• 한국산학기술학회논문지
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• 제22권6호
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• pp.291-298
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• 2021

본 연구에서는 지뢰 무기체계를 중심으로 대기동 능력의 발전 배경과 현황을 분석하고 미래 발전 방안을 제시하였다. 2차 대전 후 민간인 피해를 야기한 재래식 지뢰는 CCW 및 오타와 협약 등 국제사회의 규제 대상이 되었다. 기존 지뢰의 비인도성을 감안하여 배치된 살포식지뢰는 자폭 기능이 내장되어 있다. 초기형 지능화 대전차 탄약인 호넷의 도태 원인은 복합 센서로 인한 제작비용 상승 대비 저조한 효과로 분석된다. 2016년 모든 대인지뢰를 금지하는 오바마 정부의 정책이 발표되면서 대기동전력의 계획 지뢰지대 및 종심지역 설치 능력에 공백이 생기게 된다. 이를 대비하여 단기적으로는 기존의 살포식지뢰를 활용할 수 있는 SAVO 전력이 개발되고 관련 수명연장계획(SLEP) 사업이 추진되었다. 장기적으로는 미래 정규전을 위한 다영역작전의 핵심전력으로 지뢰를 선정하고 지형조성장애물(TSO)을 개발하고 있다. TSO 전력은 강화된 센서 및 살상능력을 보유하며, 위성통신 네트워크를 구성함으로 지휘소에서 모든 영역의 지뢰를 개별적으로 제어할 수 있다. TSO 개발에 성공한다면 미군은 2050년까지 전 영역에서 온전하며 강화된 대기동 능력을 발휘할 것으로 분석된다. 우리나라는 특수한 휴전 상황으로 인해 관련 정책의 엄격한 적용은 유예되고 있으나, 단독적인 종심지역 지뢰 살포 능력을 서둘러 갖추어야 하며, 오타와 협약에 적합한 지뢰를 개발할 수 있도록 관련 기술의 선제적인 확보가 필요하다.

• Journal of Positioning, Navigation, and Timing
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• 제11권2호
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• pp.99-107
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• 2022

Urban Air Mobility (UAM) such as a drone taxi is one of the future transportations that have recently been attracting attention. Along with the construction of an urban terminal, an accurate landing system for UAM is also essential. However, in urban environments, reliable Global Navigation Satellite Systems (GNSS) signals cannot be received due to obstacles such as high-rise buildings which causes multipath and non-line of sight signal. Thus, the positioning result in urban environments from the GNSS signal is unreliable. Consequently, we propose the Ultra-Wideband (UWB) network to assist the soft landing of UAM on a vertiport. Since the positioning performance of UWB network depends on the layout of UWB anchors, it is necessary to optimize the layout of UWB anchors. In this paper, we propose a two-steps genetic algorithm that consists of binary genetic algorithm involved multi objectives fitness function and integer genetic algorithm involved robust solution searching fitness function in order to optimize taking into account Fresnel hole effects.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1998년도 춘계학술대회 논문집
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• pp.88-93
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• 1998

This paper presents a new solution approach to moving obstacle avoidance problem for a mobile robot. A new concept avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terns of the VDF, an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived form the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• International Journal of Precision Engineering and Manufacturing
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• 제8권3호
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• pp.3-7
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• 2007

There have been numerous studies directed toward the development of driving mechanisms for off-road mobility and rescue robots. To achieve surveillance, reconnaissance, and rescue, it is necessary for robots to have a driving mechanism that can handle off-road environments, We propose a new type of single-track driving mechanism with a variable geometry for a rescue robot, This mechanism has a symmetric configuration so that the robot can advance in two directions and also remain operable when overturned. By transforming its geometry, the robot can reduce energy consumption in steering and rotating as well as maximize its ability to climb obstacles such as stairs. The robot is also designed to have a compact size and low center of gravity to facilitate driving when on a set of stairs. In this paper, we analyzed the design parameters of the robot for the four phases of climbing stairs and determined the specifications needed to enhance its adaptability.

