• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume I
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• pp.220-223
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• 2006

The COMS(Communication, Ocean and Meteorological Satellite) EPS(Electrical Power Subsystem) is derived from an enhanced Eurostar 3000 EPS which is fully autonomous operation in normal conditions or in the event of a failure and provides a high level of reconfiguration capability and flexibility. This paper introduces the COMS EPS preliminary design result. The COMS EPS consists of a battery, a solar array wing, a PSR(Power Supply Regulator), a PRU(Pyrotechnic Unit), a SADM(Solar Array Drive Mechanism) and relay and fuse brackets. This can offer a bus power capability of 3 kW. The solar array is made of a deployable wing with two panels. One type of solar cells is selected as GaAs/Ge triple junction cells. Li-ion battery is base lined with ten series cell module of five cells in parallel. PSR associated with battery and solar array generates a power bus fully regulated 50 V. Power bus is centralised protection and distribution by relay and fuse brackets. PRU provides power for firing actuators devices. The solar array wing is routed by the SADM under control of the AOCS(Attitude Orbit Control Subsystem). The control and monitoring of the EPS especially of the battery, is performed by the PSR in combination with on-board software.

• 대한인간공학회지
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• 제24권4호
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• pp.55-62
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• 2005

This study examined the effect of ergonomic heel rest that was designed for drivers who have physical handicap in the low leg muscles or have to drive prolonged hours with frequent foot pedaling. An experiment was designed to test the ergonomic heel rest with traditional foot pedal. Forty subjects participated in the experiment. Electromyography(EMG) was used to monitor the muscle activity and fatigue of right leg, and Electro-goniometer was used to measure the ranges of motions of the knee and ankle. A simulator of driver's seat was built for the experiment and the heel rest was installed on it. In order to examine the low muscle activity and range of motion, subjects used the foot pedal for 15 minutes repetitively for each experimental condition. Another 15 minutes test without the heel rest was also performed for comparison. The Root Mean Square(RMS) and Mean Power Frequency(MPF) Shift were used to quantify the level of muscle activity and local muscle fatigue. In results, statistically significant decreases of muscle activity and fatigue were found in all the low leg muscles. The range of motion of the knee and ankle joint also decreased when the heel rest was used. The mechanism of the heel rest effect was discussed in this study. This type of heel rest can be applied to real driving situation after ensuring the safety, or overcoming the psychological discomfort possibly due to unfamiliarity.

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.961-970
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• 2004

Tactile sensation is one of the most important sensory functions along with the auditory sensation for the visually impaired since it replaces the visual one of the persons with sight. In this paper, we present a tactile display device as a dynamic Braille display that is the unique tool f3r exchanging information among them. The tactile cell of the Braille display proposed is based on the dielectric elastomer, which is one of the electroactive polymers. It has advantageous features over the existing ones with respect to intrinsic softness, ease of fabrication, cost effectiveness and miniaturization. We introduce a new idea for actuation as well as additional considerations such as the driving circuit that makes it possible to drive multiple tactile cells in a high speed. Also, we describe the actuating mechanism of the Braille pin in details capable of realizing the enhanced spatial density of the tactile cells. Finally, results of psychophysical experiments are given to evaluate its effectiveness.

• 전산구조공학
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• 제10권3호
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• pp.225-231
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• 1997

제어봉 구동장치(CEDM)의 동적거동은 원자로의 동적거동과 연동되어 있어, 두 구조물 간의 상호 동적 특성을 이해한 후 CEDM의 설계 개선 방향을 정립해야 한다. 원자로와 CEDM을 각각 1차 질량 및 2차 질량으로 하는 2 자유도계로 단순화하여 상호 동적 영향을 검토하고, 두 질량의 응답을 모두 감소시키는 최적의 .mu.-f곡선을 제시하였다. 설계 개선은 고유진동수비 f를 가능한 0.93부근으로 수렴시켜야 하며, 질량비 .mu.는 감소시키지 않아야 하고, 제시된 최적의 .mu.-f곡선에 접근시키는 방향으로 해야 함을 제안하였다. 이에 따라 CEDM의 부품들의 설계를 최적화하여 원자로와 CEDM의 변위 응답비를 각각 10.5-19.7%와 6.3-3.4%씩 모두 감소시킬 수 있었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.87-90
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• 2001

This paper presents a design of new type biped robot and dynamic walking simulation for this system. The robot is distinguished from other one by which has a parallel mechanism type trunk and lead-screw type actuators to drive the joints of the trunk, knee and ankle. The basic consideration on the design is that it is able to accommodate itself to human's daily environments without any other modification of around and also to operate its upper limbs more smoothly with a spine functional trunk. It is designed according to a human with about 130 cm height and about 30 kg weight. And it also is able to dynamically walk on an even ground. It has constructed with total 14 DOFs which have two legs, a hip, and a trunk. The joints of each leg and trunk are adopted with a parallel structure which has good kinematic characteristics and take light weight. To test of the capacity of joint actuators and to analysis of the dynamic properties of the biped robot, optimized trunk trajectory is determined by means of an approximated FFT method based on ZMP criteria, and dynamic simulation is performed using DADS with a 1.1 time/step velocity on the even ground during four steps.

