• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.2
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• pp.180-187
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• 2010

In this paper, a GNSS-based AGV system was designed, and steering tested on a golf cart using electric wires in order to confirm the control efficiency of the low speed vehicle which used only position information of GNSS. After analyzed the existing AGVs system, we developed controller and steering algorithm using GNSS based position information. To analyze the performance of the developed controller and steering algorithm, straight-type and circle-type trajectory test are executed. The results show that steering performance of GNSS-based AGV system is ${\pm}\;0.2m$ for a reference trajectory.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.14 no.3
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• pp.171-178
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• 1981

The growth of Sebastes alutus was studied by scale reading to check the change of growth rate at the early stage of life. Lee's phenomenon was recognized on the scale measurements except thc first ring radius. No evidence was found to support the change of growth rate at early stage. Von Bert-alanffy's growth equation was estimated with the back-calculated fork lengths, $1_t=357.8(1-e^{-0.6124(t+1.8566)}),\;and\;W_{\infty}=784.4g$

• Journal of the Korean Society of Propulsion Engineers
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• v.12 no.2
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• pp.66-73
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• 2008

Present study examines the detonation wave propagation characteristics in annular channels. Numerical approaches used in the previous studies were extended with marching windows technique. Parametric study has been carried out using a radius of curvature normalized by the channel width considered as unique geometric parameter. In the channels of small radius of curvature, detonation wave is unstable and the regular cell structure is not observed. There is a critical radius of curvature where cell structure can be sustained. The effect of curvature makes the pressure difference on inner and outer surfaces where the detonation wave is overdriven. The results converge to that of straight channel as the radius of curvature gets larger, as expected.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.4
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• pp.210-217
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• 2014

This paper presents experimental studies on controlling one-wheel robot, GYROBO. The previous one has the problem of falling down because the inside gimbal leans against one direction to make it balancing. This structural problem has been solved by redesigning the system. Gains obtained through experimental tasks are used as a gain scheduling method so that GYROBO is more stabilized. A line trajectory following control task is performed to test the driving control as well.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.7 no.5
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• pp.1002-1012
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• 2003

An algorithm is suggested for collision avoidance of two-arm robot manipulator using redundancy. End-effectors of each redundant arm should move along each prescribed straight path to complete the given task, while avoiding collision with each other. Self-motion, considered as motion of each axis not to change the position and orientation of end-effector, is utilized in order to solve this problem. At each sampling time, self-motion is executed with the view to making farther between the links of each arm. Simulation results for two-arm robot manipulator, which has 9-d.o.f. respectively, are illustrated to show the performance of the algorithm.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.696-706
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• 1992

In sheet metal fabrication using NCT(numerically controlled turret), the automatic tool selection for the NCT operation is the major problem to be solved first to improve its production performance. However, the punching tool selection has been done by human experts either manually or semi-automatically. In this paper, we have introduced the shape-index-set to handle the shape of sheet metal parts and developed an algorithm through which one can find easily the successive matching curves between two curve lists, one from the punching tool and the other from the boundaries of the sheet metal part. Based on this algorithm, we have also devised the method that can select automatically the tools to punch out the boundaries of sheet metal parts. The result of several computational experiments shows the successful tool selection without any fail.

• Journal of the Korean Chemical Society
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• v.34 no.4
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• pp.340-344
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• 1990

The pressure effect of voltammetric parameters for the oxidation of Bilirubin in 0.1 M TEAP-DMSO solution at micro Pt electrode has been investigated. With increasing the pressure from 1 to 1,800 bars, the peak potential of oxidation wave shifted to the more positive potential. The peak current becomes considerably smaller with increasing the pressure. The oxidation currents of Bilirubin was found to be diffusion controlled over all pressure ranges. The reversibility of oxidation step did not change with increasing pressure. The linear relationships were observed over all pressure ranges (1-1,800 bars).

