• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2014년도 추계학술대회
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• pp.899-901
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• 2014

본 논문은 청소용 로봇의 전방향 주행이 가능하도록 하기위한 새로운 구동장치를 제안하였다. 제안된 구조는 2차 평면에서 3자유도 모션제어가 가능하고 잉여도를 갖지 않는 세게의 상호작용 엑츄에이터로 구성하였다. 또한, 로봇의 운동메카니즘을 해석하기 위하여 전방위 구동장치의 기구학을 해석하였으며 구동 메카니즘을 제안하였다.

• 한국산업융합학회 논문집
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• 제24권1호
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• pp.1-7
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• 2021

In this paper, we presented the experimental basis for the theoretical background and robustness of the Convolutional Neural Network for object recognition based on artificial intelligence. An experimental result was performed to visualize the weighting filters and feature maps for each layer to determine what characteristics CNN is automatically generating. experimental results were presented on the trend of learning error and identification error rate by checking the relevance of the weight filter and feature map for learning error and identification error. The weighting filter and characteristic map are presented as experimental results. The automatically generated characteristic quantities presented the results of error rates for moving and rotating robustness to geometric changes.

• 한국산업융합학회 논문집
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• 제25권3호
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• pp.341-347
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• 2022

This paper presents a comparison result of two simultaneous localization and mapping (SLAM) algorithms for navigation that have been proposed in literature. The performances of Extended Kalman Filter (EKF) SLAM under Gaussian condition, FastSLAM algorithms using Rao-Blackwellised method for particle filtering are compared in terms of accuracy of state estimations for localization of a robot and mapping of its environment. The algorithms were run using the same type of robot on indoor environment. The results show that the Particle filter based FastSLAM has the better performance in terms of accuracy of localization and mapping. The experimental results are discussed and compared.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2023년도 봄 학술논문 발표대회
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• pp.339-340
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• 2023

Steel construction is one of the commonly used methods in building construction due to its efficiency in terms of time and cost. In particular, the top-down method using steel frames is widely used in the construction of underground structures in urban areas to shorten the construction period. However, there is currently no standardized cost estimation for subway steel frame construction in Korea, causing difficulties in determining the expected cost. In this study, we aim to provide basic data for establishing a cost estimation standard for subway steel frame construction through on-site surveys of subway steel frame construction commonly used in urban areas.

• 한국정보통신학회논문지
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• 제18권5호
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• pp.1034-1041
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• 2014

본 논문은 능동카메라가 장착된 이동로봇의 장애물 회피를 위한 퍼지추론방법 제시하였다. 영상센서를 이용하여 상황적 판단에 근거한 명령융합을 사용하여 미지의 환경에서의 목적지까지의 지능적인 탐색을 수행하도록 하였다. 본 연구를 검증하기 위하여 환경모델과 센서데이터에 기반 한 이동로봇의 경로생성을 위한 물리적 센서융합을 시도하지 않고, 환경에 따른 각각의 로봇의 주행행동을 제어하기 위한 명령융합 적용하였다. 주행을 위한 전략으로는 목적지 접근과 장애물 회피를 수행할 수 있도록 퍼지규칙 조합을 통해 판단하도록 수행하였다. 제안한 방법을 검증하기 위하여 영상데이터를 사용한 성공적인 주행 실험 결과를 제시하였다.

• 한국신재생에너지학회:학술대회논문집
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• 한국신재생에너지학회 2010년도 추계학술대회 초록집
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• pp.151.1-151.1
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• 2010

Natural gas hydrates (NGH) provide 170 gas volumes per unit volume of the medium and are easier to make with moderate pressure and temperature (40 bar at 3 C). Once they form, their preservation temperature is 20 C at 1 bar, which is much milder than the LNG preservation. In case of using the NGH, The small and medium sized gas well has advantages for development because of NGH's these characteristics. According to the cost evaluation report of Gudmundsson in Norway and the research of MES in Japan, the gas well that uses the NGH has a cost saving effect about 10~20% compared LNG. The effect depends on distance and production. However, cost saving and efficiency of liquefaction process is increased by the development of LNG liquefaction technology. Therefore, these factors have to be reflected in economic analysis. The purpose of this research is to compare the cost of Gas Supply Chain according to the transport type, distance and gas reserves. Especially, we consider not only the cost of facility but also the total cost (production cost, transport cost, etc).

