• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1060-1067
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• 2010

In this paper, we present a new type of spherical robot having two arms. This robot, called KisBot, mechanically consists of three parts, a wheel-shaped body and two rotating semi-spheres. In side of each semi-sphere, there exists an arm which is designed based on slider-crank mechanism for space efficiency. KisBot has hybrid types of driving mode: rolling and wheeling. In the rolling mode, the robot folds its arms through inside of itself and uses them as pendulum, then the robot works like a pendulum-driven robot. In the wheeling mode, two arms are extended from inside of the robot and are contacted to the ground, then the robot works like a one-wheel car. The Robot arms can be used as a brake during rolling mode and add friction to the robot for climbing a slope during wheeling mode. We developed a remote controlled type robot for experiment. It contains two DC motors which are located in the center of each semi-sphere for main propulsion, two RC motors for each arm operation, speed controllers for each semi-sphere, batteries for main power source, and other mechanical components. Experiments for the rolling and wheeling mode verify the hybrid driving ability and efficiency of the our proposed spherical robot.

• Journal of Korean Society of Occupational and Environmental Hygiene
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• v.8 no.2
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• pp.242-253
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• 1998

South Korea has been producing asbestos over 60 years. The use of asbestos was over 50 years for production of asbestos slate and 27 years for asbestos friction materials including asbestos textile and brake-lining. Thus, it can be supposed that asbestos related diseases such as asbestosis, lung cancer and mesothelioma could be found in the vulnerable workers exposed to asbestos in 1955-1975, given the average latency period of 10-30 years. Asbestos was produced primarily by Japanese during World War II In Korea. The production of chrysotile peaked to 4,815 tons in 1944. From 1978 to 1984, 10,000 tons of asbestos were produced annually. However, the production was interrupted by raising labor costs and extinction of mine reserves, and finally they had to depend on import for the need of asbestos. In 1945, there were 16 asbestos mines, in total, with the addition of new asbestos mines in South Korea. Imports of asbestos was increased from 74,000 tons to 95,000 tons during the period of 1976 - 1992. But the imports was reduced to 88,000 tons in 1995. Since, in addition to the import of asbestos itself, the imports of asbestos products were increased as well and the accumulation of asbestos reached to 30,000 tons during the period of 1964 to 1993. In 1965, there was only one asbestos company with 207 employees. But the size of asbestos industry has been expanded so much that 118 asbestos companies could be found in 1993 with 1,476 workers. However, there was no record on the survey of asbestos concentration to which workers were exposed in any companies in 1983. The record of the air-borne concentration of the asbestos in textile working places in 1984 showed 6.7 fibers/cc by geometric mean(GM), but it was reduced to 1.2 fibers/cc in 1993. GMs of asbestos in working places for construction materials and asbestos textiles were also decreased from 1.7 fibers/cc to 0.55 fibers/cc during the period of 1984 - 1996.