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모서리 부위 연속 용접을 위한 아크 용접 로봇 시스템의 궤적 개발
장교근,유범상 대한용접접합학회 1996 대한용접·접합학회지 Vol.14 No.6
When a workpiece is to be arc welded around the outside corner, continuous welding without welding seam in the neighborhood of comer still remains a very difficult technique. Skilled welders weld comers by delicate“hand-eye coordination”while turning the workpiece manually, However, there is not a very clear solution to this problem in robotized arc welding process. In order to solve this problem, the coordination of a robot and a positioner with one or two axes is necessary. This paper presents a method of continuous welding around the corner of workpiece using the coordinated motion of a robot and a positioner. The positioner is either revolute jointed or prismatic jointed. In this paper, a clothoid curve is chosen for welding trajectory. The clothoid curve is excellent in connecting straight and curved weld-lines with good continuity and accommodates various welding conditions. By using this welding trajectory, the deceleration, which leads to widening of the melt and the heat affected zone, at comer area is reduced with strategic rotation of robot torch in coordination with a positioner providing smooth transition of welding torch orientation. Two types of special clothoid curves are developed for different weld slope conditions. These clothoid curves are applied to the case of linear and rotary Positioners at arc welding robot work-cell.
장교근,이윤복,Chang, Kyogun,Lee, Yoon Bok 한국군사과학기술학회 2012 한국군사과학기술학회지 Vol.15 No.5
Hybrid electric propulsion systems are expected as future primary combat platforms because the systems can supply enough electric power, easily locate components inside vehicles, and maneuver without undesired noise. However, increasing electric/electronic/software usage causes abnormal failure patterns which have not been noticeable in conventional automotive. Recently, the functional safety standard for road vehicles were enacted and vehicle manufacturers request their components which satisfy standardized quality. This research analyzes functional safety standards(IEC 61508 and ISO 26262) and compares the standards for road vehicles with military standards of system safety. Strategies to apply functional safety in the combat hybrid electric vehicle are scrutinized.
고전력 하이브리드 추진시스템의 전자파 적합성 설계 대책
임종광,장교근,Lim, Jong-Kwang,Chang, Kyo-Gun 한국군사과학기술학회 2012 한국군사과학기술학회지 Vol.15 No.4
In this paper, serious changes in the electromagnetic environment with increasing power and energy capabilities for electric driving and military mission are discussed. Design and control strategies on the Electro-Magnetic Compatibility(EMC) for the series hybrid electric vehicle are proposed to minimize the effects of electromagnetic interferences.
임종광(Jongkwang Lim),장교근(Kyogun Chang),김홍철(Hong Chul Kim) 제어로봇시스템학회 2012 제어로봇시스템학회 합동학술대회 논문집 Vol.2012 No.7
인체관절의 기능을 보조 또는 증강시키는 착용형 외골격 로봇에 대한 논문 조사를 근거로 한 관심도 조사와 국·내외 외골격 로봇의 개발 사례로부터 기술개발 목표와 수준을 분석하고 향후 군수용과 민수용 외골격 로봇의 개발 방향을 제시한다.
궤도형 상륙돌격차량용 추진장치의 통합고장진단 S/W 설계
이창규,최병호,박대곤,구영호,심상출,장교근,Lee, Changkyu,Choi, Byeongho,Park, Daegon,Koo, Youngho,Shim, Sangchul,Chang, Kyogun 한국군사과학기술학회 2021 한국군사과학기술학회지 Vol.24 No.4
This paper describes the design of model-based fault diagnosis software to apply to the propulsion system in tracked amphibious assault vehicle which consists of an engine, a transmission, a cooling system, and two waterjets. This software includes specific functions to detect the failures regarding sensor malfunctions, mechanical malfunctions, control errors, and communication errors. This software generates the proper malfunction codes which are classified as the warning and caution. In order to validate the fault diagnosis software, the manual and automatic test are performed using the test program with 32 test cases. Test results show that the designed fault diagnosis software is reliable and effective for applying to the propulsion system.
최현석(Hyunseok Choi),한규홍(Kyuhong Han),유진호(Jinho Yu),장교근(Kyogun Chang),이윤복(Yoonbok Lee) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5
Regenerative brake system in currently developing lightweight tactical HEV cant absorb maximum regenerative power because of braking feeling. In this study, we didnt activate frictional brake until regenerative brake absorbs maximum torque by making additional devices and setting them to the vehicle. And we performed the fuel economy test on the vehicle 4X4 TM dynamometer. The result shows that 53% energy absorption increase in brake-stop test, 8.7% fuel economy increase in FTP-72 mode and 10.8% increase in South Korean forward area driving mode.