• Journal of Korean Society for Quality Management
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• v.49 no.3
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• pp.245-254
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• 2021

Purpose: In order to accurately reach an underwater projectile to a target point, reliable INS and accurate arrangement of INS between master and slave INS is paramount. Unlike terrestrial and aerial environments, underwater projectile will operates in a restricted environment where location information cannot be received or sent through satellites. In this report, we review the factors affecting the transfer alignment of master and slave INS, as well as how to improve the positional error between INS through improved transfer alignment algorithms. Methods: In this work, we propose an improvement algorithm and verify it through simulation and driving test. The simulation confirmed the difference in the transfer alignment azimuth by fitting the MINS and SINS indoors, displacement in posture, and the process of transfer alignment between MINS and SINS through a driving test to confirm algorithm can improve the arrangement. Results: According to this study, reason for the error in the transfer alignment between MINS/SINS is the factors of the system where movements such as roll, pitch, yaw are not inter locked in real time due to the delay in transmit/receive system. And confirm that the improved algorithm has a desirable effect on accuracy. Conclusion: Through this work, it is possible to identify ways to improve the accuracy of underwater projectiles to reach their target points under various underwater environments and launch condition.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1480-1484
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• 2004

In this paper, a self-propulsive and small concrete floor finishing trowel robot with twin trowels is proposed. Due to the small size and omni-directional moving capability, it is adequate for small space such as apartment. By adjusting the posture of trowels, it can move in any direction without wheels. We used cheap PIC processor for the cost saving design of the modules and adopted mode processors for easy operation of control stick. For the position control of the robot, we made a motion control algorithm appealing to the stepping motor driver module and the wireless communication module between the robot and PC (or control stick). In this paper, we discuss the control problem of the floor finishing robot in order to move to the right position. By comparing experimental result with simulation, we show the validity of the robot mechanism, sensors, and the control system.

• IE interfaces
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• v.21 no.1
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• pp.43-50
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• 2008

Understanding consumers' latent desires for product form has now become a critical issue in product design. Accordingly, product development processes is rapidly changing from product-oriented development to user-centered development. Driver visibility is considered as an important element of driving posture packaging in automobile interior design. This study presents a systematic process for driver visibility analysis approached from affective engineering method that provides design variable selection and screening with respect to the image/impression element of the human visibility. Also, the analysis of front visibility, often called the feeling of "openness", in motor vehicle interior design, is selected and practiced a case study using the systematic process proposed in this study. Twenty six participants evaluated the feeling of openness for thirty motor vehicles following the perceived scale of affective design factors. The results showed that variables such as the height of head lining, the height of cluster housing, the gradient of windshield and the volume of A-pillar were the critical design variables which affect the feeling of openness in a motor vehicle.

• Convergence Security Journal
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• v.13 no.5
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• pp.77-87
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• 2013

Mobilization is defined as a use of national authority to effectively control, manage and utilize all personnel and material resources of a nation in a national emergency situation. Therefore, the complete posture of mobilization many deter war and secure victory as well as serve as a driving force for national economy during peacetime The future of military mobilization policies will need to be developed in relation to other government and administrative departments. Also mobilization of reserve forces can increase its swiftness and effectiveness by integrating the civilian, governmental and military departments. Additionally, the mobilization of military reserve forces policy after the unification in this Peninsula will need to be developed through active researches.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.3
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• pp.452-460
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• 2002

The precision stage using a novel contact-free planar actuator based on magnetic farces, magnetized force and Lorentz farce, is suggested. In the promising magnetic structure, the mover is driven directly without any transmission mechanism, and doesn't need any auxiliary driver for its posture calibration. Then it is estimated that the proposed operating principle is very suitable for work requiring high accuracy and cleanness, or general-purpose nano-stage. In this paper, we discuss a driving principle of the planar system including the magnetic force generation mechanism, a framework for the force model, governing characteristics of the levitated plate, and a planar motion control of the constructed prototype. And experimental results are given to verify the derived theoretical model and a feasibility of the system.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.124-130
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• 2020

This paper designed modular agricultural robotic platform capable of a variety of agricultural tasks to address the problems caused by a decline in agricultural populations and an increase in average age. We propose a modular robotic platform that can perform many tasks required in field farming by replacing only work modules with common robotic platforms. This platform is capable of steering while driving on four wheels in an upland environment where farm work is performed, and an attitude control module is attached to each drive module to control the attitude of the platform. In addition, the width of the platform is designed to be variable in order to operate in various ridges according to the crop cultivation method. Finally, we evaluated five items: variable width, gradient, attitude control angle, step and road speed in order to carry out the farming industry while maintaining a stable posture.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Journal of the Korean Society of Propulsion Engineers
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• v.9 no.1
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• pp.9-16
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• 2005

Jet vane is an useful component which is installed at the end of a nozzle for the purpose of the posture control and the secure controlling stability during the initial launching of a rocket. During several seconds from its initial launching moment, the JV driving part is heated due to the direct contact of the vane with the combusted gas and the vane is ablated mechanically or chemically. In this study, as the fundamental study for the thermal analysis of jet vane, the heat transfer into a jet vane which is located in the uniform supersonic flow field is calculated. For this, boundary layer integral method and finite difference method are used simultaneously. Based on the thermal boundary conditions derived from the analysis, the transient heat conduction in the vane is also calculated.

• The Journal of the Convergence on Culture Technology
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• v.6 no.4
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• pp.209-217
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• 2020

North Korea has steadily implemented defense reforms to strengthen its national defense capabilities, and in particular, has made military technology development and military industrial capability strengthening as the focus of national defense reform. North Korea's defense reform ultimately aimed at securing nuclear posture, and as technical achievements accumulated in the Kim Jung-Un era, it led to the development of military strength such as hydrogen bombs and ICBM/SLBM. Having secured nuclear capability, North Korea is also pursuing a symmetricality in the conventional military strength by securing a strategic advantage by pursuing the modernization of the conventional weapon systems through defense reform again. Up to now, North Korea's defense reform has succeeded in establishing a new ruling system for Kim Jung-Un and creating a driving force for negotiations with the United States.

• Journal of the Korea Safety Management & Science
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• v.14 no.4
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• pp.93-105
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• 2012

The purpose of this study was to investigate drivers' postures in different car pedal systems and skilled levels under fatigue. Twenty four subjects participated in this experiment. For three-dimensional analyses, six cameras (Proreflex MCU-240, Qualisys) were used to acquire raw data. The parameters were calculated and analyzed with Visual-3D. In conclusion, ROAs of two leg-pedal system were less than one leg pedal system by pattern analysis. Through statistical tests, skilled levels have effects on ROAs(X, Y, Z) of ankle joint at breaking a pedal and ROAs(Y, Z) of ankle joint at accelerating a pedal. Also, car pedal systems have effects on ROAs(Y, Z) of ankle joint, and ROA(Z) of knee joint at accelerating a pedal. In addition, skilled levels and car pedal systems (cross effects) have an effect on ROA(Z) of ankle joint. These findings suggested that we should improve a present single pedal system.