• Journal of Digital Convergence
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• v.12 no.6
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• pp.349-354
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• 2014

A maze-escaping method with cooperating work of robots alongside one another will be proposed in this paper. Educational robots can communicate each other using Zigbee; however, they can't solve problems together due to their lack of arithmetic function. The robots walk upright controlled by a motion program; furthermore, they recognize an intersection or a dead-end in the use of distant sensors with sending data and receiving commands from the central control system. The maze-search algorithms were modified so that all robots can effectively navigate the maze.

• 한국방재학회:학술대회논문집
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• 2011.02a
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• pp.218-218
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• 2011

2중곡면 반파공의 월파 특성을 검토하기 위하여 입사파고 및 주기가 각각 다른 불규칙파를 대상으로 수리실험을 실시하였으며, 2중곡면 반파공과 직립형 구조물에 대해 동일한 조건으로 실험하여 이를 명확히 하였다. 특히 2중곡면 상부의 곡률반경에 따라 외해측으로 되돌리는 파랑의 비말효과에서 큰 차이가 있을 것에 착안하여 상부곡면부의 곡률반경이 증가한 정상 2중곡면 반파공(FSW)과 상부곡면부의 곡률반경이 감소한 역 2중곡면 반파공(IFSW)에 대해 실험을 수행하였다. 그리고 2중곡면 원호 크기의 비 B/D=0, 20%, 40%, 60% 및 80%인 경우에 대해서도 월파특성을 비교 검토하여 다음과 같은 결론를 얻었다. 1. 2중곡면 원호 크기의 비 B/D가 증가할수록 월파저지 효과가 개선됨을 확인 하였으며 최대 B/D가 0.8인 경우 0.2에 비해 50% 이상 월파유량이 감소하여 B/D의 변동에 따른 월파저지특성을 확인하였다. 2. 역2중곡면 반파공(IFSW)의 실험결과 기존 정상2중곡면 반파공(FSW)에 비하여 20%이상 월파량이 감소하고 있음을 알 수 있었으며 이는 2중곡면 상부측의 곡률 반경이 증가함에 따른 기하학적 특성에 의해 외해측으로의 되돌림 파랑(수괴)이 증가한 것으로 판단된다. 3. 동일한 마루높이에 대해 직립형 호안에 의한 월파량 비교결과 역 2중곡면 반파공(IFSW)의 경우 최대 80%이상의 월파량 저감 효과가 나타나는 것으로 검토되었다. 4. 월파저지의 측면에서 2중 곡면공에 비해 역2중 곡면공이 우수한 것으로 예측되었으나 2중곡면 반파공의 소파원리가 반파공의 원호내에서 쇄파를 야기하여 파에너지를 소멸하는 것이므로 쇄파를 유도하는 과정에서 충격쇄파압의 발생이 예측되는 바 이에 대한 계속적인 연구가 필요한 것으로 판단된다.

• Journal of the KSME
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• v.20 no.2
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• pp.81-83
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• 1980

자동화라는 것은 1788년에 유명한 James Watt의 증기기관에 있어서 조속기에서 처음으로 찾아볼 수 있다고 하며, 그후도 각종기기에서 부분적인 자동제어화된 예를 볼 수가 있다. 그러나, 현대 적이고 본질적인 자동화는 1914년에 Ford 자동차직립공장에서 흐름적립선을 설치하여 다량생산 방식의 근대산업을 개발하여 생산과정을 진정한 의미로 기계화하고 설인간화하였는데 있다고 하며 현대적감독의 자동화라는 말도 1946년에 출현한 transfer machine에 대하여 사용한 것이 처음이라고 한다 여하간 모든 산업에 있어서의 자동화는 현대산업발전의 촉진제로서 역할을 하여 획기적인 변혁을 가져왔고 경제발전의 원동력으로서의 자리를 굳혔을 뿐 아니라 설안간화, 성 력화의 단계를 넘어서 무인화의 영역에 도전하기에 이르렀다. 자동화 무인화의 영역에 도전하 기에 이르렀다. 자동화의 기술은 초기의 기계적방법을 거쳐서 유압식, 전기전자식으로 발전하였 으며, 현대과학기술의 정화인 전산기와 결합되어 종합과학기술로 발전하였고 앞으로 더욱 가속 화될 것이 기대된다.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.69-74
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• 2012

