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Novel design of a small field robot with multi-active crawlers capable of autonomous stair climbing
김병상,Quy-Hung Vu,송재복,임충혁 대한기계학회 2010 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.24 No.1
Mobile robots often encounter complex obstacles during their operation, not the least of which are stairs. Suitable mechanical structures and adequate control algorithms are both equally important in stair climbing. This paper proposes a novel design for a multi-active crawler robot (MACbot) capable of autonomous stair climbing. The MACbot has four track modules for extended mobility and a recovery arm that facilitates self-rescue capabilities. By adopting the proposed smart clutch mechanism, the MACbot can provide a variety of motions with a minimum number of motors. This paper presents a static analysis for the mechanical design and details the stability analysis for an autonomous stair climbing algorithm. A series of experiments show that the MACbot can autonomously climb stairs reasonably well.
김병상,Kim, Byeong-Sang 한국전기기술인협회 2004 電力技術人 Vol.260 No.4
시설용량이 사용용량에 비하여 충분한데도 불구하고 전력계통이 과부하에서나 발생될 수 있는 트러블이 발생된다면 우선적으로 고주파에 의한 영향을 의심할 수 있다. 이는, 비선형 부하가 갖는 특징 때문이다. 비선형 부하는 전원측에서 공급하는 전압과 전류를 그대로 사용하는 것이 아니라 선택적으로 필요한 부위만 잘라쓰기 때문에 비록 적은 kW만을 요구할지라도 더욱 많은 피상전력이 필요하게 된다. (중략)
김병상 대구산업정보대학 2001 논문집 Vol.15 No.-
A variable capacitance diode(VCD) with n-graded structure was fabricated. The starting wafer is an n on n+ epitaxial wafer with (111) crystal orientation. The thickness and resistivity of epitaxial layer are 4.5㎛ and 1.2Ωㆍcm, respectively. A VCD has been fabricated by ion implantation process. The junction depth of n-grade and p+ anode region are 1.4㎛ and 0.9㎛, respectively. As a result, breakdown voltage of the fabricated device is obtained 36V at leakege current of 1mA. Furthermore, the fabricated device had a good I_(R)-V_(R) characteristics. Capacitance ratio, C_(2V)/C_(25V) is obtained 6.85 times. And the series resistance, r_(s) of the fabricated device ranges from 0.4Ω to 0.55Ω.
김병상,황순욱,윤찬현,Minjoong Jeong,Soonwook Hwang,Chan-Hyun Youn 한국물리학회 2009 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.55 No.5
Scientific and engineering problems often require a large amount of computing resources to conduct large-scale simulations with a wide range of input parameters. This paper describes an application parameter meta service and agent-controlled loop scheduling for executing multiple parameter sweep applications in a distributed environment. The proposed system provides a flexible and practical environment for generating a large set of independent jobs and for scheduling them over distributed resources on the grid. Using the proposed environment, we conducted a protein folding experiment that had about four thousands initial data on the pacific rim applications and grid middleware assembly (PRAGMA) testbed. The folding optimization provided 3-dimensional protein atomic structures. Scientific and engineering problems often require a large amount of computing resources to conduct large-scale simulations with a wide range of input parameters. This paper describes an application parameter meta service and agent-controlled loop scheduling for executing multiple parameter sweep applications in a distributed environment. The proposed system provides a flexible and practical environment for generating a large set of independent jobs and for scheduling them over distributed resources on the grid. Using the proposed environment, we conducted a protein folding experiment that had about four thousands initial data on the pacific rim applications and grid middleware assembly (PRAGMA) testbed. The folding optimization provided 3-dimensional protein atomic structures.
소형로봇을 위한 원추형 스프링 기반의 도약 메커니즘의 개발
김병상,이장운,김현중,송재복 대한기계학회 2007 環境管理學會誌 Vol.2007 No.5
It is desirable that the guard robot should be small-sized and light-weighted to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with different situations. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes the jumping mechanism based on the conical spring for a small robot. Both the clutch mechanism and conical spring are incorporated into the jumping mechanism. In the clutch mechanism, the spring can be immediately compressed and released by one actuator with the planetary gear train and one-way clutch. The robot equipped with the jumping mechanism can overcome the obstacles which are higher than its height. In this paper, the characteristic of the conical spring for the jumping robot is determined and the small-sized, lightweight jumping mechanism is developed. The validity of the jumping mechanism was verified by various experiments. It is shown that the robot using this mechanism can provide good mobility in the rough terrain.