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최무성,신은철,양광웅,김홍석 한국로봇학회 2008 로봇학회 논문지 Vol.3 No.1
Many researchers are studying on humanoid robots in all over the world. However the humanoid robots are still limited in doing works like picking up objects on the ground or moving rapidly. In this study, a humanoid robot based on the wheel-driving was developed. It can operate with a human working area keeping the stability. Also, the developed robot can take up the object on the floor since it has knee(1DoF) and waist(3DoF), and do service quickly and steadily. The hardware and software structure and algorithms of the developed robot, SEROPI are introduced in this paper.
탄소열환원 반응에 의한 동제련슬래그로부터 주철용 선철 제조 연구
최무성,최동현,왕제필,Choi, Moo-Sung,Choi, Dong-Hyeon,Wang, Jei-Pil 한국자원리싸이클링학회 2019 資源 리싸이클링 Vol.28 No.3
This study was conducted to fabrication pig iron containing copper and to reduce sulfur content pig iron. Roasting test was conducted for 1 ~ 9 hours at each temperature of $500^{\circ}C$, $700^{\circ}C$, and $900^{\circ}C$. In addition, the effect of oxygen partial pressure with 0.5, 0.8, and 1 atm was carried out for 30 minutes at $900^{\circ}C$. It was found that there is no effect to reduce sulfure in pig iron through roasting and oxygen partial pressures. The addition of CaO with 15 wt.% was found to reduce sulfur content up to 0.001 wt.%. The suitable temperature and reactive time for carbothermic reduction were $1600^{\circ}C$ and 30 minutes which shows the highest recovery rate of iron from the copper slag.
최무성(M. S. Choi),양광웅(K. W. Yang),원대희(D. H. Won),박상덕(S. D. Park),김홍석(H. S. Kim) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
If a personal robot is popularized like a personal computer in the future, many kinds of robots will appear and the number of manufacturers will increase as a matter of course. In such circumstances, it can be inefficient, in case each manufacturer makes a whole platform individually. The solutions for this problem are to modularize a robot component (hardware and software) functionally and to standardize each module. Each module is developed and sold by each special maker and a consumer purchases desired modules and integrates them. The standardization of a module includes the unification of electrical and mechanical interface. In this paper, the standard interfaces of modules are proposed and CMR(Component Modularized Robot)-P2 made with the modules(brain, sensor, mobile, arm) is introduced. In order to simplify and to make the modules light, a frame is used for supporting a robot and communication/power lines. The name of a method and the way to use that are defined dependently on the standard interfaces in order to use a module in other modules. Each module consists of a distributed object and that can be implemented in the random language and platform. The sensor, mobile and arm modules are developed on Pentium or ARM CPU and embedded Linux OS using the C programming language. The brain module is developed on Pentium CPU and Windows OS using the C, C++ and RPL(Robot Programming Language). Also tasks like pass planning, localization, moving, object perception and face perception are developed. In our test, modules got into gear and CMR-P2 executed various scenarios like guidance, errand and guarding completely.