The importance of safety and emergency preparedness of nuclear power plants (NPPs) has been increasingly emphasized since the Fukushima accident. Recently, the Nuclear Robot and Diagnosis Team at Korea Atomic Energy Research Institute (KAERI) initiated research on an unmanned emergency response robotics system. The objective of the research was to provide a practical means that countermeasure the initial accident stages of NPPs. Considering that the robotic systems that tried to mitigate the damage caused by the Fukushima accident did not work adequately, the robotic system to be developed should be tested in the testbed simulating the accident site of NPPs. In this paper, the recent domestic works on a robotic system for the safety of NPP were introduced.
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With increasing demand for disaster response robots, many governments projects have been launched to ensure safety for citizens. This paper reviews government policies and research trends on disaster response robots. To give a bird"s eye view on disaster response robots, we first reviewed foreign technologies. We then introduced recent technologies developed in Korea and some ongoing researches on disaster response robots.
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This paper reviews design elements and presents a mobile platform that has full access of wheel actuation for explicit steering with a minimized number of actuators. For the purpose of exploring lunar surfaces, there are two main design perspectives to be considered. First, the mobile system should guarantee traversability on rough terrain in microgravity condition. Secondly, the system should be sustainable in the extreme environment of the lunar surface including cosmic rays and excessive temperature changes. One of the potential solutions to improve the reliability of the rover system is to reduce the chance of failure by minimizing the number of electronic components including actuators and their following components and installing them in the rover’s warm-box. We approached the design of the mobile system in the aspect of its kinematics with assumptions of pure-rolling and non-lateral slip. We found a relation that a pair of front and rear wheels on the same side is coupled so that their alignment and rotational speed can be coupled by a mechanism. This allows advantages of explicit steering, minimizing redundancy of actuators and isolating all the electronic components from the effects of external environments. To demonstrate the feasibility of the system, we developed a rover testbed and presented its mobility of explicit steering by experiments of open-loop trajectory traveling.
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URI-T can perform various underwater construction tasks such as cable burial and maintenance. Successful sea trial results show that URI-T could be used in underwater construction fields. To improve the efficiency of URI-T, an assisted teleoperation scheme for underwater manipulations was also proposed. For the proposed scheme, by touching several points on the touch screen, one can move the manipulator to the target; it can reduce the burden of teleoperation of every degree-of-freedom (DOF) of the manipulators. The scheme also has a position estimation technique that can estimate six DOF position of the objects using 2D positions on the two images from cameras deployed in stereo. Via touch screen, the 2D positions are fed to guarantee reliability of the estimated results, which is one of the most important points in the underwater interventions. A control structure for the assisted teleoperation was investigated using the position estimation technique. The structure involved an inverse kinematics scheme based on the weighted damped least squares, which can resolve the kinematical limitations: workspace limit and singularity, and joint limits on position and velocity. This study established that the proposed assistance technique could significantly reduce operation time in comparison with the conventional teleoperation.
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Study for Operation Method of Underwater Cable and Pipeline Burying ROV Trencher using Barge and Its Application in Real Construction Min-Gyu Kim, Hyungjoo Kang, Mun-Jik Lee, Gun Rae Cho, Ji-Hong Li, Tae-Sam Yoon, Jaeheung Ju, Han-Wan Kwak Journal of Ocean Engineering and Technology.2020; 34(5): 361. CrossRef
Chemical Mechanical Planarization (CMP) is an indispensable process of forming multilayer integrated circuit. However, it is necessary to understand the pattern in order to achieve global planarization. Material Removal Rate (MRR) depends on the pattern density in the actual CMP process and is required to predict the MRR according to density of the pattern. Based on the Preston equation (CMP governing equation), the MRR can be expressed as a product of pressure, relative velocity, and the Preston`s coefficient. Therefore, understanding of pressure distribution acting on the patterned wafer is essential. Pressure distribution depends on contact area between pad asperity and wafer surface. In this study, pressure distribution according to contact mode between asperity and wafer surface where step height exists was analyzed, and the planarization model presented. Finally, a comparison was done between the mathematical model and the experimental data, and the planarization model was verified.
