• 한국군사과학기술학회지
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• 제18권5호
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• pp.538-547
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• 2015

The goal of this study is to develop an algorithm to propose optimal deployment of detection sensor nodes in the target area, based on a performance surface, which represents detection performance of active and passive acoustic sonar systems. The performance surface of the active detection system is calculated from the azimuthal average of maximum detection ranges, which is estimated with a transmission loss and a reverberation level predicted using ray-based theories. The performance surface of the passive system is calculated using the transmission loss model based on a parabolic equation. The optimization of deployment configurations is then performed by a hybrid method of a virtual force algorithm and a particle swarm optimization. Finally, the effectiveness of deployment configurations is analyzed and discussed with the simulation results obtained using the algorithm proposed in this paper.

• Journal of Biosystems Engineering
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• 제16권2호
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• pp.118-123
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• 1991

This study was conducted to investigate the influences of virtual hitch point (VHP) positions of a three-point hitch on the steering stability of agricultural tractors. The VHP locations were determined analytically from the linkage geometry and implement posture during the normal tillage operations. The maximum force applicable to the VHP was also determined under the given soil and power constraints. From these possible ranges of the VHP locations, a safe region for steering control was determined theoretically by using maximum applicable forces for the given tractor and implement combinations. With VHP positions within the safe region, tractor can maintain the minimum soil reaction forces, assumed 20% of the total tractor weight in this study, at the front wheels which is required for the steering control under the maximum traction conditions. This paper mainly concerns with mathematical developments for the determination of VHP locations and maximum forces applicable to the VHP for steering control. Experimental validation of the theory developed here follows as the second part of this study.

• Structural Engineering and Mechanics
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• 제66권6호
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• pp.713-727
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• 2018

Thin-walled mental tubes under lateral crushing are desirable and reliable energy absorbers against impact or blast loads. However, the early formations of plastic hinges in the thin cylindrical wall limit the energy absorption performance. This study investigates the energy absorption performance of a simple, light and efficient energy absorber called the ring stiffened tube. Due to the increase of section modulus of tube wall and the restraining effect of the T-stiffener flange, key energy absorption parameters (peak crushing force, energy absorption and specific energy absorption) have been significantly improved against the empty tube. Its potential application in the offshore blast wall design has also been investigated. It is proposed to replace the blast wall endplates at the supports with the energy absorption devices that are made up of the ring stiffened tubes and springs. An analytical model based on beam vibration theory and virtual work theory, in which the boundary conditions at each support are simplified as a translational spring and a rotational spring, has been developed to evaluate the blast mitigation effect of the proposed design scheme. Finite element method has been applied to validate the analytical model. Comparisons of key design criterions such as panel deflection and energy absorption against the traditional design demonstrate the effectiveness of the proposed design in blast alleviation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 하계학술대회 논문집 B
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• pp.765-767
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• 2001

Linear pulse Motors(LPM) are widely used in fields where smooth linear motion is required, and their position accuracy is higher than other motors. Hybrid linear pulse motors(HLPM) are regarded as an excellent solution to positioning problems that require high accuracy, rapid acceleration and high-speed. The LPM has low mechanical complexity, high reliability, precise open-loop operation and low inertia etc. in many application areas such as factory automation speed positioning, computer peripherals and numerically controlled machine tools. This motor drive system is especially suitable for machine tools the high position accuracy and repeatability. This paper describes about that need of the embroider machine, we want to design position-scanning device for the embroidery machine. At first, to be analysed characteristics of the machine and next designed the LPM. we used the field analysis program, The finite element method(FEM) program tool is employed for calculation the force. The reluctance models will be used the magnetic permeance of air gap by static- conditions. The forces between forcer and platen have been calculated using the virtual work method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.57-61
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• 2005

