• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.881-889
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• 2002

Mobility analysis for various mobile mechanisms including mechanisms with lack of geometric generality is performed. Joint screws are employed to find the sire of feasible joint motion space or each of independent loops of mobile mechanisms. Particularly, the concept of "representative screws" is introduced to represent the feasible motion spaces for subsets of joints belonging to either a loop or a sub-system consisting of several closed loops. Firstly. simplified joint model for each of low different typical wheels popularly employed in mobile robots is described. Then. mobility analysis fir various types of planar mobile robots and the Mars Rover mobile robot for navigation on the rocky road on Mars arc performed. It is confirmed that the obtained results in this study coincide with the previous ones which were obtained by suing imaginary Joints approach(1)pproach(1)

• Proceedings of the Korea Institute of Fire Science and Engineering Conference
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• 2012.04a
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• pp.117-120
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• 2012

현재 국내에서 발생하는 화재의 대부분은 밀집한 건물에 발생하는 화재이다. 이러한 건물화재의 특징은 초기진화에 실패할 경우 인접한 건물로 화재가 번져 대형 화재로 이어지며, 이로 인한 피해도 급증하게 된다. 또한 소방차 출동 시 도로여건이나 주 정차 차량 등 다양한 진입 장애물 등으로 화재지역으로 신속한 접근이 어려운 경우가 많다. 따라서 실효적 화재 진화 성능을 가진 방수시스템을 탑재한 소형화된 미니 소방차를 개발하고자 하며 아울러 고지대나 산림 화재의 초기 대응을 위해 험로(산악지형)에서도 주행이 가능한 ATV(All Terrain Vehicle)를 적용하고자 한다.

• Transactions of the KSME C: Technology and Education
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• v.3 no.2
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• pp.83-88
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• 2015

Agricultural tractors are utilized on rough road such as rice paddy field. Therefore, static and dynamic load should be considered when simulating structural analysis with finite element analysis (FEA). But it consumes a lot of time and effort to measure dynamic load because of difficulty and complexity in modeling various field working load conditions and kinematics of machinery. In this paper, to reduce the efforts, 4-post road simulator is developed for agricultural tractor like modeling commercial vehicle. In proving ground test in our facility, I measured acceleration of front/rare axle and strain of body frame to validate input loads. The acceleration is used for defining input loads. And strain is validated with dynamics analysis including mode superposition method. As a result, I was able to calculate 4-post input road profiles, which represent similar proving ground profile with good reliability.

• Journal of the Korean Society of Systems Engineering
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• v.1 no.2
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• pp.26-33
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• 2005

In this paper, an algorithm is presented to recognize road based on unpaved test courses image. The road images obtained by a video camera undergoes a pre-processing that includes filtering, gray level slicing, masking and identification of unpaved test courses. After this pre-processing, a part of image is grouped into 27 sub-windows and fed into a three-layer feed-forward neural network. The neural network is trained to indicate the road direction. The proposed algorithm has been tested with the images different from the training images, and demonstrated its efficacy for recognizing unpaved road. Based on the test results, it can be said that the algorithm successfully combines the traditional image processing and the neural network principles towards a simpler and more efficient driver warning or assistance system.

• Proceedings of the KIPE Conference
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• 2016.11a
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• pp.190-191
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• 2016

국제 핵융합실험로인 ITER 장치의 초전도자석 전원장치용 CCU/L(Correction Coil Upper/Lower), CCS(Correction Coil Side) 그리고 VS1($1^{st}$ Vertical Stabilization) 형식 등 각 변압기 초도품의 제작을 완료하고 공장시험(FAT, Factory Acceptance Test)을 실시하였다. 이 변압기들은 각 형식별로 2대에서 6대를 제작하지만 각 형식별 초도품 1대에 대해서는 Type Test를 실시하고 나머지 후속물량에 대해서는 Routine Test로 공장시험을 실시하도록 계획되어 있다. 따라서 이 초도품 변압기들에 대해서는 Type Test로 공장시험으로 실시하였고, 그 대표적인 시험항목으로는 단락시험, %임피던스 시험, 뇌임펄스 시험, 정격전류 온도상승시험, 상용주파수 내전압시험 등이 있다. 이들 중 CCU/L, CCS 각 형식의 초도품에 대해서는 2015년도 공장시험을 실시하여 요건에 부합됨을 확인하였고, 본 논문에서는 VS1 컨버터 변압기 초도품에 대하여 Type Test로 실시한 공장시험 내용과 그 결과를 보여준다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1250-1258
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• 1997

