• 로봇학회논문지
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• 제19권1호
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• pp.31-38
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• 2024

A mobile manipulator is capable of handling a wide range of workspaces by overcoming the limitations of mobility inherent in existing fixed-base manipulators. To simulate the mobile manipulator, two contact operations should be considered in the physics engines. One of these operations is the grasp stability between the gripper and the object, while the other involves the contact between the wheels of the mobile robot and the ground during driving. However, it is still difficult to choose an appropriate physics engine for simulating these contact operations of the mobile manipulator. In this paper, the performance of physics engines for simulating the mobile manipulator is evaluated. Firstly, the grasp stability of the physics engine is quantitatively evaluated based on the contact force discontinuity. Secondly, when the mobile robot is controlled by open or closed-loop control methods, differences in the path taken by the mobile robot depending on the physics engine are analyzed. To assess the performance of robot simulation, three dynamic simulators-MuJoCo, CoppeliaSim, and IsaacSim-are used along with five physics engines: MuJoCo, Newton, ODE, Bullet, and PhysX.

• 한국산림과학회지
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• 제84권2호
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• pp.218-225
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• 1995

이 논문에서는 임업용 트랙터의 집재작업 분석에 요구되는 역학분석모델을 제시하고 사례분석을 통해 적용성을 검토하였다. 역학분석모델은 크게 견인목의 역학구조해석모델, 차량하중분석모델 및 주행중인 차량의 구동력과 저항력 분석모델의 3부분으로 구성되어 있다. 사례분석에서는 가상적인 집재작업 시나리오를 만들어 역학적으로 중요하거나 혹은 집재생산성에 중요한 인자들에 대한 영향력분석을 통해 모델의 적용성을 검토하였다. 사례분석은 1) 당김줄을 견인목에 묶는 방법이 견인력에 미치는 영향, 2)주행속도 및 견인목 하중이 차륜의 동력요구에 미치는 영향, 3) 2륜구동과 4륜구동 트랙터의 견인작업 수행 성능 비교에 관한 내용을 포함한다.

• 전자공학회논문지CI
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• 제48권4호
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• pp.9-20
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• 2011

미래 전쟁의 양상은 네트워크 중심전(network-centric warfare) 및 효과중심 작전(effects-based operations)으로 변화하고 있다. 전장에서 적을 먼저 발견하고 타격하기 위해서는 실시간 표적획득 및 첩보수집, 정확한 상황판단과 적시적인 지휘결심이 필요하다. 첨단 센서기술과 무선네트워크의 급속한 발전으로 인하여 전장감시의 운영개념에도 큰 변화가 요구된다. 특히, 자동화된 정보수집 자산이 부족한 지상군에게 있어서 전장감시 센서네트워크시스템의 도입은 필수 과제이다. 따라서 이 논문에서는 지상군 작전에서 적의 조기 발견과 전장가시화에 필요한 전장감시 센서네트워크시스템 구축을 위한 온톨로지 기반 상황인식 프레임워크를 제안한다. 제안한 온톨로지 기반 상황인식 프레임워크의 성능을 상황정보시스템의 평가방법을 적용하여 기존 시스템과 비교 분석한 결과 양호하게 평가되었으며, 장비협업도를 활용한 구조적 평가방법으로도 만족한 결과를 입증하였다. 온톨로지 기반 상황인식 프레임워크는 확장성과 재사용성의 측면에서 매우 장점이 많은 방식으로서, 향후 지상군 감시정찰체계에 폭 넓게 확대 적용할 수 있다. 또한, 온톨로지로 인한 데이터 량의 증가, 집중화로 인한 네트워크 대역폭 제한 및 처리시간 증가 문제들은 제대별 임무와 특성에 맞게 커스터마이징하거나, 차세대 통신 인프라의 구축으로 인하여 지능형 감시정찰 서비스를 촉진시키게 되므로 지상군의 정보능력 확충에 크게 기여할 것으로 기대된다.

• 터널과지하공간
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• 제2권1호
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• pp.102-115
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• 1992

Blasting operations associated with rock excavation work may have an environmental impact in nearby structures or human beings. With the increase of construction work in urban areas, vibration problems and complaints have also increased. In order to determine the optimum design parameters for safe blast, it is essential to understand blast mechanism, design variables involved in blast-induced damage, and their effects on the blasting results. This paper deals with the characteristics of ground vibrations, air blast and fly rock caused by blast, including the general method of establishing the vibration predictors, and damage criteria suggested by various investigators. The results of field measurements from open pit mine and tunnel construction work are discussed. Basic concepts of how to design blast parameters to control the generation of ground vibrations, air blast and fly rock are presented.

