• 한국정밀공학회지
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• 제25권12호
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• pp.65-74
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• 2008

This paper deals with the path creation for stable action of a robot and transformation by using the fuzzy algorithm. Also, the obstacle detection and environmental analysis are performed by a stereo vision device. The robot decides the range and the height using the fuzzy algorithm. Therefore the robot can be adapted in topography through a transformation by itself. In this paper, the robot is designed to have two advantages. One is the fast movability in flat topography with the use of wheels. The other is the moving capability in uneven ground by walking. It has six leg forms for a stable walk. The wheels are fixed on the legs of the robot, so that various driving is possible. The height and the width of robot can be changed variously using four joints of each leg. The wheeled joint has extra DOF for a rotation of vertical axis. So the robot is able to rotate through 360 degrees. The robot has various sensors for checking the own state. The stable action of a robot is achieved by using sensors. We verified the result of research through an experiment.

• 한국물환경학회지
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• 제24권4호
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• pp.452-457
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• 2008

Nonpoint source (NPS) pollution is caused by rainfall moving over and through the ground. As the runoff moves, it picks up and carries away various pollutants from NPS. The discharge pattern of NPS pollutant loads is affected by the distribution of the rainfall during the year. This study analysed relationship between the rainfall event and the stream flow rate, and estimated the rainfall discharge ratio on the specific design flow which can be used as nonpoint discharge coefficient for the estimation of NPS pollution load. It is considered that nonpoint discharge coefficient can be effectively used for the calculation of NPS pollution load at the time of water quality modelling for the management of Total maximum daily load (TMDL).

• 한국군사과학기술학회지
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• 제10권2호
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• pp.21-30
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• 2007

A practical method to design the input shaping which generates control command is proposed in this paper, We suggest an experimental technique considering human operator's target tracking error to improve aiming accuracy which significantly affects hit probability. It is known that stabilization performance is one of the most important factors for ground combat vehicle system. In particular, stabilization error of the manual target tracking system mounted on moving vehicle directly affects hit probability. To reduce this error, we applied input command shaping method using preprocessing filtering and functional curve fitting. First of all, we construct the human operator model to consider effects of human operator on our system. Input shaping curve is divided into several regions to get rid of the above problems and to improve the system performance. At example design part, we chose three steps of functional command curve and determine the parameters of the function by the proposed design method. In order to verify the proposed design method, we carried out the experiments with real plant of a fighting vehicle.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.155-162
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• 2009

In walking guide robot, a guide vehicle detects an obstacle distribution in the walking space using range sensors, and generates a 3D grid map to map the obstacle information and the tactile display. And the obstacle information is transferred to a blind pedestrian using tactile feedback. Based on the obstacle information a user plans a walking route and controls the guide vehicle. The algorithm for 3D detection of an obstacle distribution and the method of mapping the generated obstacle map and the tactile display device are proposed in this paper. The experiment for the 3D detection of an obstacle distribution using ultrasonic sensors is performed and estimated. The experimental system consisted of ultrasonic sensors and control system. In the experiment, the detection of fixed obstacles on the ground, the moving obstacle, and the detection of down-step are performed. The performance for the 3D detection of an obstacle distribution and space mapping is verified through the experiment.

• 대한원격탐사학회지
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• 제25권3호
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• pp.225-231
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• 2009

The characteristics of morphological shapes, wave heights, tidal ranges and sediment sizes are observed and compared between intertidal beach and mudflat. The Mohang sand beach, southwest coast of Korea, is located just next to the large mudflat and has tidal range over 5 meters. Wave measurements are conducted at each entrance of the beach and mudflat as well as at the outside waters representing the incident waves to these different coastal environments. The morphological characteristics are also examined including the sediment size and the slope of the bathymetry, For the observation of morphological shapes, camera monitoring technique is used to measure the spatial information of intertidal bathymetry. The water lines moving on the intertidal flat/beach durinq a flood indicate depth contours between low and high water lines. The water lines extracted from the consecutive images are rectified to get the ground coordinates of each depth contours and integrated to provide three dimensional information of intertidal topography. The wave data show that sand beach is in the condition of severer wave forcing but tidal range is almost identical in both environment. The slope of the mudflat is much milder than the sand beach with finer sediment.

