• 한국건축시공학회:학술대회논문집
• /
• 한국건축시공학회 2010년도 춘계 학술논문 발표대회 1부
• /
• pp.33-36
• /
• 2010

The attention in construction Automation is getting higher since it could be the answer to the lack of skilled labor by decrease in construction population and aging which adversely affects productivity and quality in the construction site. We are on the way to develop a construction automation system adequate for domestic circumstances in Korea; it is called RCA(Robotic-crane based Construction Automation)system. Climbing hydraulic robots system is a part of RCA system and makes Construction factory(CF) climb through the guide rail on the core wall. The safety of climbing hydraulic robots system is at issue due to the overloaded weight of CF. Preventing this issue, present study did the design verification through the structural analysis and the simulation. Mock-up test also was done to analyze the drive performance of climbing hydraulic robots system.

• 한국지반신소재학회논문집
• /
• 제22권4호
• /
• pp.1-8
• /
• 2023

우주 탐사는 인류의 과학적 노력 중 가장 선두에 있으며, 행성 탐사 로버는 행성 지표면을 연구하는 핵심 장비이다. 행성 로버의 성능은 가파른 경사와 다양한 행성 지형을 탐지하고 통과하는 데 큰 영향을 미치며 특히 달과 같은 행성에서는 급격한 경사와 연약한 지면을 안전하게 등반하고 이동할 수 있는 능력이 필수적으로 요구된다. 이 논문에서는 우주 행성 탐사 로버가 직면하는 가파른 지형과 연약한 지면을 모사하는 등반 시험장의 설계와 검증 방법을 종합적으로 소개한다. 먼저 달의 크레이터 지역의 지형 특성과 탐사의 중요성을 간략히 설명하고, 기존 등반 시험장의 개발 사례를 살펴보며, 현재 한국건설기술연구원에서 운영 중인 지반열진공챔버 내에 설치 예정인 등반 시험장의 설계 과정을 설명한다. 본 연구에서 제안하는 등반 시험장이 개발되면 실제 달의 환경과 유사한 고진공, 극한 온도 조건에서 로버의 이동과 탐사 능력을 정밀하게 평가할 수 있을 것으로 기대된다.

• The Korean Journal of Physiology and Pharmacology
• /
• 제7권4호
• /
• pp.193-198
• /
• 2003

In the present study, the vestibularly evoked activity of inferior olive (IO) neurons was examined to investigate the vertical vestibular information transmitted through the vestibulo-olivo-cerebellar climbing fiber pathway. The extracellular recording was made in 74 neurons of the IO of cats, while animals were sinusoidally rotated. Most of vestibularly activated IO neurons responded to the vertical rotation (roll) test and were found in or near the ${\beta}$ subnuclei $(IO{\beta})$. The vestibular IO neurons were activated, when the animal was rotated to the side contralateral to the recording site. In contrast to the observation that the gain of responses of yaw sensitive cells (YSC) was not changed by the rotation frequency, that of the roll-sensitive cells (RSC) decreased as the rotation frequency was increased. Regardless of RSC or HSC, IO neurons showed the tendency of phase-lag in their responses. The alternating excitatory and inhibitory phases of responses of RSC were dependent on the direction of head orientation, the characteristics of which are the null response plane (NRP) and the optimal response plane (ORP). The analysis based on the NRP of RSC showed that vestibular inputs from the ipsilateral anterior semicircular canal induced the NRP of the RSC response at about 45 degree counterclockwise to the longitudinal axis of the animal, and that those inputs were distributed to RSC in the rostral part of $IO{\beta}$. On the other hand, those from the posterior semicircular canal were related with the NRP at about 45 degree clockwise and with the caudal part of the $IO{\beta}$. These results suggest that IO neurons receive and encode the vestibular information, the priority of which seems to be the vertical component of the body movement rather than the horizontal ones.