• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.67-68
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• 2006

In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot ann was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the ann joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.63-64
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• 2006

In this paper, design modification was performed to improve the structure of ex-developed 12 D.O.F Biped walking robot, KUBIR-1 similar with human beings. The motion of KUBIR-1 was slow and had a limited walking space. Hence I designed an improved BWR named KUBIR-2 with 12 degree of freedom. KUBIR-2 was designed to solve the following problems of KUBIR-1. First, KUBIR-2 was more simply designed in the four-bar-link mechanism, and its weight was reduced. Second, it had the built-in controller and motor driver. Third, walking velocity of KUBIR-2 was increased by improvement of speed and motion joint angle range. In addition to these, we modified the structure of the foot for more stable walking.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.5
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• pp.625-634
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• 2007

KARI SUAV program was initiated to develop a Smart Unmanned Aerial Vehicle with innovative smart technologies. SUAV is a tilt rotor aircraft of which rotor system is 3-bladed, gimbaled hub type. Several existing concepts of gimbaled hub were analyzed and compared to investigate the applicability to SUAV rotor system design. From the result of these investigations, it was concluded that a new design concept of low cost and high reliability characteristics was necessary for the rotor hub development of SUAV. The design requirements of new gimbal hub concept and the design results were presented. Also, the analysis results to verify the satisfaction of design requirements of SUAV rotor system were presented.

• Agricultural and Biosystems Engineering
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• v.5 no.2
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• pp.50-54
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• 2004

The study aimed to develop a mechanized mushroom growing system for the substrate materials mixing and wetting, materials fermentation and pasteurisation through the design of integrated cultivation machine system for oyster mushroom. The power requirement of the prototype during fermentation operation was measured in the range of 31$\~$33 kg-m and the torque has not so much differ by the kinds and quantity of materials. The work efficiency of conventional method for stacking the heap and turning the heap of cotton waste by tractor rotavator and manual wetting required 78 hours. But the watering, fermentation and sterilisation by the prototype use same operation required 25.5 hours, which can save the operation labour by $67\%$. The machine can be saved the requirement of heating energy by $63\%$, and the machine can also be saved the material cost by $44\%$. It is envisaged that the machine can effectively be used for large mushroom growing farms or joint use mushroom growing group-farmers in a village.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.76-83
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• 2006

In this paper, an analysis on a new robot manipulator developed for the side buffing of the shoes is presented. The robot manipulator is composed of five degrees of freedom. An analysis on the forward and inverse kinematics was performed. Through the analysis, an analytic solution was derived for the joint angles corresponding to the position and orientation of the tool in the Cartesian coordinates. The hardware system of the robot composed of the control system, input/output interface system, and related electronic system was developed. The communication system was also developed to interact the robot with the related surrounding systems. A graphic user interface(GUI) program including the forward/inverse kinematics, control algorithm, and communication program was developed using visual C++ language.

• Korean Security Journal
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• no.3
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• pp.251-272
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• 2000

Attempts have also been made to locate security in the so-called 'policingdivision of labour' In order to understand this, it is necessary to identify some of the links which exist between public police organizations and the private security sector. Such links can be divided into six types : 1) Interpersonal links, 2) Joint operations, 3) Exchange of services, 4) Granting of special powers, 5) Public bodies hiring private personnel, 6) New organizational. Van Reenen provides a useful outline of the different dimensions of future Glibalization of policing. Developments, he suggests, are likely to proceed in four directions : 1) Co-operation : at this level, the nature and powers of national police systems are not required to change, co-operation occurring between self-standing forces. 2) Horizontal integration : this arises when officers obtain authority to operate in another country, or where government officials from one country get authority over the police in another country. 3) Vertical integration : this exists when a police organization is created which can operate within the area of the EC as a whole. 4) Competition : the internationalization of policing in Europe presents itself, more and more, as a market in which different policing systems trade their products.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.507-510
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• 2002

We developed a human-sized BWR(biped walking robot) named KUBIRI driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIRI was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize informations on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interfacer was developed based on the open inventor tool. Through the graphic interfacer, the control input of KUBIRI is performed.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.10 s.175
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• pp.218-224
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• 2005

Arthroscopy is a surgical procedure orthopedic surgeons use to visualize, diagnose and treat problems inside a joint. In usual, since the arthroscopic surgery is more accurate and minimally invasive than through 'open' surgery, the surgery of knee, shoulder, and wrist using auto-shaver is increasing in recent. However, repetitive use of arthroscopic-shaver may induce the second infection, hence the disposable arthroscopic-shaver should be developed. In this paper, a unique power transmission mechanism using DC motor, gear trains, and link mechanism is proposed for disposable arthroscopic-shaver and some test results of tissue cutting are introduced.

• Proceedings of the Korea Water Resources Association Conference
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• 2004.05b
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• pp.272-276
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• 2004

이수기와 같이 장기적인 관점에서 저수지운영을 해야 하는 관리자는 해당 기간동안의 이익을 최대화하는 전략을 필요로 한다. 이를 위해서는 미래 유입량의 불확실성을 고려한 최적화 모형에 근거한 운영률을 수립해야 할 것이다. 본 연구에서는 금강수계의 이수기를 대상으로 추계학적 최적화 기법인 표본 추계학적 동적계획법(Sampling Stochastic Dynamic Programming)을 적용하여 최적 연계운영 시스템을 개발하였다. 본 연구를 통해 개발된 모형은 상용프로그램인 CSUDP와의 비교를 통해 검증되었으며 이를 기반으로 과거자료를 이용한 SSDP/Hist모형과 앙상블 유량예측(Ensemble Streamflow Prediction)을 이용한 SSDP/ESP모형을 개발하여 두 모형의 장${\cdot}$단점을 비교 분석하였다. 발전부분은 두 모형이 비슷하였으나 용수공급 측면에서는 SSDP/ESP가 SSDP/Hist 보다 우수함을 알 수 있었다.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.4 no.2
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• pp.57-61
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• 2008

During the period of retubing work for the licensing renewal, the fuel channels, calandria tubes and feeders of CANDU Reactors will be replaced, and calandria visual examination will be performed. This period is a unique opportunity to inspect the inside of the calandria. The visual inspection for the calandria vessel and its internals of Wolsong NPP is scheduled for confirming the calandria integrity. The first visual inspection for the calandria is planned in Pt. Lepreau led by AECL. The visual inspection for Wolsong NPP, led by NETEC(Nuclear Engineering & Technology Institute) of KHNP, will employ 3D laser scanner and 3D CAD Mock-up for the first time in the world, in addition to a conventional video camera. The inspection system is composed of a robot with the 3D laser scanner, a video camera and a hardness meter.