• Title/Summary/Keyword: Driving Part

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Scheme and Movement/Tension Control of Working Robot for the Installation of an Overhead Power Cable (1) (전력케이블 가설용 작업로봇의 구성과 이동/장력 혼합제어에 관한 연구(1))

  • Choi, Dong Soo;Lee, Dong Hoon
    • Journal of the Korean Society of Safety
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    • v.31 no.5
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    • pp.28-34
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    • 2016
  • When a electric power cable is installed in the air for newly or exchanged working, it is necessary at all time to hold a constant tension for an overhead power cable. And also a pendanted power cable is an extreme job to have work in a high sky. For this reason, the objective of this paper developments working robot for preventing disaster that tension of cable installed automatically power cable to hold a constant. So the working robot works at all the time two tasks for mobil and tension it come into a inference between two tasks, control is difficult. Control methode needs to suppress inference of two tasks. In this paper, for installation of overhead power cable, the scheme and control methode of working robot is presented. the robot work at a same time tow tasks that have hold a constant tension of the power cable and move a constant place while unfasten a winding cable at a drum on a chassis. Working robot consist of three parts with mobile system, tension system and control part. As it is applied the feedback/feedforward control, methode of hybrid control is established to suppress that interference come into between two tasks. The simulation programs is made out using models of mobil and tension system, and a proposed controllers. In accordance with simulation, the model of each systems is discussed to make out proper. And also parameters of controllers is selected a suitable value and the driving performance of robot is evaluated.

Multiple Path-planning of Unmanned Autonomous Forklift using Modified Genetic Algorithm and Fuzzy Inference system (수정된 유전자 알고리즘과 퍼지 추론 시스템을 이용한 무인 자율주행 이송장치의 다중경로계획)

  • Kim, Jung-Min;Heo, Jung-Min;Kim, Sung-Shin
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.13 no.8
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    • pp.1483-1490
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    • 2009
  • This parer is presented multiple path-planning of unmanned autonomous forklift using modified genetic algorithm and fuzzy inference system. There are a task-level feedback method and a method that path is dynamically replaned in realtime while the autonomous vehicles are moving by means of an optimal algorithm for existing multiple path-planning. However, such methods cause malfunctions and inefficiency in the sense of time and energy, and path-planning should be dynamically replanned in realtime. To solve these problems, we propose multiple path-planning using modified genetic algorithm and fuzzy inference system and show the performance with autonomous vehicles. For experiment, we designed and built two autonomous mobile vehicles that equipped with the same driving control part used in actual autonomous forklift, and test the proposed multiple path-planning algorithm. Experimental result that actual autonomous mobile vehicle, we verified that fast optimized path-planning and efficient collision avoidance are possible.

Research on the Design and Evaluation of a Control Loading System for Flight Simulator (비행 시뮬레이터용 조종력 재현 장치 설계 및 시험연구)

  • Lee, Chan-Seok;Kim, Byoung-Soo
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.32 no.4
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    • pp.95-100
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    • 2004
  • This paper represents the development of a CLS(Control Loading System) for a target a airplane (KT-1) with mechanical linkage reversible flight control system. The system is composed of mechanical frame, controller, sensing part to measure the force from the stick, driving system generating the reaction forces. The DS1103 DSP(Digital Signal Processor) of the dSpace Corp. was used as the controller. The control algorithm of the CLS and the operational environment including monitoring software and evaluation tools are described. The evaluation of the system was conducted according to the requirement specification. The results of the test were analyzed by comparing with the actual data of the target airplane.

A Computer Graphic Based Interactive Modeling System with Application to Ship Scheduling (선박운항 일정계획 문제에 대한 컴퓨터 그래픽 기반 상호대화식 모델링 시스템)

  • 이희용;김시화
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.4 no.5
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    • pp.919-930
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    • 2000
  • This paper treats a development of visual interactive modeling(VIM) system for ship scheduling problem in integer formulation. The ship scheduling problem can be described as "A problem which assigns ships and cargos to achieve maximum revenue from transportation" in brief. Since late 1970s there has been rapid growth in development and use of VIM as MS10R technology due to the development of computer technology and now VIM has become a important discipline in MS/OR and MIS society. Visual Interactive Modeling is a process that decision maker takes part in modeling life cycle -data collection, formulation, derivation of optimal solution and representation of solution - and interacts with a modeling system to achieve a user-solution appropriate for his/her ultimate goal. This paper suggests the methodology how to collect data, build and modify model, and represent solution using computer graphics as a major driving tool and demonstrates effective performance of a prototype system.pe system.

