• 한국항행학회논문지
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• 제25권3호
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• pp.177-184
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• 2021

본 논문은 무인잠수정을 도킹스테이션에 성공적으로 안전하게 도킹시키기 위해 확률 기반 평가지표를 설계하여 수중 도킹 과정을 평가하는 방법을 제안한다. 제안하는 방법은 무인잠수정 상태와 수중 도킹을 위한 상태 기준의 일치 정도에 따른 도킹 성공 가능성을 확률로써 평가하는 방법이다. 평가는 무인잠수정의 기구학적 구속조건과 도킹 계획을 고려해 정의된 영역 내부에서 수행한다. 평가 과정은 확률밀도함수의 정의, 위치와 방향각 기준과의 차이에 따른 도킹스테이션 도달확률 계산, 확률지표의 산출 순서이며, 이를 통해 실시간으로 수중 도킹 과정을 평가한다. 수조실험을 통해 획득한 무인잠수정 데이터를 분석하여 제안하는 평가지표의 유효성을 검토하였다.

• 한국경영과학회지
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• 제30권3호
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• pp.1-15
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• 2005

In our model, a fleet of vehicles start from docking point to collect loads at the terminals assigned to the point Then the docking points are connected to the hub by primary vehicle routes starting at the hub. This vehicle visit all the docking points to collect the loads which have been collected by the secondary vehicles. Our goal Is to minimize the long-run cost of setting up the docking Points and vehicle operation cost by deciding the location of the docking points and the routes optimally. We propose an heuristic algorithm to solve this and tested it though various experiments.

• Asian Pacific Journal of Cancer Prevention
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• 제15권1호
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• pp.111-116
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• 2014

Objective: To study potential targets of Danshensu via dual inverse docking. Method: PharmMapper and idTarget servers were used as tools, and the results were checked with the molecular docking program autodock vina in PyRx 0.8. Result: The disease-related target HRas was rated top, with a pharmacophore model matching well the molecular features of Danshensu. In addition, docking results indicated that the complex was also matched in terms of structure, H-bonds, and hydrophobicity. Conclusion: Dual inverse docking indicates that HRas may be a potential anticancer target of Danshensu. This approach can provide useful information for studying pharmacological effects of agents of interest.

• 대한조선학회 특별논문집
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• 대한조선학회 2008년도 특별논문집
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• pp.10-15
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• 2008

The proper docking block arrangement, loading condition and structural reinforcement are required to ensure structural safety of ship, when she is in re-docking and launching for inspection or repair. The large reaction force due to narrow bottom tangent area, heavy weight and ballast loading are occurred at aft body and fore body of ship. Especially, in case of LNGC, the strength evaluation is necessary for cargo hold areas including mid-body because tank hydro test is performed in dry-dock. The analysis results and experiences to confirm structural safety for docking of conventional LNGC$(138K{\sim}151.7K)$ are introduced in this paper.

• 대한안전경영과학회지
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• 제8권3호
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• pp.103-114
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• 2006

A cross docking operation involves multiple trucks (known as inbound trucks) that deliver items from suppliers to a distribution center and multiple trucks (known as outbound trucks) that ship items from the distribution center to customers. Based on customer demands, an inbound truck may have its items transferred to multiple outbound trucks. Similarly, an outbound truck can receive its consignments from multiple inbound trucks. A unique characteristic of a cross docking system is the absence or prohibition of long term storage of items at the distribution center. Items delivered to the distribution center from suppliers are shipped to customers as soon as possible without being placed in storage in the distribution center. The objective of this paper is to develop the optimal operational strategy for finding the best truck docking sequence for both inbound and outbound trucks in order to minimize total operation time where a temporary storage area is not available in a cross docking system.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.67-72
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• 2006

Questionnaire survey on performance requirement of ship’s speed such as not only accuracy but also response and robustness were carried out, and the experiments to survey the GPS performances of static and dynamic characteristics were carried out simultaneously. In this paper, the questionnaire survey focusing on docking maneuvering, some analytic results of the survey, the results of GPS performance, and the possibility of adaptation for docking maneuvering on SDME and GPS are discussed. Consequently, from the results of questionnaire survey the performance requirement of ship’s speed in docking/anchoring maneuvering have need under 1cm/sec on the standard deviation, and speed information from GPS was adopted to use maneuvering information in docking/anchoring.