This paper reports on the development of a new foot for a quadrupedal jointed-leg type walking robot. The foot has 2 toes, one at the front and the other at the rear side, for stable landing on uneven ground by point contact. The toes can move up and down independantly, guided by double-wishbone shaped parallel links which enable the lower leg to rotate with respect to a remote center on the ground surface. The motion of each toe is damped by a hydropneumatic shock absorber integrated in the foot in order to absorb the dynamic landing shock. Furthermore, the new foot can reduce the maximum hip joint drive torque by shortening the moment arm length between the hip joint and the landing force vector on the ground. Intensive experiments were carried out in this study by using a one-leg walking model to investigate the soft landing performance of the foot which could be hardly offered by conventional robot feet such as a flat plate with a gimbal type ankle joint. And it was confirmed that the hip joint torque of the leg walking on the flat surface could be reduced remarkably by using the new foot.

• Journal of the Korea Convergence Society
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• v.6 no.5
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• pp.85-90
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• 2015

In this study, the life evaluation due to the structural configuration of bumper attached at the front side of ATV vehicle is studied on the basis of fatigue analysis. As the purpose of this study, the characteristic of bumper exposed on the repetitive loading condition like the vibration is understood. The position of crack happened at the fatigue situation is grasped in advance and complemented in advance. It is considered that the multipurpose vehicle is designed to not be driven on the paved general road but the rough road like the unpaved load. And the weak part of bumper is understood through the study of life evaluation on this driving environment. The durability can be improved by doing the safe design of automotive bumper on the basis of the analysis result. And it is possible to be grafted onto the convergence technique at design and show the esthetic sense.

• Nuclear Engineering and Technology
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• v.15 no.4
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• pp.267-279
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• 1983

An analytical system has been established for scrutinizing both uranium- and plutonium-fueled lattices moderated by light water. This system consists of two primary codes. One is a unit cell program called KICC, which has theoretical foundation on the models of GAM and THERMOS incorporated with appropriate approximate treatments for various phenomena, whereas the other is a multi-dimensional diffusion-depletion program entitled KIDD. The adequacy of this system is verified by performing extensive benchmark calculations on a variety of critical experiments. The average value of effective multiplication factors for the selected nineteen UO$_2$ critical experiments of heterogeneous lattice structure is calculated to be 1.0006 with a standard deviation of 0.0039. Power distributions have also been calculated for some critical experiments fueled with both uranium and plutonium of varying concentrations. The maximum percentage difference between the measured and calculated power distributions appears to be less than 5%. This result, together with the previously reported result, illustrates that the KICC/KIDD system is a very effective tool for the analysis of a light water reactor core.

• Journal of the Society of Naval Architects of Korea
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• v.35 no.4
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• pp.11-18
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• 1998

This study describes sea trial tests for a waterjet propulsion system attached in the hybrid super high speed cargo ship named "Narae". A measuring technique of jet velocity, gross thrust and impeller torque for the waterjet system is explained. From the measured data in sea trial test, performance of the waterjet propulsion system is analyzed and compared with model test results of a similar waterjet system which was carried out in 1996. The erective horse power estimated from sea trial tests shows a good agreement with resistance test results of the model ship. The optimum rising height is estimated as 0.75 m, and the overall efficiency of the waterjet system is predicted as 0.315 at 15 knots. Useful data such as the pump performance, the jet efficiency, the losses of inlet duct and nozzle were obtained. Test results show a similar behavior to the model test results.

• Journal of the Korea Society for Simulation
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• v.29 no.3
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• pp.19-25
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• 2020

The field farming machine is difficult to develop due to its heavy slopes, tough roads and unformatted cultivation by growing crops. In particular, harvesting is a major problem in rural areas in Republic of Korea where aging is accelerated with work requiring a lot of time and manpower. This study seeks to analyze the dynamic characteristics of hot pepper harvester developed to replace manpower, reduce working hours and mechanize harvesting operations. To analyze the dynamic characteristics of a hot pepper harvester, the dynamic program Recurdyn was used and all analysis were performed as case of an empty vehicle. Based on the results, this study can suggest dynamic safety range of multi-purpose driving platform with hot pepper harvester.