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Altered Expression of Aquaporins in Rat Submandibular Glands after Parasympathetic Denervation

  • Jung, Ji-Yeon;Byun, Kang-Ok;Kim, Won-Jae
    • The Korean Journal of Physiology and Pharmacology
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    • v.7 no.2
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    • pp.97-101
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    • 2003
  • The salivary glands produce 1.5L of fluid per day. As in other exocrine organs, the general mechanism in the salivary glands is that water movement occurs secondary to osmotic driving forces created by active salt transport. Therefore, high water permeability in the salivary glands is expected to have a variety of aquaporin (AQP), a water channel. Although some AQPs have been known to be present in the salivary glands, roles of parasympathetic nerve in AQP expression have not yet been examined. This study was designed to examine the changes of AQPs and extracellular signal-regulated kinase (ERK) in the submandibular glands after parasympathetic denervation. Right chorda-lingual nerve was cut, and each right (experiment) and left (control) submandibular gland was excised at 1, 3, 7, 14, 30 days after denervation. The denervated right submandibular glands were resulted in weight loss and morphologic changes, including cell loss and atrophy, as the time elapsed after parasympathetic denervation increased, whereas there were no histologic alteration in control side. AQP5 which is known to reside in apical membrane and secretory caraliculi of the submandibular acini were gradually underexpressed according, as the time after denervation increased. Expression of AQP4 in submandibular ductal epithelium was down-regulated after denervation. Besides, AQP3 and 8, which is known to be present in basolateral membrane of the glandular acini, were gradually underexpressed after denervation, similar to the pattern of other types. Expression of ERK, a mitogen-activated protein kinase, was downregulated after parasympathetic denervation in the submandibular gland. These results suggest that parasympathetic nervous system regulates the expression of AQPs in salivary glands, and is in part mediated by ERK pathway.

A Study on a Plan for Adaptation according to the Change of a Bodyguard's Social Cognition (경호직 근무자의 업무능력 증대방안에 관한 고찰)

  • Kim, Chang-Ho
    • Korean Security Journal
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    • no.8
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    • pp.65-83
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    • 2004
  • In modern society, the enterprises or the public organization have devised consistent means and methods with keen competition in high intelligence, high specialization and high competition for surviving in the struggle for existence. In the rapidly changing modern society like that, guard services are not free any more in the simple business. It will be survived only with consistent self-development and various abilities. Recently, it is on a trend that the enterprise including venture business requires the man of ability having many-sided thought, knowledge and capacity. That is, the era of a man with multi-function has come. The guards engaged in their present posts have to make efforts self-development consistently. And they have to work for self-development with theoretical knowledge acquirement about the expert knowledge escaping from simple function and business. The constitution including universities that train the guard should not adjust to the demand of quantitative manpower required in the enterprise organization with the training of the guard with simple functions only. It needs settlement as a curriculum with technology like ideology and knowledge breaking from short curriculum centered on function only in order to come to stay the recognition about guard services as expert services that the industrial society requires. The education centered on simple function should be replaced in the use of a high school, private academy and special guard institution. In addition, it requires a quality as the auxiliary, division, decision-making and spokesman according to the business role. Also, it requires the martial arts capacity, the communicative capacity, the sports or reports capacity, the guard driving capacity, the policy and assistant capacity and the information and analysis capacity, etc in individual. Lastly, it need each guard's change of cognition most of all. As part of the guard's adaptive plan according to the social change, it was enumerated like the mentioned above. It is important for the guard to prepare for the change of era and to build up quality and capacity before anything else.

