the mechanism should be redesigned more robustly. Therefore it is necessary to verify a mechanism with respect to the possible servo gain plot. In this study we propose the experimental verification method for anti-vibration mechanism with respect to the existing servo gain plot. Thismethod verifies axial vibration characteristics of optical disc drives on the basis of transmissibility. Using this method, we verified our mechanism and modified the mechanism for better anti-vibration characteristics.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.587-588
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• 2013

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.346-351
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• 1987

In this study, digital simulation with nonlinear modeling is carried out to analyse the performance of a hydraulic servomotor system developed for the position control of a large inertia. Nonlinear element, such as nonlinear pressure flow relationships of servovalve, valve spool limits, nonlinear friction, and backlash and resilience of gear system are included in the simulation along with the dynamic characteristics of variable delivery pump compensation mechanism. Simulation results are compared with experimental results for both step and sinusoidal inputs. Independent of input magnitude, both results are in good agreement with minor differences in detail.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.5
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• pp.813-817
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• 1987

High value sheet resistance (Rs' 1K-33K\ulcorner/) polysilicon resistors were fabricated using double ion implantation with boron as the major dopant and phosphorus compensation. It is observed that Rs sensitivity to the net doping concentration is decreased by one order of magnitude compared to the conventional (boron implanted)polysilicon resistors. The temperature co-efficient of resistance (TCR) measured between 25\ulcorner and 125\ulcorner shows equivalent values to those of non-compensated resistors for the same Rs. A qualitative electrical conductiion mechanism for compensated polysilicon resistor is proposed, based on the existing grain boundary charge trapping theory.

• Journal of Arbitration Studies
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• v.20 no.2
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• pp.173-198
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• 2010

The purpose of this paper is to research on the liability for the space damage and the settlement of the dispute with reference to the space activity under the international space treaty and national space law of Korea. The United Nations has adopted five treaties relating to the space activity as follows: The Outer Space Treaty of 1967, the Rescue and Return Agreement of 1968, the Liability Convention of 1972, the Registration Convention of 1974, and the Moon Treaty of 1979. All five treaties have come into force. Korea has ratified above four treaties except the Moon Treaty. Korea has enacted three national legislations relating to space development as follows: Aerospace Industry Development Promotion Act of 1987, Outer Space Development Promotion Act of 2005, Outer Space Damage Compensation Act of 2008. The Outer Space Treaty of 1967 regulates the international responsibility for national activities in outer space, the national tort liability for damage by space launching object, the national measures for dispute prevention and international consultation in the exploration and use of outer space, the joint resolution of practical questions by international inter-governmental organizations in the exploration and use of outer space. The Liability Convention of 1972 regulates the absolute liability by a launching state, the faulty liability by a launching state, the joint and several liability by a launching state, the person claiming for compensation, the claim method for compensation, the claim period of compensation, the claim for compensation and local remedy, the compensation amount for damage by a launching state, the establishment of the Claims Commission. The Outer Space Damage Compensation Act of 2008 in Korea regulates the definition of space damage, the relation of the Outer Space Damage Compensation Act and the international treaty, the non-faulty liability for damage by a launching person, the concentration of liability and recourse by a launching person, the exclusion of application of the Product Liability Act, the limit amount of the liability for damage by a launching person, the cover of the liability insurance by a launching person, the measures and assistance by the government in case of occurring the space damage, the exercise period of the claim right of compensation for damage. The Liability Convention of 1972 should be improved as follows: the problem in respect of the claimer of compensation for damage, the problem in respect of the efficiency of decision by the Claims Commission. The Outer Space Damage Compensation Act of 2008 in Korea should be improved as follows: the inclusion of indirect damage into the definition of space damage, the change of currency unit of the limit amount of liability for damage, the establishment of joint and several liability and recourse right for damage by space joint launching person, the establishment of the Space Damage Compensation Review Commission. The 1998 Final Draft Convention on the Settlement of Disputes Related to Space Activities of 1998 by ILA regulates the binding procedure and non-binding settlement procedure for the disputes in respect of space activity. The non-binding procedure regulates the negotiation or the peaceful means and compromise for dispute settlement. The binding procedure regulates the choice of a means among the following means: International Space Law Court if it will be established, International Court of Justice, and Arbitration Court. The above final Draft Convention by ILA will be a model for the innovative development in respect of the peaceful settlement of disputes with reference to space activity and will be useful for establishing the frame of practicable dispute settlement. Korea has built the space center at Oinarodo, Goheung Province in June 2009. Korea has launched the first small launch vehicle KSLV-1 at the Naro Space Center in August 2009 and June 2010. In Korea, it will be the possibility to be occurred the problems relating to the international responsibility and dispute settlement, and the liability for space damage in the course of space activity. Accordingly the Korean government and launching organization should make the legal and systematic policy to cope with such problems.

• Journal of Aerospace System Engineering
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• v.12 no.3
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• pp.9-17
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• 2018

For Earth observation, a small satellite camera has relatively weak structural stability compared to medium-sized satellite, resulting in misalignment of optical components due to severe launching and space environments. These alignment errors can deteriorate the optical performance of satellite cameras. In this study, we proposed a 3-axis focus mechanism to compensate misalignment in a small satellite camera. This mechanism consists of three piezo-electric actuators to perform x-axis and y-axis tilt with de-space compensation. Design requirements for the focus mechanism were derived from the design of the Schmidt-Cassegrain target optical system. To compensate the misalignment of the secondary mirror (M2), the focus mechanism was installed just behind the M2 to control the 3-axis movement of M2. In this case, flexure design with Box-Behnken test plan was used to minimize optical degradation due to wave front error. The wave front error was analyzed using ANSYS. The fabricated focus mechanism demonstrated excellent servo performance in experiments with PID servo control.