In this research equations of motion of a Wheeled Inverted Pendulum (WIP) which is running on the inclined road and changing its center of gravity. Difference between a conventional cart inverted pendulum and the WIP is also considered. The WIP has small planar size so that it has been used as a mobile platform for several applications which require slender frame in order to travel on the narrow road. The WIP has almost the same unstable properties as conventional inverted pendulums have. There needs an aggressive control scheme for the WIP not to fall down. In order to design a high performance control scheme, equations of motion of the WIP, which is running under various environment and operating conditions, should be derived and considering its properties is necessary.

• Korean Journal of Applied Biomechanics
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• v.21 no.3
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• pp.353-359
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• 2011

The purpose of this study was to investigate the effects of exercise-induced fatigue and blocked vision on postural control during upright stance in elderly women. The study population included 22 women who were aged over 65 years, had no sustained orthopedic damage within the last 6 months, and had been randomly recruited. The results were analyzed with respect to the mediolateral and anteroposterior factors for the center of pressure. The exercise-induced fatigue and the absence of visual information increased the anteroposterior and mediolateral velocity for center of pressure. This means that the elderly women could control their posture through many sways. In conclusion, the exercise-induced fatigue and the blocked vision decreased ability of the postural control in elderly women. Further research on the change of postural control in relation to the types of exercise-induced fatigue and the levels of muscular fatigue is expected.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.2
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• pp.211-218
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• 2021

This paper addressed the problems of controlling the coupled pitch-roll motions in a marine vessel exposed to the regular waves in the longitudinal and transversal directions. Stabilization of the pitch and roll motions can be regarded as the essential task to ensure the safety of a ship's navigation. One of the important features in the pitch-roll motions is the resonance phenomena, which result in unexpected large responses in terms of pitch and roll modes in some specific conditions. Besides, owing to its inherent characteristics of coupled combination and nonlinearity of restoring terms, the vessel shows various dynamical behaviors according to the system parameters, especially in the pitch responses. Above all, it can be seen that suppression of pitch rate remains the most significant challenge to overcome for ship maneuvering safety studies. To secure the stable upright condition, a quasi-sliding mode control scheme is employed to reduce the undesirable pitch and roll responses as well as chattering elimination. The Lyapunov theory is adopted to guarantee the closed stability of the pitch-roll system. Numerical simulations demonstrate the effectiveness of the control scheme. Finally, the control goals of state convergences and chattering reduction are effectively realized through the proposed control synthesis.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.5B
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• pp.547-558
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• 2008

With the advent of super cargo ship due to the explosive increase in the amount of cargo shipped via seas, some mega ports are under construction in South Korea, to accommodate the super cargo ship, and some of them already enter their final phase. To sustain the harbor tranquility, mega ports usually comprise huge vertical type breakwaters which are intrinsically vulnerable to the attack of long waves. In this rationale, we present the chamber type breakwater with a circular curtain wall - Eco-breaker 2, to alleviate the reflection of long waves and numerically investigate the hydraulic characteristics of Eco-breaker 2. As a wave driver, we use the Navier-Stokes eq., the most robust wave driver, using SPH (Smoothed Particle Hydrodynamics) and LES (Large Eddy Simulation). For the verification of numerical results, we also carried out hydraulic model test. It is shown that Eco-breaker 2 can effectively alleviate the reflection of long waves with its inherited large organized eddies encompassing the water chamber and some region off the curtain wall of varying size. It is also shown that the scope and strength of large organized eddies strongly depends on the incident wave period, and the reflection coefficient can be lowered to 0.18 by tuning the size of water chamber such that resident time at the chamber is just short of the half period of incident waves. Based on these results, we present the specification of Eco-breaker 2 to boost its use on the development of water environment friendly harbor worldwide.