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Hot Firing Tests of a Gas Generator for Liquid Rocket Engine using a Turbine Manifold Simulator (터빈 매니폴드 모사장치를 이용한 액체로켓엔진 가스발생기 연소시험)

  • Lim, Byoungjik;Kim, Munki;Kim, Jonggyu;Choi, Hwan-Seok
    • Journal of the Korean Society of Propulsion Engineers
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    • v.19 no.5
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    • pp.22-30
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    • 2015
  • A gas generator which generates turbine driving gas by burning a part of propellants is used in an open cycle liquid rocket engine and as a main component of an open cycle liquid rocket engine autonomous hot firing tests are required to investigate the combustion performance and characteristics of the gas generator. However, since the combustion gas generated by a gas generator is choked at the turbine nozzle in the turbine manifold, it is necessary to consider the internal volume of turbine manifold as well as that of the gas generator for correct investigation of the combustion performance, characteristics, and acoustic characteristics of the gas generator. Therefore, in the paper hot firing test results of a gas generator with a turbine manifold simulator are described and characteristic prediction using the autonomous test of a gas generator is explained.

VLSI Implementation of a Digital Zooming System for Digital Camcorder (디지털 캠코더용 영상확대 시스템의 VLSI 구현)

  • Shin, Jeong-Ho;Jung, Jung-Hoon;Paik, Joon-Ki;Kim, Hyo-Ju
    • Journal of the Korean Institute of Telematics and Electronics S
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    • v.35S no.9
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    • pp.78-85
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    • 1998
  • In this paper we propose a VLSI implementation technique for camcorder's digital zooming system. The proposed VLSI includes the system clock(CLK), vertical drive(VD), horizontal drive(HD),blank(BLK), and field(FLD) signals as inputs, and produces magnified image as an output, with 256 different magnification ratios. In general, the above mentioned input signals are provided by the CCD driving IC in most camcorders. As a result, the proposed digital zooming VLSI can magnify a part of the input image by up to 256 times, where the magnification ratio can be chosen among 256 different steps. In the application point of view, the proposed VLSI can be used in any digital camcorder for realizing near continuous step digital zooming without any additional circuitry, such as micom or a general purpose digital signal processor.

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Parking Lot Vehicle Counting Using a Deep Convolutional Neural Network (Deep Convolutional Neural Network를 이용한 주차장 차량 계수 시스템)

  • Lim, Kuoy Suong;Kwon, Jang woo
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.17 no.5
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    • pp.173-187
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    • 2018
  • This paper proposes a computer vision and deep learning-based technique for surveillance camera system for vehicle counting as one part of parking lot management system. We applied the You Only Look Once version 2 (YOLOv2) detector and come up with a deep convolutional neural network (CNN) based on YOLOv2 with a different architecture and two models. The effectiveness of the proposed architecture is illustrated using a publicly available Udacity's self-driving-car datasets. After training and testing, our proposed architecture with new models is able to obtain 64.30% mean average precision which is a better performance compare to the original architecture (YOLOv2) that achieved only 47.89% mean average precision on the detection of car, truck, and pedestrian.

Legal Approach to the Concept of 'Sustainability' in Sustainable Development (지속적 개발의 '지속성' 개념에 관한 법학적 접근)

  • Seo, Won-Sang
    • Journal of Environmental Policy
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    • v.3 no.2
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    • pp.59-87
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    • 2004
  • In its Declaration of Principles, the United Nations Conference on Environment and Development recommends that, "to achieve sustainable development and a higher quality of life for all people, states should reduce and eliminate unsustainable patterns of production and consumption...." This notion of sustainability lies at the core of many "commons" problems, where the central issue is to enable "individuals to sustain long-term, productive use of natural resource systems". In other worlds, a common definition of "sustainability" captures the idea of aligning human consumption with the capacity of ecological systems to supply, over a long period of time, such natural resources as air, soil, or water on which production depends. The concept of sustainability raises all sorts of political, social, and economic questions about the distribution of environmental protection. For sustainable community development to be addressed, these questions must be raised. In order to convince different citizenry of the necessity of sustainability, these questions must also be answered. This is where questions of equity, justice, and fairness arise. Sustainability and equity require that we deal with nature as an undivided whole, with no part being unsustainable. Sustainability and social policy also requires that we deal with the human population as an undivided whole. We simply cannot move people around the planet to either perpetuate past practices of earth exploitation or to implement sustainable planning. Everyone must work with the people inhabiting sensitive ecological areas, especially areas of regeneration. In the sustainable global community, we are as strong as our weakest link, or our most toxic community. This is the undeniable driving force for the infusion of equity into the sustainable development debate.

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