• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.664-670
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• 2007

This study deals with image-based visual servoing for automatic recharging of mobile robot. Because mobile robot must be recharged periodically, it is necessary to detect and move to docking station. Generally, laser scanner is used for detect of position of docking station. CCD Camera is also used for this purpose. In case of using cameras, the position-based visual servoing method is widely used. But position-based visual servoing method requires the accurate calibration and it is hard and complex work. Another method using cameras is image-based visual servoing. Recently, image based visual servoing is widely used for robotic application. But it has a problem that cannot have linear trajectory in the 3-dimensional space. Because of this weak point, image-based visual servoing has a limit for real application. In case of 2-dimensional movement on the plane, it has also similar problem. In order to solve this problem, we point out the main reason of the problem of the resolved rate control method that has been generally used in the image-based visual servoing and we propose an image-based visual servoing method that can reduce the curved trajectory of mobile robot in the cartesian space.

• Journal of Magnetics
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• 제17권1호
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• pp.36-41
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• 2012

The transcranial magnetic stimulation recharges the energy storing condenser, and sends the stored energy in the condenser to the pulse shaping circuit, which then delivers it to the stimulating coil. The previous types of transcranial magnetic stimulation required a booster transformer, secondary rectifier for high voltages and a condenser for smooth type. The energy storing condenser is recharged by switching the high-voltage direct current power. Loss occurs due to the resistance in the recharging circuit, and the single-pulse output energy in the transcranial magnetic stimulation can be changed because the recharging voltage cannot be adjusted. In this study a booster transformer, which decreases the volume and weight, was not used. Instead, a current resonance inverter was applied to cut down the switching loss. A transcranial magnetic stimulation, which can simultaneously alter the recharging voltage and pulse repeats, was used to examine the output characteristics.

• 한국인터넷방송통신학회논문지
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• 제11권5호
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• pp.35-40
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• 2011

본 논문에서는, 무선 전력전송 방식을 이용한 이동로봇의 자동 충전 시스템을 개발한다. 기존 이동로봇의 자동 충전이 기구적 접촉에 의해 이루어졌던 것에 비해, 무선 전력전송을 이용한 충전 방법은 전자기 유도 방식에 의한 비접촉 충전시스템이다. 이 방식은 송수신 코일이 바른 위치에 정렬되어야만 효율적인 충전이 가능하다. 이 문제를 해결하기 위하여, 영상정보를 통해 충전시스템의 원형 송신 코일의 변형률을 인식하여, 효율적인 자동충전이 가능하도록 이동로봇의 자세를 제어한다.

• Environmental Engineering Research
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• 제22권1호
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• pp.87-94
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• 2017

This study was conducted to determine the effect of the climate change to the level of groundwater recharging. This research was conducted on the watershed of Bangga by using the Soil Water Balance of MockWyn-UB model. Input data compose of evapotranspiration, monthly rainfall, watershed area, canopy interception, heavy rain factor and the influence of climate change factors (rainfall and temperature). The conclusion of this study indicates that there is a decreasing trend in annual groundwater recharge observed from 1995 to 2011. The amount of groundwater recharge varied linearly with monthly rainfall and between 3% to 25% of the rainfall. This result implies that rain contributed more than groundwater recharge to runoff and evaporation and the groundwater recharge and Bangga River discharge depends largely on the rainfall. In order to increase the groundwater recharge in the study area, reforestation programmes should be intensified.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.169-170
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• 2012

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2022년도 춘계학술대회
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• pp.519-521
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• 2022

UAV의 장시간 운용을 위한 다양한 종류의 전력공급 방식과 연료 기술이 등장하고 있다. 현재 시중에 유통되고 있는 50cm 안팎의 회전익 UAV의 경우 주로 재충전이 가능한 2차 전지가 주로 탑재되고 있으며, 완충 시 정지비행(hovering) 기준 보통 30분 내외의 비행시간을 갖는다. 배터리의 용량과 무게는 UAV의 운영시간과 밀접한 관계가 있고 결국 응용의 다양성에 영향을 준다. 운영시간의 다변화를 위한 방안으로 무선충전기술을 UAV에 적용하는 연구가 활발히 진행되고 있으며, 방식에 따라 원거리(decoupled) 충전과 근거리(coupled) 충전 방식으로 나뉜다. 본 연구에서는 근거리 충전 방식 중 하나인 자기유도기(무선충전기)를 활용할 때, 충전시스템에 정밀하게 안착(착륙)하여 UAV가 효과적으로 재충전될 수 있도록 QR 코드를 적용하고 이를 인식하고 3D 위치 측위를 통한 UAV의 위치보정 방안을 제안한다.

