• 로봇학회논문지
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• 제9권2호
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• pp.124-131
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• 2014

The robot mechanisms that were previously researched had only been conducted for the purpose of overcoming the obstacles stably at low speed driving and enhancing the stability against high speed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stably drive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well as testing the efficiency of the mechanisms at high speed driving. There, this paper simulated some of the passive mechanisms and focused on checking the performances of passive mechanisms through simulations and analyzing each mechanism on the basis of an evaluation index. The simulation was conducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types of passive mechanisms which were introduced in the robotics field. As a result, the study confirmed that passive mechanisms have a number of situations that affect the driving stability on each direction of roll and pitch. Further study is needed about active mechanism.

• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.163-172
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• 2007

A swarm-bot docking with two independent robots aiming at overcoming obstacles or climbing up/down stairs is introduced how it can be manufactured and controlled. Utilizing the fast mobility of the vehicle robot and cooperating between robots expands the applications of the robot. An algorithm for identifying the partner robot and its generic mechanism enabling the docking of two robots are addressed. The designed swarm-bot has advantages in terms of overcoming obstacle or stair climbing which is not easily implemented by a single robot, increasing the adaptability to the environment.

• 제어로봇시스템학회논문지
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• 제18권2호
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• pp.118-125
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• 2012

Based on recent advances in technology, many robots are developed and they are used in a hazardous environment such as military operation, fire, and building collapse and so on. Among them, reconnaissance robot should be able to perform various missions which people can not do. So it needs the capability of moving with hiding its position on rough terrain, overcoming obstacles, and guaranteeing its efficiency of reconnaissance. For this reason there are in progress of researching biomimetic robots. Therefore in this paper we proposed robot mechanism, two modules based on the screw and wheel mechanism which mimic snake, and the spiral climbing method was considered for overcoming the situation when moving on the trees.

• 로봇학회논문지
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• 제13권2호
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• pp.129-141
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• 2018

This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework's effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.

• 한국균학회지
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• 제43권4호
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• pp.207-215
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• 2015

Nanotechnology, which has become an important area of science, has caused an enormous developmental revolution in many fields. In the last two decades researchers have focused on overcoming the obstacles encountered during the preparation of nanoparticles. This article highlights the nanotechnology, along with a brief description of the manufacturing, concepts and activities of nanoparticles as alternative pesticides against plant pathogens, some methods for evaluation of nanoparticles against phytopathogens in vitro and in vivo, and explains the importance of some common nanoparticle types used in agricultural applications and plant pathology.

• 한국산학기술학회논문지
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• 제19권3호
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• pp.171-179
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• 2018

기업은 자사의 제품과 기술의 상호운용성을 확보하기 위하여 연구개발과정에서 표준기술을 적용하게 되는데, 이 과정에서 다양한 종류의 장애요인이 발생하게 되며, 활발한 표준화 활동을 통해 이를 극복하려고 한다. 연구개발과정에서 기업의 장애요인과 장애 극복전략 간의 연구는 다양하게 진행되어 왔으나 표준화 과정에서의 장애요인과 장애 극복전략에 관한 연구는 미흡한 상태이며, 표준화와 관련된 장애요인의 유형과 기업의 장애 극복활동에 대한 유형에 대해서도 부족한 상황이다. 이에 본 연구에서는 기업이 표준화 관련 장애요인의 유형을 도출하고, 이러한 장애요인들이 기업의 표준화 활동에 어떠한 영향을 미치는지에 대해 살펴보고자 하였다. 분석을 위해서 한국표준협회가 국내의 전기전자 정보통신 분야에 종사하는 기업을 대상으로 조사하였던 '국내표준실태조사'의 자료를 활용하였으며, 표준관련 장애사항과 필요성 그리고 표준화활동간 관계는 구조방정식 모형을 통하여 검증하였다. 분석결과에 의하면, 표준관련 장애사항은 표준화 활동에 일정한 영향을 미치고, 표준의 필요성에 의한 매개효과가 있는 것으로 조사됨에 따라 많은 기업들이 표준활동에 의한 장애사항이 발생하게 되면 이를 극복하기 위해 다양한 노력들을 수행하고 있다는 것을 알 수 있었다. 따라서 기업은 장애사항을 극복하기 위한 전략적 행동을 스스로 수행함으로써 표준화 활동은 활발해지고 표준관련 연구개발로 인해 발생하는 장애요인들은 감소되는 선순환 구조를 구축하게 될 것으로 판단된다.