• 한국지능시스템학회논문지
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• 제26권3호
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• pp.169-175
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• 2016

최근 다양한 환경에서 지능형 로봇의 안정된 이동과 작업계획에 대한 연구가 이루어지고 있다. 본 논문에서는 상하 결합가능한 구조의 4족 로봇의 설계 및 작업 계획방법을 제안한다. 제안하는 4족 로봇은 리니어 모터를 이용하여 다리 길이를 조절하고, 팔각뿔 형태의 도킹모듈을 이용하여 상하 결합과 분리가 가능하도록 설계하였다. 또한 로봇이 다양한 환경에서 안정된 이동과 정보 수집을 위하여 지자기 센서, PSD 센서, LRF 센서와 카메라를 사용하였다. 리니어 모터를 이용한 장애물 회피 동작방법과 상하 결합 동작방법을 제안하고 구현하였다. 로봇은 다리 길이를 조절하여 장애물을 극복하고, 두 대의 로봇이 상하 결합을 통하여 협력 작업방법을 제안하였다. 두 대의 4족 로봇이 상하 결합을 통하여 4족과 6족 보행을 하고, 상부 결합 로봇의 4개의 다리를 4개의 팔 또는 2개의 팔로 사용할 수 있으며, 결합된 로봇을 이용하여 물건 옮기기 작업을 구현하고, 각 동작들을 실제 실험으로 기능을 검증하였다.

• 대한안전경영과학회지
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• 제19권3호
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• pp.129-135
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• 2017

The respective delivering vehicle loaded with the own cargo moves into the respective delivery area. At the base, the delivery points D1 and D2, for example, have the same starting point but the destination is different. The average delivering time of the delivery vehicle is mostly more than 8 hours a day. Therefore, the efficiency of delivery is generally low. In this study, the deliveries will be forwarded from a base station to a delivery point where cross docking will be applied to a single vehicle, and will be distributed from the cross docking point through cross docking. If the distribution is implemented, one vehicle will not have to be operated from the base to the cross docking point. In that case, logistics cost will be reasonably saved by the reduction of transportation cost and labor time. If one vehicle only runs from the base to the cross docking point, each vehicle will be operated in two shifts, and the vehicle operation can be efficiently implemented. This research model is based on the assumption that the 3 types of ratios between the traffic volume of the vehicles starting at the base and the vehicles waiting at the cross docking point are set to the first ratio of 30% to 70%, the second ratio of 50% to 50% and the final ratio of 70% to 30%. As a result of the study, The delivery time in the cross docking point is much higher than that in present on the condition that the cargo volume in the D2 area is more than 50%. Likewise, the delivery time is slightly higher on the condition that the cargo volume is less than 50%. Time is reduced in terms of 50% model like AS-IS model.

• 한국해양공학회지
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• 제36권3호
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• pp.181-193
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• 2022

This study presents a mission management technique that is a key component of underwater docking system used to expand the operating range of autonomous underwater vehicle (AUV). We analyzed the docking scenario and AUV operating environment, defining the feasible initial area (FIA) level, event level, and global path (GP) command to improve the rate of docking success and AUV safety. Non-holonomic constraints, mounted sensor characteristic, AUV and mission state, and AUV behavior were considered. Using AUV and docking station, we conducted experiments on land and at sea. The first test was conducted on land to prevent loss and damage of the AUV and verify stability and interconnection with other algorithms; it performed well in normal and abnormal situations. Subsequently, we attempted to dock under the sea and verified its performance; it also worked well in a sea environment. In this study, we presented the mission management technique and showed its performance. We demonstrated AUV docking with this algorithm and verified that the rate of docking success was higher compared to those obtained in other studies.

• 한국지능시스템학회논문지
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• 제25권3호
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• pp.236-241
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• 2015

본 논문에서는 로봇 간의 결합과 허리 관절을 이용하여 변형 가능한 다 개체 4족 로봇 플랫폼을 제안하였다. 메카넘 휠을 적용하여 다양한 각도로 주행이 가능하고, 주행으로는 이동할 수 없는 환경을 극복하기 위해 보행도 가능한 복합 이동형 로봇으로 설계하였다. 주행 및 보행을 구현하기 위해 2가지의 기구학을 사용하였으며, 보행은 일정한 패턴을 생성하여 구현하였다. 로봇의 전면부와 후면부에는 결합 모듈을 장착하였고, 두 로봇 간의 결합을 위해 결합 알고리즘을 제시하고 실험하였다. 변형을 위해 로봇의 몸 중간에 허리 관절을 적용하였고, 허리 관절을 이용한 변형을 통해 물건을 옮길 수 있는 새로운 기능을 구현하였다.