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This study presented a mechanism overview of a novel modular knee exoskeleton, ACE-Knee, and the analysis of the design requirements by observing human knee-motion characteristics. The ACE-Knee exoskeleton consists of 1) base frame at waist, 2) a 3-DOF (degrees of freedom) passive spherical hip, and 3) a knee driving mechanism. The passive hip is designed based on a 3R spherical serial chain such that it has RCM (remote center of motion) capability. For designing a compact and efficient knee driving mechanism, it is realized by two crank-slider linkages where two sliders are coupled with a linear spring. The proposed kinematic structure enables the driving concept of the passive support by the linear spring and the active following by an actuator. In order to setup design requirements, gait experiments were performed for level walking and ascending/descending stairs. From the analysis of experimental results, unique motion and quasi-stiffness characteristics of human knee were identified.
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Water spraying work to prevent the dust from scattering during building dismantling operation has usually been done manually. Since it is very risky and often causes fatal accidents due to unexpected collapse, a few countries have adopted mechanical water spaying machines. However, these machines are still operated by human laborer, specifically in orienting the spraying direction, which induces low dust suppression efficiency. In this research, an automated fine dust tracking system was suggested to identify and track the dust generating position accurately. A GPS is installed on the secured body of the excavator which contains a crusher as an end-effector for building dismantlement. Assuming the position of the crusher is the dust generating spot, a forward kinematics analysis is performed to identify the crusher position from the body origin on which the GPS sensor is placed. With another GPS on the water-spraying robot, its relative position to the dust generating spot and its heading angle for tracking can be calculated consequently. Tracking experiments were conducted with a miniature excavator and a reduced size water spraying robot. The results showed a sufficient tracking performance enough to be applied to the water spaying machines.
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Autonomous Fine Dust Source Tracking System of the Water Spray Robot for High-rise Building Demolition Hyeongyeong Jeong, Hyunbin Park, Jaemin Shin, Hyeonjae Jeong, Baeksuk Chu Journal of the Korean Society for Precision Engineering.2023; 40(9): 695. CrossRef
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Cyber-Physical Production Systems (CPPS), which pursue the implementation of machine intelligence in manufacturing systems, receive much attention as an advanced technology in Smart Factories. CPPS significantly necessitates the selflearning capability because this capability enables manufacturing objects to foresee performance results during their process planning activities and thus to make data-driven autonomous and collaborative decisions. The present work designs and implements a self-learning factory mechanism, which performs predictive process planning for energy reduction in metal cutting industries based on a hybrid-learning approach. The hybrid-learning approach is designed to accommodate traditional machine-learning and transfer-learning, thereby providing the ability of predictive modeling in both data sufficient and insufficient environments. Those manufacturing objects are agentized under the paradigm of Holonic Manufacturing Systems to determine the best energy-efficient machine tool through their self-decisions and interactions without the intervention of humans’ decisions. For such purpose, this paper includes: the proposition of the hybrid-learning approach, the design of system architecture and operational procedure for the self-learning factory, and the implementation of a prototype system.
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Gas turbine blades are important parts of a power plant, and thus, it is necessary to be able to predict the low-cycle fatigue life of the blades. In this study, a low-cycle fatigue test of In738LC, which is used primarily in gas turbine blade manufacture, was performed at various high temperatures (750oC, 800oC, and 850oC). From the test results, the stressstrain curve and the stress-strain hysteresis loop were obtained. It was established that In738LC has no strain hardening or softening. The life prediction equations for low-cycle fatigue were derived using the Coffin-Manson equation and the energy model. In conclusion, one equation for predicting the life low-cycle fatigue was obtained using the energy level with temperature as the varying factor.