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.497-502
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• 2015

One of the goals in the field of mobile robotics is the development of personal service robots for the elderly which behave in populated environments. In this paper, we describe a security robot system and ongoing research results that minimize the risk of the elderly and the infirm to access an area to enter restricted areas with high potential for falls, such as stairs, steps, and wet floors. The proposed robot system surveys a potential falling area with an equipped laser scanner sensor. When it detects walking in elderly or infirm patients who in restricted areas, the robot calculates the velocity vector, plans its own path to forestall the patient in order to prevent them from heading to the restricted area and starts to move along the estimated trajectory. The walking human is assumed to be a point-object and projected onto a scanning plane to form a geometrical constraint equation that provides position data of the human based on the kinematics of the mobile robot. While moving, the robot continues these processes in order to adapt to the changing situation. After arriving at an opposite position to the human's walking direction, the robot advises them to change course. The simulation and experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• 한국항공우주학회지
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• 제45권10호
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• pp.872-880
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• 2017

일반적으로 추력기는 on/off 제어 방식을 이용한다. Bang-Bang Control, PWM(Pulse Width Modulator), PWPF(Pulse Width Pulse Frequency) 등이 그 방법으로 많이 이용되고 있다. PWPF를 설계할 때 파라미터($K_m$, ${\tau}$, $U_{on}$, $U_{off}$, $U_m$)를 잘못 선정하면 위상 지연, 연료 낭비, 수명 감소 등이 발생한다. 그러므로 파라미터가 시스템 성능에 미치는 영향을 분석하고 적절한 파라미터를 선정하여야 한다. 본 논문은 정적 해석을 수행하여 PWPF 파라미터 설계방안을 제시하였으며, 동적 분석 및 시뮬레이션을 수행하여 설계변수에 미치는 상호 영향을 분석하였다.

• 천문학회보
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• 제38권2호
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• pp.43.2-43.2
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• 2013

AGN are known for irregular variability on all time scales, down to intra-day variability with relative variations of a few percent within minutes to hours. In the shortest time scale of AGN activity, unexplored territory still exists: first, the existence of a shortest time scale of AGN activity and secondly the shape of high frequency end of AGN power spectrum. Also the spectral variations at the shortest timescale. Here, we present the preliminary results of AGN fast photometry performed with Korean VLBI Network(KVN). Observations were done in a 'anti-correlated' mode using two antennas, with always either one antenna pointing at the target. This results in an effective time resolution of 3 minutes. We used all four KVN frequencies, 22, 43, 86, and 129 GHz, in order to trace spectral variability. We have been able to derive high-quality light curves for 3C111 and 3C279 at 22 and 86 GHz observed on 31st of May and 30th of Nov. in 2012. We are currently performing detailed statistical analysis in order to assess the levels of variability or the corresponding upper limits.

• 한국추진공학회지
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• 제19권5호
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• pp.15-21
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• 2015

착화기의 1차 점화장약으로 널리 사용되어지고 있는 ZPP(Zirconium/Potassium perchlorate)의 열분해 특성을 differential scanning calorimetry(DSC)를 사용하여 평가하였다. ZPP의 열분해반응에 대한 속도론적 파라미터를 결정하기 위하여, 다른 가열 속도를 갖고 수행된 DSC 결과들을 AKTS사의 Thermokinetics software를 사용하여 분석하였다. 결정된 속도론적 파라미터를 사용하여 계산된 모사값들은 실험적 결과들과 잘 일치함으로써, ZPP의 열분해과정에 대한 속도론적 모사의 유효성을 검증할 수 있었다.