• 대한전자공학회논문지SP
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• 제47권4호
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• pp.28-34
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• 2010

본 논문에서는 마찰계수의 비접촉 추정을 위한 영상정보 활용방법을 제안한다. 마찰계수는 이동체의 도로주행 또는 장애물 극복에 있어 매우 중요한 요소이다. 이동체가 이동경로의 마찰계수를 미리 알 수 있다면 이동성향상을 기대할 수 있다. 본 논문의 마찰계수 추정방법은 영상정보를 활용하기 때문에 이동체가 지면과 접촉하기 전에 마찰계수를 추정 할 수 있다는 장점이 있다. 마찰계수의 비접촉 추정을 위한 영상정보 활용방법은 마찰계수측정실험과 물질그룹생성을 포함한 학습단계와 물질그룹 분류과정과 마찰계수 함수 활용을 포함한 마찰계수 추정단계로 구성되어 있으며 물질 조성비를 생성하는 영상처리는 두 단계에 모두 포함된다. 이 과정을 통해 얻은 마찰계수는 무인이동로봇이 이동경로 진입 전에 미끄러움을 판단하여 미끄럼지역을 회피 할 수 있도록 하며, 저속으로 이동이 가능한 경우 미끄럼이 발생하지 않는 적정속도를 계산하는데 확용 가능하다. 본 논문에서 사용한 지형의 마찰계수와 영상정보는 마찰계수 측정실험을 통해 취득하였다. 마찰계수 추정방법을 평가하기 위해 실험지형의 실제 마찰계수와 추정 마찰계수의 차이를 비교하였다.

• 한국수자원학회논문집
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• 제39권7호
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• pp.605-615
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• 2006

토양수분의 거동을 파악하기 위해서 설마천 유역의 범륜사 사변에 TDR(Time Domain Reflectometry)을 설치하여 시공간적, 계절적 특성을 파악하였다. 대상유역을 정밀 측량하여 수치지형 모형(Digital Elevation Model)을 구축하고 이를 흐름분배 알고리즘에 적용하여 흐름범위 안에서 역측량을 통해서 측정지점을 선정하여 모니터링 시스템 을 구축하였다. 2003년 11월에 380시간, 2004년 5월 6월에 1037시간 동안의 장기적인 집중 모니터링을 통해 토양수분 자료를 획득하였다. 획득한 토양수분 자료는 지형분석을 통해 상부와 중간지점, 수로지점으로 구분하여 변화 특성을 파악하였다. 지형분석을 통한 흐름특성과 토양수분 실측치의 유의성을 논의하였다. 토양수분은 계절별 강우에 대한 변화 양상은 비슷하나 봄에서 여름으로 가는 시기에는 감쇄 현상이, 가을에서 겨울로 가는 시기에는 충전현상이 일어나는 것을 알 수 있었다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1097-1102
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• 2007

This paper describes the development of 6-axis force/moment sensor for an intelligent robot's foot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to a humanoid robot's foot(ankle). They in the published paper already have some disadvantage in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to be gotten similar the rated output under each rated load. So, the sensing elements of the 6-axis force/moment sensor should get lots of design variables. Also, the size of 6- axis force/moment sensor is very important for mounting to robot's foot. In this paper, a 6-axis force/moment sensor for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using FEM (Finite Element Method) analysis. Then, the 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

• 한국정밀공학회지
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• 제24권7호
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• pp.90-97
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• 2007

This paper describes the development of 6-axis force/moment sensor considered adult weight far an intelligent foot of humanoid robot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself and control the foot using the forces and moments. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot, which is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body. Each sensor should get the deferent rated load, because the applied forces and moments to foot in walking are deferent. Therefore, one of the important things in the sensor is to design each sensor with the deferent rated load and the same rated output. In this paper, a 6-axis force/moment sensor (rated load of Fx and Fy are 500Nm and Fz sensor is 1000N, and those of Mx and My are 18Nm, Mz sensor is 8Nm) for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using by ANSYS software (FEM (Finite Element Method) program). Then, a 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

• 한국환경과학회지
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• 제23권11호
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• pp.1943-1951
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• 2014