The manufacture of BLAC motor requires the motor stator (electric steel plate) and the motor case (aluminum die casting material) maintain strong contact to support the resistance of rotating moments against the rotational moments of the rotor. If there is small reverse rotational moment, the motor stator rotates easily, and damages the motor. To prevent a strong reverse rotational moment, interference fit between the motor stator and the motor case manufactured through heat shrinkage is required. This study, considers the tolerances that may occur in the manufacturing process of assembling stator and case, the contact pressure range that can occur in the heat shrinkage and the moments that can be supported by the motor stator. These are verified through the finite element analysis. The result validates finite element analysis as compared with theoretical values.
Fabrication of inverse-tapered structure remains as a problem in the fabrication of oleophobic surface mostly due to the complications and the high cost of processes. In this paper, we propose a simple and low-cost fabrication method of inverse-tapered structured oleophobic surface using micromolding in capillaries (MIMIC) and microtransfer molding followed by MEMS processes. Silicon wafer molds for the formation of inverse-tapered structure were made using MEMS processes such as photolithography and anisotropic KOH etching of silicon wafer. The geometry of structure could be changed by controlling the etching depth of the silicon wafer mold. After covering the surface of the mold using flat UV tape, the formed space between mold and UV tape was filled with pre-cured PDMS by capillary force and then cured in oven. The tapered structure on UV tape was transferred and bonded to glass wafer by O₂ plasma treatment. The fabricated inverse-tapered structure was coated with a fluoroalkylsilane monolayer to reduce its surface energy. The wetting behaviors were investigated by the contact angle (CA) measurement of hexadecane droplets. This study demonstrates that an inversetapered structure can be fabricated on a substrate using micromolding in capillaries and microtransfer molding, whose surface shows the superoleophobicity.
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Research of different types of powered exoskeleton have been conducted for various purposes. Recently, the exoskeleton has been used in rehabilitation training for patients with walking problems. For the exoskeletons to appropriately assist the user in gait rehabilitation, it is essential to understand user"s intention. The user"s walking intention includes the temporal aspect of timing of movements and the quantitative aspect of how large the movement is. This study, quantitatively identifies the relationship between arm and leg movements during walking, the user"s quantitative intention for gait, and suggests for a control strategy to assist user"s movement accordingly for a 1DoF hip exoskeleton for hemiplegic gait rehabilitation.
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Micro-/nano-scale biological ‘soft’ structures have attracted increasing interest in biomedical research, including the study of cell-material interactions. However, most materials of micro-/nano-fabrication are not suitable for biological applications, as they require extensive post-processing or exhibit high mechanical stiffness. On the other hand, soft materials exhibiting high cytocompatibility require long fabrication times with a decreased spatial resolution of features. Thus, a facile fabrication technique of micro-/nano-scale structures of biological soft materials using a cost-effective and high-throughput method is needed. To achieve this, this study proposed a one-step 3D microfabrication method for biological soft materials in cooperation with a light-induced self-focusing photo-polymerization, a controlled oxygen reaction-diffusion, and digital microprinting. For instance, it was anticipated that this microfabrication technique of soft material provides efficient simple 3D scaffold platform that can address the questions of neural mechanobiology studies on the interaction between biological artificial axons bundle and neurons.
The additive manufacturing (AM) process is known to have a major influence on environmental impact. To find out AM process with lower environmental impact in the product manufacturing process, this study compares material extrusion (Fused Deposition Modeling, FDM), powder bed fusion (Laser Sintering, LS) and material jetting processes (Poly-Jet, PJ) for 200 NIST test artifacts, using data from the specification and software of three 3D printers (J750, P770 and uPrint SE Plus), the findings from various literature and Ecoinvent of SimaPro 8.4 database. The results showed that the effects of materials on the environment were the severest for LS (20.45 Pts) and the least for FDM (10.38 Pts) although the effects of power consumption on the environment were severest for FDM (126.91 Pts) and least for LS (20.18 Pts). To reduce the emission to environment in PJ and FDM, it is recommended to improve their printing speed and reduce power consumptions of waterjet and auxiliary equipment for support removal.
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