• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 춘계학술대회 논문집
• /
• pp.490-496
• /
• 1995

A four-legged mobile robot can move on the plain terrain with mobility and stability, but if there exist any obstacles on the terrain of the motion direction, it takes extra times for a mobile robot to cross those obstacles and the stability should be considered during motion. The main objevtive is the study of a quadruped which can cross obstacles with better mobility, stability and fuel economy than any other wheeled or tracked vehicles. Vertical step, isolated wall and ditch are the basic obstacles and by understanding those three cases perfectly, a quadruped can move on any mixed rough terrain as 4-legged animal moves. Each leg of a determine the crossing capability in a static analysis. A quadruped can be simplified with links and joints. By applying the research method, a quadruped can determine the control procedures as soon as it receives the terrain informations from scanner and finally can be moved as animals move with mobility and stability.

• Fisheries and Aquatic Sciences
• /
• 제1권2호
• /
• pp.168-179
• /
• 1998

Circulation in the Jinhae Bay in the southern sea of Korea is examined using the Princeton Ocean Model (POM) with a free surface in a sigma coordinate, governed by primitive equations. The model well corresponds to the time series of the observed velocities at several layers obtained from a long-term mooring observation. In the residual velocity field of the model, persistent downward flow fields are formed along the central deep regions in the bay, and they are caused by bottom topographic effect. In addition, a comparison between a depth-averaged (2D) model and the POM is given, and a dependance of the results on bottom drag coefficient is also examined.

• 로봇학회논문지
• /
• 제2권3호
• /
• pp.249-254
• /
• 2007

본 논문에서는 웨이퍼 레벨 밀봉 실장된 수직 운동 가속도 신호를 감지할 수 있는 초소형 Z축 가속도 센싱 엘리먼트를 제작하였다. 초소형 Z축 가속도 센싱 엘리먼트는 수직 방향의 정전용량 변화를 필요로 하기 때문에 단일 기판상에 수직 단차의 형성을 가능케 하는 확장된 희생 몸체 미세 가공 기술 (Extended Sacrificial Bulk Micromachining, ESBM) 을 이용하여 제작되었다. 확장된 희생 몸체 미세 가공 기술을 이용하면 정렬오차가 없이 상하부 양쪽에 수직 단차를 갖는 실리콘 구조물의 제작이 가능하다. 또한, MEMS 센싱 엘리먼트의 부유된 실리콘 구조물을 보호하기 위하여 웨이퍼 레벨 밀봉 실장 기술이 적용하여 고신뢰성, 고수율, 고성능의 Z축 가속도 센서를 제작하였다. 신호 처리 회로와 가속도 센서를 결합하여 Z축 가속도 센싱 시스템을 제작하였고 운동가속도 범위 10 g 이상, 정지 드리프트 17.3 mg 그리고 대역폭 60 Hz 이상의 성능을 나타내었다.

• IEIE Transactions on Smart Processing and Computing
• /
• 제2권4호
• /
• pp.189-196
• /
• 2013

This paper presents a two-stage approach to detect pedestrians in video sequences taken from a moving vehicle. The first stage is a preprocessing step, in which potential pedestrians are hypothesized. During the preprocessing step, a difference image is constructed using a global motion estimation, vertical and horizontal edge maps are extracted, and the color difference between the road and pedestrians are determined to create candidate regions where pedestrians may be present. The candidate regions are refined further using the vertical edge symmetry features of the pedestrians' legs. In the next stage, each hypothesis is verified using the integral channel features and an AdaBoost classifier. In this stage, a decision is made as to whether or not each candidate region contains a pedestrian. The proposed algorithm was tested on a range of dataset images and showed good performance.

• 산업기술연구
• /
• 제20권B호
• /
• pp.105-113
• /
• 2000

Air springs are now widely used in bus or truck suspensions due to their advantages over conventional metal spring as coil or leaf springs. Air springs have soft spring rates, which give better ride quality, and additional leveling system provides constant ride height and maintains almost same vertical natural frequencies. A mathematical model of an air spring suspension system with height control system is constructed and dynamic responses of the suspension system are investigated in the light of leveling valve motion characteristic, vertical motion natural frequency. Also, using a full vehicle model, handling characteristics of an air spring suspension is studied and the results are compared with real test results, which shows good agreements.

• 대한전기학회논문지
• /
• 제41권1호
• /
• pp.18-23
• /
• 1992

Magnet core and rail of a magnetically levitated vehicle are usually made of highly conductive materials. Accordingly, eddy currents are induced in those members. Eddy currents often lead to a decrement of levitation and guidance force. This paper has calculated the decrement of both forces due to eddy current generated by magnet's vertical and lateral motion. U-shaped electromagnet and rail were chosen as amodel of 2D finite element analysis. Calculated results proved that both forces dropped significantly at high speed. Consequently, effects of eddy current should be considered in designing the magnet and control system.

• 대한설비공학회:학술대회논문집
• /
• 대한설비공학회 2008년도 동계학술발표대회 논문집
• /
• pp.624-629
• /
• 2008

The problem was derived from a simple process in solar water heating system. In a new designed electro less separated system we involved a kind of bubble pump. Beside experiment analysis, numerical simulation of the core of bubble pump is also very important. In this paper we investigated the motion of bubbles in vertical tube in two dimensions. The heat and mass transfer was simulated. The result of numerical simulation give a significant help of optimize design of bubble pump.

• 대한조선학회지
• /
• 제19권4호
• /
• pp.47-52
• /
• 1982

The present paper gives numerical results of 2-D hydrodynamic forces on twin cylinders oscillating on a free surface in a deep water. The singularity distribution method is applied to determine a stream function. Based on the 2-D results the vertical motion responses of a catamaran model(ASR 5061) moving in regular head seas are estimated by using Ordinary Strip Method(O.S.M.). Numerical results show in general good agreements with Jones' theoretical and experimental results except those the resonance frequency.

• 한국지진공학회:학술대회논문집
• /
• 한국지진공학회 2003년도 춘계 학술발표회논문집
• /
• pp.61-68
• /
• 2003

The H/V ratio (Horizontal to Vertical spectral ratio) has been used to infer site amplification without previous knowledge of near-surface geology and in fact may provide useful general site condition information. This method is used to classify the site characteristics of seismic stations in Korea by comparison with known H/V ratios representative of various sites all over the world. In addition, differences between horizontal and vertical kappa values were evaluated for each seismic stations by comparing WV ratio and Weak Motion amplification derived from inversion of stochastic ground motion parameters and were used as index to quantitatively classify the site characteristics.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 1998년도 추계학술대회 논문집
• /
• pp.545-552
• /
• 1998

A study on collision analysis of TGV-K using a 2-dimensional model is described to evaluate its crashworthiness. Two-dimensional analysis gives good information on overriding behaviour and impact forces applied to interconnecting devices such as side buffers, ball & socket joints, hooks, pins, and fingers. Since the headstock of TGV-K is not designed in a crashworthy point of view, its conceptual design fur KHST(Korean High Speed Train), under development, is suggested to improve crashworthiness. The suggested design, which adopts an energy absorber and a crashworthy headstock, is compared with the conventional headstock on dynamic behaviour to the vertical direction under the accident scenario of SNCF (collision at 110km/h against a movable rigid mass of 15 ton). It is concluded that the design modification make little difference in vertical motion. To evaluate validation of the 2-dimensional model, the results fur longitudinal motion is compared with those of 1-dimemsional one. It is found that the two results are in good agreements.