• 한국정밀공학회지
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• 제25권3호
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• pp.141-146
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• 2008

The purpose of this study is to develop the algorithm which can control muscle power assist robot especially for elderly. Recently, wearable robots for power assistance are developed by many researchers, and its application fields are also variable such as for medical or military equipment. However, there are many technical barriers to develop the wearable robot. This study suggest a control method improving performance of a wearable robot system by using a EMG signal of major muscles and a force sensor signal as command signal of system. The result of the robot Prototype efficiency experiment, the case of Maximum Isometric motion it suggest 100% power of muscle, the man need only 66% of MVIC(Maximum Voluntary Isometric Contraction) to lift 5kg dumbbell without robot assist. However the man needs only 52% of MVIC to lift 5kg dumbbell with robot assist. Therefore 20% muscle power increased with robot assist. Also, we designed light weight robot mechanism that extract the command signal verified and drive the wanted motions.

• 한국정밀공학회지
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• 제30권9호
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• pp.923-930
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• 2013

These days, the interests on the high speed handling robots are increasing because it is important to get down the unit cost of production to get the price competitiveness. The parallel kinematic mechanism is more suitable to implement the high speed robot system as well known. The moving parts of the high speed parallel robot have to be designed for light weight. But the vibration motion is induced by the light weight links because they drive in high acceleration and deceleration. In this reason, the structural analysis of the high speed parallel kinematic robot is very important in the design process. In this paper, the study on the structural analysis of a high speed parallel robot has been done and the research results will be introduced.

• 한국기계가공학회지
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• 제19권4호
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• pp.85-92
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• 2020

Applications for the unmanned aerial vehicle (UAV) have expanded enormously in recent years. Of all its various technologies, the UAV's ability to take off and land in a moving environment is particularly required for military or oceanic usage. In this study, we develop a novel leveling platform that allows the UAV to stably take off and land even on uneven terrains or in moving environments. The leveling platform is composed of an upper pad and a lower mobile base. The upper pad, from which the UAV can take off or land, is designed in the form of a 2 degrees of freedom (DOF) gimbal mechanism that generates the leveling function. The lower mobile base has a four-wheel drive structure that can be operated remotely. We evaluate the developed leveling platform by performing extensive experiments on both the horizontal terrain and the 5-degree ramped terrain, and confirm that the leveling platform successfully maintains the horizontal pose on both terrains. This allows the UAV to stably take off and land in moving environments.

• 대한기계학회논문집A
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• 제41권5호
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• pp.415-420
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• 2017

과소 구동 전동의수는 가벼우며 비교적 경제적이라는 장점이 있다. 본 연구에서는 적응파지가 가능한 과소 구동 전동의수를 대상으로 경제적인 파지력 제어 시스템을 제안하였다. 근전도 신호로 구동되는 메인 케이블의 장력으로 파지력이 결정되므로 장력에 따라 사용자의 피부에 부착된 진동모터를 구동하는 촉감기반 피드백 시스템을 구성하였다. 진동 신호에 대한 사용자의 감각적 판단을 기반으로 파지력을 추정하고 제어하기 위하여 파지력과 진동 신호 간의 적절한 변환 관계를 수립하고 시제품 성능시험을 하였다. 최소한의 훈련으로 사용자들은 비교적 정확하게 파지력을 제어할 수 있었다.

• 비파괴검사학회지
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• 제22권3호
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• pp.261-266
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• 2002

현재까지 검사를 목적으로 하는 배관 검사용 로봇에 관한 많은 연구가 소개되어 왔다. 그러나 지하매설 배관의 복합한 배관 요소 내에서 주행 할 수 있는 충분한 이동성을 갖추고 있는 로봇을 개발한다는 것은 여전히 어려운 것처럼 보인다. 배관 검사에 사용하기 위한 로봇은 수평관 및 수직관과 같은 기본적인 배관요소 내에서 자유롭게 주행해야 한다. 더불어 축소관이나 곡관에서 주행 할 수 있고 특히 분기관에서 조향 능력은 필수적이다. 본 논문에서는 배관 검사 로봇의 개발에 있어 필수적인 요소와 기술이 소개되며 지난 수년간 연구를 통하여 개발한 배관검사 로봇이 소개된다.