• 해양환경안전학회지
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• 제18권3호
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• pp.221-226
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• 2012

본 연구는 미리 지정된 항로를 따라 항해하기 위한 선박의 Track-keeping에 대한 기초 실험 연구 분석결과를 제시하였다. 항로상에 위치한 여러 가지 변침점을 설정하고, 해당 선박이 그 항로를 항해하도록 알고리즘을 구성, 모형선을 이용한 실험 결과를 보여주었다. 지정된 구역에서 GPS로 변침점을 설정하고, 그 포인트를 Data화하여, 미리 프로그램된 알고리즘에 입력하면 해당 선박이 자동으로 항로를 항해하도록 설계되었다. PD 제어를 이용하여 침로 유지 알고리즘을 구성하였고, 선박 자동 Track-keeping 결과는 모니터링 가능토록 하였고, 변수를 설정 변경하도록 설계되었다. 제시된 알고리즘은 실험을 통하여 그 알고리즘의 효용성을 확인할 수 있었으며, 실선의 항해 자동화 및 충돌회피, 자동접안 등의 다양한 분야에 응용될 수 있을 것으로 판단된다.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.223-228
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• 2001

We have been developed an intelligent mobile robot with an artificial olfactory function to recognize odours and to track odour source location. This mobile robot also has ben installed an engine for speech recognition and synthesis and is controlled by wireless communication. An artificial olfactory system based on array of 7 gas sensors has been installed in the mobile robot for odour recognition, and 11 gas sensors also are located in the obttom of robot to track odour sources. 3 optical sensors are also in cluded in the intelligent mobile robot, which is driven by 2 D. C. motors, for clash avoidance in a way of direction toward an odour source. Throughout the experimental trails, it is confirmed that the intelligent mobile robot is capable of not only the odour recognition using artificial neural network algorithm, but also the tracking odour source using the step-by-step approach method. The preliminary results are promising that intelligent mobile robot, which has been developed, is applicable to service robot system for environmental monitoring, localization of odour source, odour tracking of hazardous areas etc.

• 한국철도학회논문집
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• 제19권2호
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• pp.195-203
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• 2016

최근 경부고속철도 2단계와 호남고속철도에 적용된 콘크리트궤도는 초기 건설비는 기존 자갈궤도에 비하여 불리하나, 유지관리비용은 유리한 것으로 검토되었다. 이와 같은 이유로 콘크리트궤도는 일반철도 신설구간을 중심으로 점점 더 적용구간이 늘어나고 있는 실정이다. 그러나 콘크리트궤도의 가장 큰 문제점 중의 하나는 침하로 인한 궤도 보수와 관계된 문제이다. 궤도의 하부 노반침하 및 이로 인한 궤도 안정성 저하는 콘크리트궤도의 가장 큰 단점이고, 고속철도 설계기준에는 허용잔류침하량을 25mm로 제시하고 있다. 콘크리트궤도의 안정성을 위해서는 2차 압축침하량을 기준치 이내로 관리하여야 한다. 본 연구에서는 2차 압축침하에 대한 이론을 토대로 연약지반의 2차 압축지수 및 연약지반 층의 두께 그리고 궤도수명에 따른 2차 압축침하량을 산정하여 궤도구조 선정에 활용하도록 제시하였다. 또한 국내 연약지반의 2차 압축계수의 확률분포 특성을 분석을 통하여, 콘크리트궤도 부설이 불가능한 지역이 10% 이상 나타남을 알 수 있었다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 1999년도 봄 학술발표회 논문집
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• pp.323-330
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• 1999

Daylight collapse have been occurred by about 5.0m deep at ground surface and collapse of the crown head part of the tunnel have connected to the ground surface during first step of shotcrete work after blasting of upper half section of the tunnel driving at two-way double track tunnel face section on highway construction. This study is for a successful illustration case for the earth improvement method through applying such strengthening methods as cement milk grouting, S.G.R grouting,, steel pipe reinforced multi-step grouting etc. for the purpose of earth strengthening of loosened earth block occurred by tunnel collapse.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.2383-2388
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• 2011

LSMs are installed under girders along the long track. In order to improve the efficiency of the LSM, long stator LSM should be divided into the specified length and the propulsion inverters should have the system topology to generate high voltage and current for LSMs. This paper presents a system topology with two-step inverter in order to generate high voltage in inverter. A LSM propulsion system is developed and implemented in Maltab/Simulink. A system model of the two-step Inverter is applied to developed model. This paper demonstrates through simulation, advantages of multi-step inverter. The conclusions can serve the design of LSM propulsion system.

• 대한음성학회:학술대회논문집
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• 대한음성학회 2004년도 춘계 학술대회 발표논문집
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• pp.245-249
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• 2004

The aim of this paper is to show the possibilities of the proficiency -based and integrated teaching of High School English reading and listening based on sense group and utterance restructuring. The proficiency -based and integrated listening and reading activities in stages are as follows. Step1, students fill in the blanks with strong or weak sounding words according to their abilities. Step2, speak along (track) based on restructuring and post-lexical phenomena while listening to the sentence. Step3, read and understand directly the passage, which have been marked the differentiated places where a native speaker of English would beat all likely to pause. Students need to listen to spoken English, so they recognize words in written and spoken form. They must be familiar with suprasegmental features, stress and rhythm, and post-lexical phenomena during reading activities.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.1258-1259
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• 2011

LSMs are installed under girders along the long track. In order to improve the efficiency of the LSM, long stator LSM should be divided into the specified length and the propulsion inverters should have the system topology to generate high voltage and current for LSMs. This paper presents a system topology with two-step inverter in order to generate high voltage in inverter. A LSM propulsion system is developed and implemented in Maltab/Simulink. A system model of the two-step Inverter is applied to developed model. This paper demonstrates through simulation, advantages of multi-step inverter. The conclusions can serve the design of LSM propulsion system.

• 제어로봇시스템학회지
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• 제1권1호
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• pp.16-16
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• 1995

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• Transactions on Control, Automation and Systems Engineering
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• 제1권1호
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• pp.16-20
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• 1999

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1212-1215
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• 1996

As usual systems, robot manipulators have also physical constraints for operating. It is a difficult problem that we operate manipulator in the minimal time under these constraints. In this pater, we solve this problem dividing it into two steps. In the first step, we find the minimal time trajectories by optimizing qubic polynomial joint trajectories using evolutionary algorithms. In the second step, we optimize controller for robot manipulator to track precisely trajectories optimized in the previous step.