• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1045-1049
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• 2005

In this paper, the dynamic crawling of a five-bar planar mechanism is investigated. One complete cycle of the crawling selected in this study consists of four different steps, i) sliding at one contact point between the mechanism and the ground, ii) changing its configuration without sliding at two contact points, iii) sliding at the other contact point, and iv) again changing its configuration without sliding at two contact points. In this type of crawling, the crawling mechanism maintains the shape of the parallel structure throughout a complete crawling cycle. The modeling algorithm for serial manipulators proposed by M. Thomas and et al.[1] is employed by introducing imaginary joints and links which represent the contact interfaces between the one end of the mechanism and the ground, while the other end of the mechanism is regarded as an end-effector of the imaginary serial manipulator which treats the reaction force and torque at the contact point as external forces. Then, a complete cycle of dynamic crawling of the mechanism is investigated through various computer simulations. The simulation result show that the stable crawling characteristics of the mechanism could be secured when the proper configurations depending on specified frictional constraints are met.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.59 no.1
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• pp.44-54
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• 2023

In this study, the second-order Nomoto's nonlinear expansion model was implemented as a Tagaki-Sugeno fuzzy model based on the heading angular velocity to design the automatic steering system of a ship considering nonlinear elements. A Tagaki-Sugeno fuzzy PID controller was designed using the applied fuzzy membership functions from the Tagaki-Sugeno fuzzy model. The linear models and fuzzy membership functions of each operating point of a given nonlinear expansion model were simultaneously tuned using a genetic algorithm. It was confirmed that the implemented Tagaki-Sugeno fuzzy model could accurately describe the given nonlinear expansion model through the Zig-Zag experiment. The optimal parameters of the sub-PID controller for each operating point of the Tagaki-Sugeno fuzzy model were searched using a genetic algorithm. The evaluation function for searching the optimal parameters considered the route extension due to course deviation and the resistance component of the ship by steering. By adding a penalty function to the evaluation function, the performance of the automatic steering system of the ship could be evaluated to track the set course without overshooting when changing the course. It was confirmed that the sub-PID controller for each operating point followed the set course to minimize the evaluation function without overshoot when changing the course. The outputs of the tuned sub-PID controllers were combined in a weighted average method using the membership functions of the Tagaki-Sugeno fuzzy model. The proposed Tagaki-Sugeno fuzzy PID controller was applied to the second-order Nomoto's nonlinear expansion model. As a result of examining the transient response characteristics for the set course change, it was confirmed that the set course tracking was satisfactorily performed.

• Journal of the Korean Institute of Rural Architecture
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• v.14 no.3
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• pp.9-16
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• 2012

Both internally and externally environmental changes surround the rural areas such as rapid growth of the early-retired employee under the WTO, the Asian financial crisis in 1997, and the financial crisis in 2007 brought about much transformation in our rural residential environment. According to this changes and demands, the rural areas have been transformed from the area for farmer to the area for farmer and non farmer, that is, peoples that to leave the city to go back to farm or return to home village. Of this time, there needs a change in rural development policies which can make the urban residents migrate and settle in the rural areas as they are naturally embracing the rural life according to the social background and demand. In this point of view, we attempted, in this paper, to survey and analyze the changing trends of residential environment following the spatial composition with house types and rural villages in rural areas. The result of this study will be expected to be a reference for the direction of desirable residential environment in rural areas.

• Journal of the Korean Society of Radiology
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• v.10 no.6
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• pp.435-442
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• 2016

This study was an investigation of the anode heel effect caused by changing the angle of the x-ray tube. We established the following conditions for experimental measurements: 70 kV, 30 mAs, focus-detector distance of 100cm, and a collimator setting of $35{\times}43cm^2$. The measurement points were set up at the center of the collimator and extended to each side in intervals of 3.5cm, with points A1, A2, A3, A4, A5, A6 on the anode side and points C1, C2, C3, C4, C5, C6 on the cathode side. We measured the entrance surface dose from point A6 to point C6 with each point perpendicular to an x-ray tube. And we did the same when measuring different angles of the x-ray tube from 15 to 30 degrees for every point on the anode and cathode sides. Using perpendicular x-ray tube, we found that the entrance surface dose of the A5 point was three times higher than that of the C5 point. Thus, we conclude that if the anode side is placed near highly radiosensitive organs, then there will be less radiation exposure when using a perpendicular x-ray tube. When imaging using x-ray tube angles, an angle to the cathode side can reduce the gap of the entrance surface dose on both the anode and cathode sides. When imaging areas where there are differences in thickness between the upper and lower sides, the angle to the cathode side that is closer to the thicker area can reduce the gap of the entrance surface dose and capture a higher quality image.

• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.2
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• pp.169-174
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• 2013

In counterfire warfare, it is important to detect and attack enemy targets faster than the enemy using sensing The grided environmental data is usually provided by the numerical simulation coupled with a data assimilation technique and various inter- or extrapolation algorithms, both of which are based on the observation spanning from simple equipments to satellites. In order to employ the gridded environmental data in the M&S system frequently cutting area and changing its resolution, interpolation algorithms such as linear, cubic spline, IDW, and Kriging methods are necessary to apply. These methods, however, require much time in the M&S system. This paper introduces a technic to reduce time to change the resolution of data. using the binary search method, which finds a point to interpolate quickly and interpolate data in the vicinity of. We also show the efficiency of proposed methods by way of measuring the respective elapsed times.

• Proceedings of the KIEE Conference
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• 2003.10b
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• pp.3-5
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• 2003

This paper deals with the characteristics of a capacitor-run single-phase induction motor by changing of conductor bar numbers. The Finite Element Method (FEM) is used to analyze the starting characteristics according to the rotor initial starting point about conduction bar and the characteristic analysis at the rated condition is calculated by equivalent circuit based on symmetry coordinate theory Finally, the analysis results of the analysis models have different conductor bars in their rotor are compared.

• Journal of the Korea Furniture Society
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• v.21 no.4
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• pp.293-303
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• 2010

With changing systems of wealth creation around the 21st century, crafts(traditional and industrial crafts) are affected by the trend of changes or lead the trend, that is to say, a turning point of paradigm has come. Values of crafts give the value of users, and the tradition and modern coexists in the trend of times changing from the tradition to the modern so crafts artists’ works are diversified and used in design industries. Based on a place of expression showing various beauty of crafts, identity of design is established through ‘Craft Consilience’ of intangible cultural assets, master craftsman, crafts artists, crafts industries, and crafts departments. As master craftsman and furniture designers meet together to mix master craftsman’s idea with designers’ idea, the new Korean crafts furniture is suggested.

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.250-257
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• 2014

In this paper, a new mobile robot, so called a rollerbot, is presented, which has single body and rugby-ball shaped roller wheel. A rollerbot has single point contact on ground and low energy consumption in motion because of the reduced friction. By changing center of mass using a balancing weight, a rollerbot is able to get steering force. The vertical position of mass center of the rollerbot in this paper is designed to lie inside radius of the roller wheel, so that to have stable equilibrium position. Thus, the posture and the steering control of the rollerbot can be easily done by changing the center of mass. Kinematics of the rollerbot is derived by transformation of differential motion in this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1130-1138
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• 2008

A mobile robot should be designed to navigate with collision avoidance capability in the real world, coping with the changing environment flexibly. In this paper, a novel navigation method is proposed for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. To demonstrate the effectiveness and applicability, it is applied to the robot soccer. Simulations and real experiments ascertain the merits of the proposed method.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1998.10a
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• pp.181-189
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• 1998

In order to investigate the effect of base oil composition on the electronic insulating oil's performances, an experimental study has been conducted using different oils. Owing to their properties, like lower pour point and gas absorbing, naphthenic base oils are used more often than paraffmic base oils for the electronic insulating oil application. Naphthenic and paraffinic base oils are significantly different in their aromatic hydrocarbon content. In this paper, PXE(para xylyl ethane), LAB(linear alkylbenzene), C13 aromatic hydrocarbon mixture and C17 aromatic hydrocarbon mixture are investigated regarding their influence on insulating oil's performances. According to present study, breakdown voltage decreased with increasing aromatic lydrocarbon content in a deep dewaxed paraffmic base oil. However, any changing in the dissipation factor was not recognizable at small treated level. Furthermore, the volume resistance was not influenced by aromatic hydrocarbon content. The gassing tendency was found as a highly sensible property, changing with treating aromatic hydrocarbons. The higher benzene ring content in the hydrocarbon, the better gassing tendency.