유성일대 화강암, 팔당일대 호상 편마암 및 사북일대 퇴적암 지역에서 동탄성계수와 탄성파 속도와의 관계를 밝히기 위하여 완전파형음파검층을 통해 이들 암상에서 탄성파 P파와 S파 속도를 측정하였다. 또한 유성일대 화강암과 팔당일대 편마암 지역에 대해서는 일축압축강도와 포아송비를 실내시험에서 측정하였다. 실내실험 자료에서는 팔당 호상편마암 지역의 탄성파 P파 및 S파 속도가 유성의 화강암 지역보다 높게 나타난 반면, 포아송비가 낮은 값을 보이므로 포아송비의 증가함에 따라 탄성파 P파 및 S파 속도가 감소하는 상관관계를 보였다. 완전파형음파검층을 통하여 얻어진 동탄성계수는 동체적탄성계수와 동전단탄성계수에 비하여 높은 값을 보인다.

This paper focuses on the vibration analysis of planar cable–driven parallel robots on their configurations. Despite of many advantages of the cable robots, elasticity of the cables may cause the vibration at the existence of external disturbance, resulting in deterioration of positioning accuracy. According to the vibration theory, having high first order natural frequency can prevent resonance with low frequency disturbance from the surrounding environment. A series of simulations showed that choosing frame / end-effector shape and cable connection method affects robots’ natural frequency. For the precise simulation, the cables are modeled as linear springs and axial vibration of cables is mainly considered. Aspect ratios of the frame and end-effector are defined as non-dimensional parameters while their areas are fixed. It was shown that vibration analysis guides to design a planar cable robot in terms of high capacity to reduce vibration.

For diagnoses of digestive organs, capsule endoscopes are widely used and offer valuable information without patient’s discomfort. A general capsule endoscope which consists of image sensing module, telemetry module and battery is able to move along gastro-intestinal tracts passively only through peristaltic waves. Thus, it is likely to have some limitations for doctor to acquire images from the desired organs and to diagnose them effectively. As solutions to these problems, a locomotive function of capsule endoscopes has being developed. We have proposed a capsule-type microrobot with synchronized multiple legs. However, the proposed capsular microrobot also has some limitations, such as low speed in advancement, inconvenience to controlling the microrobot, lack of an image module, and deficiency in a steering module. In this paper, we will describe the limitations of the locomotive microrobot and propose solutions to the drawbacks. The solutions are applied to the capsular microrobot and evaluated by in-vitro tests. Based on the experimental results, we conclude that the proposed solutions are effective and appropriate for the locomotive microrobot to explore inside intestinal tracts.