• Journal of the Korean Society for Precision Engineering
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• v.28 no.3
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• pp.265-274
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• 2011

This paper presents current state of the prediction simulator of structural characteristics of machinery equipment accuracy. Developed accuracy prediction simulator proceeds and estimates the structural analysis between the designer and simulator through the internet for convenience of designer. 3D CAD model which is input to the accuracy prediction simulator would simplified by the process of removing the small hole, fillet and chamfer. And the structural surface joints would be presented as the spring elements and damping elements for the structural analysis. The structural analysis of machinery equipment joints, containing rotary motion unit, linear motion unit, mounting device and bolted joint, are presented using Finite Element Method and their experiment. Finally, a general method is presented to tune the static stiffness at a rotation joint considering the whole machinery equipment system by interactive use of Finite Element Method and static load experiment.

• Proceedings of the Korea Water Resources Association Conference
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• 2011.05a
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• pp.146-150
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• 2011

본 연구에서는 길이 35.6m, 폭 4m, 사행도 1.8의 2회 사행하는 복단면 사행하도의 상류 직선부와 만곡 정점부 6개 지점에 폭 0.4m, 길이 0.8m의 타원기둥 형태의 부유 구조물을 구성하여, 0.25m, 0.40m의 수심 조건으로 수치모의를 수행하였다. 수치모의 결과자료 중에서 부유 구조물 주변의 흐름특성을 국부적으로 분석해 본 결과 부유 구조물이 없을 때의 흐름과는 상당히 다른 흐름특성들이 발견되었는데, 특히 그 중에서도 부유 구조물 아래에서 작용하는 상승류와 부유 구조물로 인한 단면 이차류의 분리가 두드러졌다. 이와 함께 수로 유입부와 유출부 사이의 총 수두 값 변화도 수로 내 부유 구조물의 유무에 따라 다르게 나타났다. 그리고 이러한 결과들 모두 동일 측선 상에서라도 부유 구조물의 위치가 바뀌면 다른 양상으로 나타났다. 본 연구에서는 하도 내에 부유 구조물이 있을 때 부유 구조물의 위치에 따른 통수능 및 흐름특성의 변화를 3차원 수치모의 결과를 통하여 보여준다. 그리고 그 결과들은 하도 내 부유 구조물을 설치 할 때, 검토대상에 부유 구조물 뿐 아니라 하도형태 및 하천의 흐름특성도 함께 포함되어야 함을 뒷받침해준다.

• Proceedings of the Korea Water Resources Association Conference
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• 2011.05a
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• pp.343-347
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• 2011

하천 내 설치하는 수제는 제방보호 및 유로변경의 목적으로 하천내 시공되는 구조물 중의 하나로서 하천복원과정에 있어 필수불가결한 구조물 중의 하나로 인식되고 있다. 수제는 대개 하나 이상의 일련의 군집형태로 수로 자체의 특성을 고려하여 설치가 되고 있다. 그러나 이러한 수제의 무분별한 설치는 주변 경관을 저해하는 요소로 나타날 수 있을 뿐만 아니라 시공에 따른 비용에 적지 않은 부담을 야기 시키기 충분하다.본 실험에서는 하향수제($\theta=135^{\circ}$)를 대상으로 수제간격에 대한 이동상 실험을 수행하여 수제주변 및 수제역 내에서 발생하는 하상변동특성을 검토하고자 하였다. 실험은 폭 1.2m, 길이 50m, 높이 1.5m 인 직선수로에서 수로폭의 15%길이를 갖는 하향수제($\theta=135^{\circ}$) 2개를 대상으로 각각 수제길이의 2~ 8배의 간격 조절을 통해 하상변동실험을 수행 하였다. 실험용입자는 중간입경($d_{50}$)이 0.15mm 인 모래를 사용하였으며 6시간 동안 통수하였다. 실험 결과 수제의 간격이 4배 미만으로 설치되었을 때 전면부 수제에서 발생하는 세굴의 영향이 후면부 수제 설치지점에 연장되어 나타나는 것이 확인 되었으며 수제간격이 7배 일 경우 전면부 수제에서 발생하는 최대세굴과 같은 세굴심이 관측되었다. 또한 수제간격이 4배이상으로 설치될 경우 후면부 수제에서 독립적인 세굴이 발생하고 있었는데 이는 직각수제 세굴과 동일한 현상으로 나타났다.