This paper presents a new colonoscopy training simulator that includes a specialized haptic device and graphics algorithms to transfer haptic sensation through a long and flexible tube, and manage large number of polygons. The developed haptic device makes the colonoscope tube move along the two guiding rods in the translational direction. The torque of the roll motion is transferred by a timing belt and pulleys. A special guide is developed, which allows the force and torque from the motors to be transmitted to the user without loss. The haptic device is evaluated by physicians. One of the important skills of the colonoscopy, jiggling is incorporated for the first time by the developed sensor mechanism using photo-sensors. A colonoscope handle that shares the look, feel, and functions with the actual colonoscope, is developed with the necessary electronics inside. The number of polygons is reduced by an edge-collapse algorithm for real-time simulation. The algorithms to import CT data, to segment the colon image, to extract centerline of the colon, and to construct the colon surface, are integrated into a Colon Modeling Kit system that performs all these processes in real-time.

• 한국군사과학기술학회지
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• 제17권3호
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• pp.318-326
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• 2014

The Shipyard Test of Naval Combat System depends on external factors, such as weather conditions and availability of its sensor-weapon, due to the need of on-board sensor-weapon during the test. This paper suggests the Supportive Equipment using virtual simulator for Shipward Test, in case of the unavailability of the on-board sensor-weapon or the test support force(aircraft, surface ship etc.), to pre-check the functions of the combat system as well as to prepare the Shipyard Test. To mock the real sensor-weapon functions as similar as possible, the Supportive Equipment for Shipyard Test was verified by the Verification and Validation process, which is usually performed while developing models in the Modeling & Simulation field.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1197-1204
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• 2008

This paper presents an asymptotic formation control scheme for a group of underactuated autonomous underwater vehicles (AUVs) where only three control inputs - surge force, yaw moment and pitch moment are available for each vehicle's six degree of freedom (DOF) underwater motion. Usually, the dynamics agents applied in most of the formation algorithms presented so far have been modeled as particle systems, which is a simple double-integrator system. Therefore, these algorithms cannot be directly applicable to the practical systems, especially to the underwater vehicles whose dynamics are highly nonlinear. Moreover, the vehicles considered in this paper are underactuated. The formation control is derived using general potential function method, and the corresponding potential function consists of two parts: interactions between vehicles and virtual-leader following. Proposed formation scheme guarantees asymptotic local stability of closed-loop system. Numerical simulations are carried out to illustrate the effectiveness of proposed formation scheme.

• 한국해양공학회지
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• 제32권4호
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• pp.222-227
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• 2018

Most underwater acoustic arrays for low frequency operation are deployed vertically, but a mid-range frequency horizontal array system is being developed by the Korea Research Institute of Ships and Ocean Engineering (KRISO). The horizontal array platform is deployed underwater and kept in place by weather vaning mooring. This is essential because it is nearly impossible to keep a submerged body at a given position in the water without any external force. Hence, the horizontal array platform can maintain the desired position in the presence of a weak tidal current. The objective of this study is to design an underwater platform that can maintain its horizontal position in a weak current. First, the authors investigated various virtual models, selected one of the models, and performed a small model test of the selected model at a basin. We calculated the external forces associated with the 2D motion, and then we conducted a large basin test followed by a circulation water channel test for the manufactured array platform. The results of the simplified 2D motion calculation essentially matched the results of the underwater test.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.513-520
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• 2011

This paper presents the motion planning of robotic vehicles for the path tracking and the obstacle avoidance. To follow the given path, the vehicle moves through the turning radius obtained through the pure pursuit method, which is a geometric path tracking method. In this paper, we assume that the vehicle is equipped with a 2D laser scanner, allowing it to avoid obstacles within its sensing range. The turning radius for avoiding the obstacle, which is inversely proportional to the virtual force, is then calculated. Therefore, these two kinds of the turning radius are used to generate the steering angle for the front wheel of the vehicle. And the vehicle reduces the velocity when it meets the obstacle or the large steering angle using the potentials of obstacle points and the steering angle. Thus the motion planning of the vehicle is done by planning the steering angle for the front wheels and the velocity. Finally, the performance of the proposed method is tested through simulation.

• 한국안전학회지
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• 제28권4호
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• pp.19-25
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• 2013

For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.