• 소성∙가공
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• 제25권6호
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• pp.359-365
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• 2016

The rate-controlling mechanisms for time-dependent plastic deformation of eutectoid and hyper-eutectoid pearlitic steels at low $T/T_m$ temperatures were explored. The strain rate - stress data obtained from a series of constant load tensile tests at $0.25{\sim}0.30T/T_m$ were applied to the power law, the lattice friction controlled plasticity, and the obstacle controlled plasticity. Of these models, the obstacle controlled plasticity was found to best-describe the rate-controlling mechanism for time-dependent plastic deformation of two steels at low $T/T_m$ temperatures in terms of the activation energy for overcoming the obstacles against dislocation glide in ferrite. The deformed microstructures revealed the dislocation forests of a high density as the main obstacles. In addition, the obstacle controlled plasticity well-explained the effects of cementite on the $0^{\circ}K$ flow stress of two steels.

• 로봇학회논문지
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• 제14권4호
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• pp.278-284
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• 2019

Legged locomotion has high mobility on irregular surfaces by touching the ground at discrete points. Inspired by the creature's legged locomotion, legged robots have been developed to explore unstructured environments. In this paper, we propose a modular crawler that can easily adjust the number of legs for adapting the environment that the robot should move. One module has a pair of legs, so the number of legs can be adjusted by changing the number of modules. All legs are driven by a single driving motor for simple and compact design, so the driving axle of each module is connected by the universal joint. Universal joints between modules enable the body flexion for steering or overcoming higher obstacles. A prototype of crawler with three modules is built and the driving performance and the effect of module lifting on the ability to overcome obstacles are demonstrated by the experiments.

• 한국콘텐츠학회논문지
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• 제19권12호
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• pp.633-646
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• 2019

토드 헤인즈 감독 작품 중 사랑을 주제로 다룬 두 작품을 분석한다. 두 작품은 <파 프롬 헤븐>과 <캐롤>로 각각 2002년과 2015년에 발표된 멜로 영화이다. 두 영화 모두 맺어지기 힘든 연인들을 다루고 있으며, 사랑의 장애와 극복 과정이 주요 스토리로 전개된다. 두 작품은 비슷한 환경에서 다른 결론을 내리고 있으며 그 과정에서 작가의 변화를 알아볼 수 있다. 본 연구는 각 작품에서 감독의 의도와 인식 변화 과정을 원작 소설과의 비교를 통해, 그리고 영화에서 사용된 영상표현방법 중심으로 알아보고자 한다. 특히 원작 소설을 변형한 캐릭터 설정, 연인의 심리와 사랑을 방해하는 장애물들을 시각적으로 묘사한 미장센, 프레이밍 등의 영상표현 방법에 주목한다.

• 한국IT서비스학회지
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• 제23권3호
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• pp.39-54
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• 2024

This study explores the barriers to using health and medical data in research and development (R&D) within the healthcare industry and suggests ways to enhance data utilization. As artificial intelligence technology drives transformative changes across industries, there is an increased demand for robust health and medical data, highlighting its critical economic value and utility in fostering innovation. Using qualitative analysis through Grounded Theory, the study involves ten R&D professionals from healthcare industry, including both medical centers and corporations, using surveys and in-depth interviews to gather diverse experiences and perspectives on the challenges and opportunities in health and medical data use. Key findings point to legislative, regulatory, and data quality and integration issues, as well as complexities in patient data access and usage. Technological limitations and inadequate data governance frameworks also emerge as significant obstacles. Recommendations focus on improving regulatory frameworks, enhancing data standardization and quality, and fostering stronger partnerships between data custodians and users. The study concludes that overcoming these obstacles requires a comprehensive strategy involving legislative changes, improved technological infrastructure, and increased stakeholder collaboration. Implementing these recommendations could greatly enhance health and medical data utilization in R&D, significantly advancing medical science and patient care services.