The IGRINS is a near infrared high resolution spectrograph jointly developed by the Korea Astronomy and Space Science Institute and the University of Texas at Austin. We present design and fabrication of the optomechanical mount for the five mirrors, i.e., an input fold mirror, a slit mirror, a dichroic, and two camera fold mirrors. Based on the structure analysis and the thermal analysis of finite element methods, the optomechanical mount scheme satisfies the mechanical and the thermal design requirements given by the optical tolerance analysis. The performance of the fabricated mirror mounts has been verified through three IGRINS commissioning runs.

Most omni-directional mobile robots have to change their trajectory for avoiding obstacles regardless of the size of the obstacles. However, an omni-directional mobile robot having kinematic redundancy can maintain the trajectory while the robot avoids small obstacles. This works deals with the kinematic modeling and motion planning of an omni-directional mobile robot with kinematic redundancy. This robot consists of three wheel mechanisms. Each wheel mechanism is modeled as having four joints, while only three joints are necessary for creating the omni-directional motion. Thus, each chain has one kinematic redundancy. Two types of wheel mechanisms are compared and its kinematic modeling is introduced. Finally, several motion planning algorithms using the kinematic redundancy are investigated. The usefulness of this robot is shown through experiment.