In order to clarify the characteristics of Photo-Volatic(PV) power generation over the Korean peninsula with complex terrain, special meteorological observation campaign was carried out for one year from 25 May 2011. Analysis is based on the comparison between observed meteorological elements and PV values generated at rated capacity 200 kW power plants. Solar radiation observed at $15^{\circ}$ inclined surface is 11 % larger than that observed at horizontal surface due to low elevation angel of the sun during winter season. The PV power generation tend to be more similar the variation of inclined surface irradiance than horizontal surface irradiance. Increasing air temperature often induce disturbance of the PV power generation. However, the higher the air temperature in winter season, the higher PV power generation because the PV module may be more activated at higher air temperature. PV generating efficiency tends to be conversed the value of 15%.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1195-1200
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• 2007

It is desirable that the guard robot should be small-sized and light-weighted to increase its portability. In addition, it should be able to overcome a relatively high obstacle to cope with different situations. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes the jumping mechanism based on the conical spring for a small robot. Both the clutch mechanism and conical spring are incorporated into the jumping mechanism. In the clutch mechanism, the spring can be immediately compressed and released by one actuator with the planetary gear train and one-way clutch. The robot equipped with the jumping mechanism can overcome the obstacles which are higher than its height. In this paper, the characteristic of the conical spring for the jumping robot is determined and the small-sized, lightweight jumping mechanism is developed. The validity of the jumping mechanism was verified by various experiments. It is shown that the robot using this mechanism can provide good mobility in the rough terrain.

• 한국군사과학기술학회지
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• 제12권2호
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• pp.191-198
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• 2009

Some of the wargame simulators currently used in the Korean Army were developed by other countries, and do not adequately reflect the Korean Peninsula terrain and weapon systems. This implies that these war game simulators need to be calibrated with respect to the input parameters for properly assessing the effectiveness of the Korean weapon systems. In this paper, AWAM, a wargame simulator, is calibrated in terms of the time-based fighting power(FP). The FP data obtained from the Korea Combat Training Center(KCTC) are used as a reference, and the differences between the AWAM and KCTC FP data are calculated at certain points in time. Then, the Taguchi robust design method is adopted using the probabilities of hitting for the K-2 rifle as controllable input parameters. Two performance characteristics are used. One is the difference between the AWAM and KCTC FP data and the other is the score derived by grouping the difference data. For each case, optimal settings of the probabilities of hitting are determined such that the mean of each characteristic is close to 0 with its dispersion being as small as possible.

• 한국정밀공학회지
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• 제24권10호
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• pp.46-53
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• 2007

This paper describes the development of a high-precision measuring device with DSP (digital signal processor) for the accurate measurement of the 6-axis force/moment sensor mounted to a humanoid robot's ankle. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, and Fz and moments Mx, My, and Mz to itself, and control the foot using the measured them. The applied forces and moments should be measured from two 6-axis force/moment sensors mounted to the feet, and the sensor is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body (single block). In order to acquire output values from twelve sensors (two 6-axis force/moment sensor) accurately, the measuring device should get the function of high speed, and should be small in size. The commercialized measuring devices have the function of high speed, unfortunately, they are large in size and heavy in weight. In this paper, the high-precision measuring device for acquiring the output values from two 6-axis force/moment sensors was developed. It is composed of a DSP (150 MHz), a RAM (random access memory), amplifiers, capacities, resisters and so on. And the characteristic test was carried out.

• Wind and Structures
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• 제12권6호
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• pp.553-574
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• 2009

This paper presents statistical analysis results of wind speed and atmospheric turbulence data measured from more than 30 anemometers installed at 15 different height levels on 325 m high Beijing Meteorological Tower and is primarily intended to provide useful information on boundary layer wind characteristics for wind-resistant design of tall buildings and high-rise structures. Profiles of mean wind speed are presented based on the field measurements and are compared with empirical models' predictions. Relevant parameters of atmospheric boundary layer at urban terrain are determined from the measured wind speed profiles. Furthermore, wind velocity data in longitudinal, lateral and vertical directions, which were recorded from an ultrasonic anemometer during windstorms, are analyzed and discussed. Atmospheric turbulence information such as turbulence intensity, gust factor, turbulence integral length scale and power spectral densities of the three-dimensional fluctuating wind velocity are presented and used to evaluate the adequacy of existing theoretical and empirical models. The objective of this study is to investigate the profiles of mean wind speed and atmospheric turbulence characteristics over a typical urban area.

• 센서학회지
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• 제16권3호
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• pp.211-219
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• 2007

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.