• Geomechanics and Engineering
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• 제18권5호
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• pp.545-554
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• 2019

The customary approach used in the blast vibration analysis is to derive empirical relations between the peak particle velocities of blast-induced waves and the scaled distance, and to develop patterns limiting the amounts of explosives. During the periods when excavations involving blasting were performed at sites far from residential areas and infrastructure works, this method based on empirical correlations could be effective in reducing vibrations. However, blasting procedures applied by the fast-moving mining and construction industries today can be very close to, in particular cities, residential areas, pipelines, geothermal sites, etc., and this reveals the need to minimize blast vibrations not only by limiting the use of explosives, but also employing new scientific and technological methods. The conventional methodology in minimizing blast vibrations involves the steps of i) measuring by seismograph peak particle velocity induced by blasting, ii) defining ground transmission constants between the blasting area and the target station, iii) finding out the empirical relation involving the propagation of seismic waves, and iv) employing this relation to identify highest amount of explosive that may safely be fired at a time for blasting. This paper addresses practical difficulties during the implementation of this conventional method, particularly the defects and errors in data evaluation and analysis; illustrates the disadvantages of the method; emphasizes essential considerations in case the method is implemented; and finally discusses methods that would fit better to the conditions and demands of the present time compared to the conventional method that intrinsically hosts the abovementioned disadvantages.

• 드라이브 ㆍ 컨트롤
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• 제16권2호
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• pp.8-14
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• 2019

A typical gantry crane is generally used to lift and transport objects in various workplaces. Most of the supporting structures in a gantry crane are fixed on the ground while the moving hoist is running overhead along the girder. There are some disadvantages to its long installation time and high installation cost. Therefore, a hydraulic based gantry crane was studied to solve the issues of typical gantry cranes. The supporting structure of the proposed gantry crane consisted of a hydraulic cylinder and telescopic boom. The dimension of the proposed gantry crane can be decreased due to its simplified structure. The analytical and theoretical methods were used to verify the structural stability of the proposed crane. The most severe load condition was considered for the analysis, and the stress and deflection of the structure are analyzed. The simulation results were as expected from the theoretical analysis. Finally, the structural and dynamic safety of the proposed hydraulic based gantry crane was validated. The obtained results can be used as guidelines in the design process of the hydraulic based gantry crane.

• 전기전자학회논문지
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• 제22권4호
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• pp.1152-1157
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• 2018

논문에서는 밭농사에 적합하도록 설계된 와이어 기반 농약살포장비의 이동을 위한 구조물 설치 위치의 어려움을 해결하고자 한다. 이를 위해 간접적으로 대지구조를 파악할 수 있는 대지저항률 측정방법과 분석기술을 적용한다. 선정된 밭농사 지역에 일정 간격의 전극을 현장에 설치하고 내장형 제어보드에 다수의 스위치를 구동시켜 대지저항률 데이터를 자동 취득한다. 그리고 2차원 영상복원 알고리즘을 사용하여 대지분석을 수행하고 그 결과를 통해 실제 구조물 타설에 적합한 최적지점을 선정하고자 한다.

• 한국군사과학기술학회지
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• 제24권1호
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• pp.84-98
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• 2021

The hydrodynamic characteristics of amphibious assault vehicles are investigated using commercial CFD code, STAR-CCM+. Resistance performances of a displacement-type vehicle and a semi-planing type vehicle are analyzed in calm water. The self-propelled model is also computed for the semi-planing type vehicle. All computations are performed using an overset mesh system and a RANS based flow-solver coupled with a two-degree of freedom equations of motion. A moving reference frame is applied to simulate revolutions of impeller blades for a waterjet propulsion system. Grid dependency tests are performed to evaluate discretization errors for the mesh systems. The numerical analysis results are compared with the experimental results obtained from model tests. It is shown that RANS is capable of investigating the resistance and self-propulsion characteristics of high-speed amphibious assault vehicles. It is also found that a fully covered side skirt, which is covering tracks, reduces resistance and stern trim, besides increasing propulsive efficiency.

• 전기전자학회논문지
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• 제26권4호
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• pp.524-530
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• 2022

재머와 클러터 간섭이 모두 존재하는 지상 환경에서 STAP 알고리즘을 적용하는 경우 STAP 알고리즘은 클러터에 비해 재머를 상대적으로 더 억제하므로써 이동 표적 성분이 클러터에 묻히는 결과를 초래한다. 본 논문에서는 공간 필터링에 의한 전처리 과정을 거친 후 STAP을 적용하므로써 클러터를 효과적으로 억제하는 두 단계 기법을 제시한다. 공간 필터 계수 찾는 방법을 제시하고 공간 필터링 과정이 표적 및 클러터 성분에 영향을 주지 않으면서 재머 성분만 감쇄시킬 수 있음을 보인다. 마지막으로 재머가 강한 STAP 시나리오를 시뮬레이션하여 제시된 방법이 STAP 성능을 개선할 수 있음을 보인다.