• 재활복지
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• 제21권2호
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• pp.191-216
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• 2017

최근 장애인의 이동권 보장에 대한 요구에 따라 전동보장구의 사용이 급증하고 있고, 이동권 확대 및 보조기기 사용편리를 위한 전동보장구의 충전 시설이 늘어나고 있다. 하지만 현재 국내에는 이들 충전 시설에 대한 기준이 없어 효율적인 설치 및 운영이 되지 않고 있다. 본 연구에서는 효율적인 전동보장구 충전소 설치 및 운영을 위해 이에 대한 국내외 규정 및 실태에 대한 조사연구를 실시하고, 장애인 당사자들을 대상으로 한 설문조사를 실시하여 실제 충전소 사용에 대한 문제점을 파악하고 사용자의 요구사항을 조사하였다. 이를 토대로 합리적이고 효율적인 국내 충전소 설치 및 운영방안을 마련하였다. 그 결과 현재의 충전소에 보급된 충전기로는 효과적인 충전 서비스를 제공하지 못하는 기기적인 문제점을 파악하여 이의 개선안을 제시하였고 국가, 지방자치단체의 건물 또는 도서관, 극장, 체육시설, 백화점, 박물관 등 일정 이상의 사람들이 사용하는 공용시설에서는 충전소 설치를 의무화하도록 제시하였다. 한편 충전소를 설치할 경우 독립된 공간을 확보하도록 하여 충전소를 이용하는 사람의 사생활을 보호하도록 하고 충전소 내 여러 가지 편의장비를 갖추도록 권고하여 이용자의 편리를 높이도록 하였다.

• 한국생산제조학회지
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• 제26권1호
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• pp.100-107
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• 2017

3D printing is a technology that converts a computer-generated 3D model into a real object with additive manufacturing technology. A majority of 3D printing technologies uses one material, and this is considered a limitation. In this study, we developed a multi-material 3D printer by adopting dual resin vat and cleaning system with DLP (Digital Light Processing) 3D printing technology. The developed multi-material DLP 3D printer is composed of a manufacturing system, cleaning system, transporting system, and automatic resin recharging system. Various 3D structures were 3D printed with two materials, thus demonstrating the potential. Printing performance of the multi-material DLP 3D printer was studied by performing a comparative surface roughness test and tension test on specimens composed of one material as well as those composed of two materials.

• Korean Journal of Hydrosciences
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• 제3권
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• pp.11-29
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• 1992

Recently, rapid industrialization, urbanization and higher living standards accelerate to increase groundwater consumption resulting in continuously dropping groundwater elevations. To maintain enough groundwater volume without dropping groundwater elevations, the proper groundwater rechatge is necessary. The groundwater rechatge can be classified into two categories which are natural rechatge and artiticial rechatge. Even though the natural rechatge through by dired infiltration from the rainfall is desirable, the artificial groundwater rechatge is necessaty when the increment of groundwater consumption exceeds natural recharge rate. Well method and scattering method are utilized as artificial rechatging method, a severe disadvantage, which is the reduction of the void of soil surface, is indicated in the well method. Recently, the underground piping method, which is a scattering method, is receiving increasing attention as a proper recharging method. The method is indirectly to supply water to the underground using an underground piping system. Therefore, the void of soil surface is not severely reduced and better infiltration rate can be achieved. In this paper, the artificial groundwater rechatge using underground piping method is investigated through experiments and numerical analysis. The influence of the groundwater by underground piping method is evaluated through comparing recharging heights. Good agreements between experiments and numerical analysis are obtained and the artificial groundwater recharge by underground piping method is well tested and verified.

• 한국지구물리탐사학회:학술대회논문집
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• 한국지구물리탐사학회 2003년도 Proceedings of the international symposium on the fusion technology
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• pp.344-351
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• 2003

Hydrogeological survey and geochemical analysis were carried out in Phra Yun area, Northeast Thailand, which is a typical salt-affected area for an understanding of hydrogeological groundwater behaviours. Geological survey reveals the presence of G1 and F1 faults. Electromagnetic ground conductivity prospecting shows that the high conductivity zones of 15 mS/cm or more are distributed at underground of the G1 and F1 faults where saline groundwater is discharged. The distribution patterns of tritium concentration show that high tritium concentration zones of groundwater were recharged from pond and river. On the assumption that the annual average tritium concentration of precipitation in Northeast Thailand is same as tritium concentration of precipitation in Tokyo and groundwater flows as piston flow, the age of recharging precipitation of groundwater with 15 TU in 1997 could be estimated at 1967-1970 years. The velocity of groundwater flow was calculated to be $5.3{\times}10^{-7}\;m/s\;and\;2.1{\times}x10^{-6}\;m/s$ respectively from a duration time of 30 years and distance of groundwater flow 500m -2000m from the pond and river to the investigation wells. Because the estimated values of velocity of groundwater flow are compatible with the hydraulic conductivities, it is considered that 30 years is a reasonable period for recharging groundwater.