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흡착 캐터필러 시스템을 이용한 수직평면 등반로봇 기구부의 개발
김황(Hwang Kim),김동목(Dongmok Kim),양호준(Hojoon Yang),이규희(Kyouhee Lee),서근찬(Kunchan Seo),장도영(Doyoung Chang),김종원(Jongwon Kim) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. While each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 ㎜ in width and length, respectively, and 200 ㎜ in height. Its mass is slightly over 14 ㎏. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.
이기욱(Giuk Lee),서근찬(Kunchan Seo),김황(Hwang Kim),김선호(Sun Ho Kim),전동수,김홍석(Hong Seok Kim),김종원(Jongwon Kim) Korean Society for Precision Engineering 2012 한국정밀공학회지 Vol.29 No.2
This paper presents a transformable track mechanism for wall climbing robots. The proposed mechanism allows a wall climbing robot to go over obstacles by transforming the track shape, and also increases contact area between track and wall surface for safe attachment. The track mechanism is realized using a timing belt track with one driving actuator. The inner frame of the track consists of serially connected 5R-joints and 1P-joint, and all joints of the inner frame are passively operated by springs, so the mechanism does not require any actuators and complex control algorithms to change its shape. Static analysis is carried out to determine design parameters which enable 90º wall-to-wall transition and driving over projected obstacles on wall surfaces. A Prototype is manufactured using the transformable track on which polymer magnets are installed for adhesion force. The size of the prototype is 628㎜Ⅹ200㎜Ⅹ150㎜ (LengthⅩWidthⅩHeight) and weight is 4㎏f. Experiments are performed to verify its climbing capability focusing on 90º wall to wall transition and driving over projected obstacle.
호두나무 포장 내 복숭아명나방(나비목: 포충나방과)과 굴피가는나방(나비목: 가는나방과)에 의한 호두열매 및 잎 피해
정종국,권혁준,김황,김현선,서상태,고상현,Jung, Jong-Kook,Kwon, Hyeok Jun,Kim, Hwang,Kim, Hyun-Sun,Seo, Sang-Tae,Koh, Sanghyun 한국응용곤충학회 2018 한국응용곤충학회지 Vol.57 No.1
Walnuts are one of the most economically important fruit trees in forestry. In walnut orchards, however, studies examining damage by insect pests are limited. This study was conducted to investigate the rate of damage caused by Conogethes punctiferalis to walnut fruits and by Acrocercops transecta to walnut leaves. In 2017, the change of damage rate (caused by C. punctiferalis) to fruits were investigated in Buyeo. In addition, we counted fruits and leaves damaged by two lepidopteran species in Gimcheon, Buyeo, Yeongdong, and Hwaseong. Damaged fruits steadily increased in abundance with fruit growth in Buyeo, and the highest number of damaged fruits was documented in late summer. The rates of damage caused by C. punctiferalis to fruits in Buyeo, Gimcheon, and Hwaseong were 22.1%, 20.5%, and 11.7%, respectively. Additionally, the rates of damage caused by A. transecta to leaves in seedlings (58.5% on average) were significantly higher than to those in older trees (11.2% on average), irrespective of the study location. In conclusion, this study showed that C. punctiferalis and A. transecta were serious pests affecting walnut fruits and leaves, respectively. Therefore, management methods for these insect pests need to be developed. 호두는 경제적으로 중요한 유실수 중 하나이지만, 호두나무 포장 내에서 해충에 의한 피해 특성에 대한 정보는 매우 부족하다. 본 연구에서는 복숭아명나방과 굴피가는나방에 의한 호두열매와 잎의 피해를 조사하였다. 2017년 충남 부여군에 위치한 포장에서 복숭아명나방에 의한 호두열매 피해율의 변화를 조사하였다. 또한 김천, 부여, 영동 및 화성의 포장 내에서 2종의 나방에 의한 호두열매 및 잎의 피해율을 조사하였다. 부여 포장 내 호두열매의 피해율은 시간이 흐름에 따라 지속적으로 증가하였고, 피해율은 늦여름에 가장 높았다. 호두열매의 최종 피해율은 부여, 김천 및 화성에서 각각 22.1%, 20.5%, 11.7%로 조사되었다. 굴피가는나방에 의한 잎 피해는 성목의 신초 가지(평균 11.2%)에 비해 묘목의 신초 가지(평균 58.5%)에서 더 높은 것으로 조사되었다. 본 연구 결과, 호두나무 포장 내에서 복숭아명나방과 굴피가는나방에 의한 열매와 잎 피해가 심각한 것으로 확인되었으며, 향후 이들에 대한 방제기술 개발이 필요할 것으로 판단된다.