• Journal of information and communication convergence engineering
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• 제10권4호
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• pp.321-328
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• 2012

A novel design for a simple rectangular ring with open-ended monopole antenna wireless local area network (WLAN) applications is proposed in this article. The proposed antenna consists of an open-ended rectangular ring, an inverted L-strip, and a rectangular slit in the ground plane, and is fed by a 50 ${\Omega}$ microstrip feed-line. Prototypes of the proposed antenna were designed, fabricated, and tested. Experimental results show that the proposed antenna receives 2.3125-2.775 GHz and 4.8625-6.7125 GHz with a return loss less than -10 dB, covering the required bandwidths of the 2.4/5.2/5.8 GHz WLAN standards. Meanwhile, the 2D radiation patterns and 3D gain performance of the antenna in the operation bands were also observed and discussed.

• Journal of the Korean Wood Science and Technology
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• 제44권2호
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• pp.166-171
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• 2016

Size reduction is one of the major pre-processing operations in using biomass as a source of energy or raw materials for forest products industry. The grinding characteristics of dried yellow poplar wood chips were investigated using laboratory knife mill with three different screen aperture diameters to provide the basic information for the optimizing of size reduction processes in biomass industry. Average specific energy consumptions were 0.157, 0.137, and 0.093 Wh/g for the screen aperture diameters of 5.0, 7.5, and 9.0 mm, respectively. According to the results of size distribution analysis of ground particles, the sizes of the most of ground particles were much smaller than the aperture diameters of the screens installed on knife mill used in this study.

• ETRI Journal
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• 제17권3호
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• pp.1-16
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• 1995

An advanced real-time satellite simulator (ARTSS) has been developed to support the ground operations activities of the ETRI satellite control system, such as testing of the system facilities, validation of flight control procedures, verification of satellite commands as well as training of the ground operators. The design of ARTSS is based on the top-down approach and makes use of a modular programming to ensure flexibility in modification and expansion of the system. Graphics-based monitoring and control facilities enhance the satellite simulation environment. The software spacecraft model in ARTSS simulates the characteristics of a geostationary communication satellite using a momentum bias three-axis stabilization control technique. The system can be also interfaced with a hardware payload subsystem such as Ku-band communication transponder to enhance the simulator capability. Therefore, ARTSS is a high fidelity satellite simulation tool that can be used on low-cost desk top computers. In this paper, we describe the design features, the simulation models and the real-time operating functions of the simulator.

• 로봇학회논문지
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• 제4권3호
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• pp.233-242
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• 2009

This paper briefly reviews the path planning methods that are applicable to the autonomous mobile robots for the military. Two distinct path search algorithms, $A^*$ and $D^*$ that are most popular and flexible in public applications, among those reviewed are coded and analyzed in terms of combat environment assessment factors called METT+TC for the area of operations. The results imply that it is important to consider the characteristics of defense acquisition process and the specific requirements of defense operation so that the successful technology development of the Robot products is directly linked to the defense procurement of Robot products.

• 시스템엔지니어링학술지
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• 제1권1호
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• pp.46-52
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• 2005

The Tactical Data Link System(TDLS) is a standardized communication link to exchange and interface positional, situational information, command and control in real time. It has been evalua ted that the link would play an important role for tactical interoperability, situation awareness, and execution of joint operations in the future war. But considering the rapidly changing war situations, even though being admitted the necessity of the TDLS of Army helicopter, one of superpowers in the Army, it is not yet built the detailed operational concept. Therefore, this work presents how to embody the TDLS through the systems engineering approach based on the TDLS operating concept analysis of helicopters-ground units.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2004년도 추계학술대회 논문집
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• pp.1174-1179
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• 2004

In general, the national rail system put an emphasis on distribution planing of stations for smooth operation of transporting goods, train allocation, parking, and maintenance. Since the national rail system is operated on the ground level, it is feasible to improve various aspects of the system during its operation. On the contrary, urban rail system is operated in the limited space under the ground, and thus, improving various aspects of the system during its operation is infeasible. Specifically, the urban subway system must have a comprehensive track distribution plan because the urban subway system has to operate in a limited environment such as it operates in a much shorter time period, The subway system has to be ready for various operations and events such as trains returning in the opposite direction. parking trains that need repair, parking during night time, storing various maintenance equipments, and connections to other tracks. Furthermore, considering the future extension of tracks, a comprehensive track distribution plan is a must.