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강형석,이동원,신동헌 한국로봇학회 2020 로봇학회 논문지 Vol.15 No.4
Today’s robots consist of many hardware and software subsystems, depending on the functions needed for specific tasks. Integration of subsystems can require a great deal of effort, as both the communication method and protocol of the subsystem can vary. This paper proposes an expandable robotic system in which all subsystems are integrated under Robot Operation System (ROS) framework. To achieve this, the paper presents a software library, ROS_M, developed to implement the TCP/IPbased ROS communication protocol in different control environments such as MCU and RT kernel based embedded system. Then, all the subsystem including hardware can use ROS protocol consistently for communication, which makes adding new software or hardware subsystems to the robotic system easier. A latency measurement experiment reveals that the system built for loop control can be used in a soft real-time environment. Finally, an expandable mobile manipulator robot is introduced as an application of the proposed system. This robot consists of four subsystems that operate in different control environments.
강형석,김종욱 강원대학교 산업기술연구소 2006 産業技術硏究 Vol.26 No.B
A convective, radiating rectangular fin is analysed bv using the one dimensional analytic method, Instead of constant fin base temperature, heat conduction from the inner wall to the fin base is considered as the fin base boundary condition. Radiation heat transfer is approximately linenrized. For different fin tip length. temperature profile along the nurmalized fin position is shown. The fin tip length for 98% of the maximum heat loss with tlie variations of fin base leiigth and radiation characteristic number is listed. The maximum heat loss is presented as a function of the fin base length, radiation characteristic number and Biot number.
강형석,한봉석,한유진,최두선,김태민,신봉철,송기혁 한국금형공학회 2018 한국금형공학회지 Vol.12 No.3
Recently The automotive industry is trying to increase the energy efficiency by reducing the weight of the car body and engine components as a way to achieve high energy efficiency. In particular, the reduction of the weight of the vehicle through the weight reduction of the vehicle body has the advantage that the fuel consumption and the output can be improved. But at the same time, there is the disadvantage that the strength becomes weak due to the reduction of the material thickness. Therefore, in order to overcome these disadvantages, materials with high strength according to the unit thickness have been actively developed, and researches for applying them have also been increasing. In this study, we will investigate the application of cold rolled steel sheet, which is a lightweight material, to a horn bracket that secures a installed in an automobile engine room. The horn bracket secures the horn on the car engine and is bolted to the outer wall of the engine. The momentum is acted on the bracket due to the distance between the bolt fastening part and the car horn installed on the bracket end side. Therefore, the body part of the bracket is more likely to be destroyed by the influence of the continuous stress. In this paper, design optimization for weight reduction and strength enhancement was performed to solve this problem, and possibility of applying the rolled steel sheet material as lightweight material by tensile test and fabrication was confirmed