• 한국기계기술학회지
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• 제20권6호
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• pp.912-916
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• 2018

Crawling robots are advantageous in overcoming obstacles. These robots have characteristics such as light weight and outstanding mobility. In case of large robots, they have difficulties passing narrow gaps or entering the cave. In this paper, we propose a milli-scale hexapedal robot using 4-bar linkages. Two conditions are necessary to enable efficient walking. In short, the trajectory of the foot must be elliptical, and the lowest point of the foot should be the same. These conditions are satisfied with a novel leg design. The robot has a pair of three legs and the legs are coupled to operate simultaneously. Each set of the legs are installed to robot's both sides and the legs satisfy the equal lowest foot point and elliptical trajectory. As a result, this hexapedal robot can crawl with 0.56m/s speed.

• 로봇학회논문지
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• 제5권2호
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• pp.135-142
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• 2010

Security robot has gradually developed and deployed in order to protect civilian's lives as well as fortune and subjugate the shortcomings of CCTV which lacks of mobility. We have developed a security robot for outdoor environment and the main purpose of the driving mechanism is to overcome the bumps or projections with high speed. The robot platform consists of 4 omnidirectional wheel-based driving mechanisms and suspension for each driving mechanism. In this paper, principal suspension parameters of outdoor security robot for overcoming obstacles with stability are studied and approximately optimized using Response Surface Methodology (RSM) since it is difficult to find the exact relationship between suspension parameters and the shock, which is significantly associated with stability of the robot, at the robot platform. Simulation using ADAMS is conducted for assessing the feasibility of optimized design parameters.

• Advances in Energy Research
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• 제8권3호
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• pp.165-174
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• 2022

Environmental sustainability is critical; else, the whole planet would face climatic disasters in the near future. A transportation system based on electric vehicles is assumed to be capable of providing long-term mobility. However, despite several attempts by national and international authorities, a great aim could not be met in India or the rest of the globe. Existing electric cars have a number of limits and obstacles. This report highlighted significant environmental and safety-related constraints that contribute to the low adoption rate of BEVs in India. A SWOT analysis was also carried out to identify the important elements influencing the future of BEV penetration in India.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1991년도 추계학술대회 논문집
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• pp.146-154
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• 1991

As the application of robotic systems expand its scope, more research efforts are given in providing mobility to the robotic systems so that they can travel across various paths including those with formidable obstacles such as stairways or rough terrains. Legged locomotion is mainly concerned because the walking motion, like that of animal behavior, has many advantages over wheel type or track type locomotion especially in rough terrain. Walking robot, in general, having a discrete number of legs, have inherently low static stability. Static stability can be increased to a certain degree, by improving walking method, but it has many limitations such as reduced travel speed. A very promising possibility lies in the use of balancing weight, nevertheless its actual implementation is very rare. In this study, a 4-legged walking machine is developed and the static stability margin is increased with the balancing weight. In the future, this robot will be used to take an experiment on the walking in mush terrain.

• 한국유체기계학회 논문집
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• 제17권6호
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• pp.69-73
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• 2014

To predict flow fields and chemical agent dispersion in urban area, wind tunnel experiments was performed. The agent was adopted MS (methyl salicylate) because the real chemical agent is unsafe. The exact concentration of methyl salicylate was generated by the commercial gas generator (STI-2500) and three different obstacle shapes were applied (i.e., rectangular, cylinder and pyramid). The concentration was measured with the qualified ion mobility sensor and gas chromatography. The data necessary for virtual test method of the real chemical agent were obtained.

• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.163-172
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• 2007

A swarm-bot docking with two independent robots aiming at overcoming obstacles or climbing up/down stairs is introduced how it can be manufactured and controlled. Utilizing the fast mobility of the vehicle robot and cooperating between robots expands the applications of the robot. An algorithm for identifying the partner robot and its generic mechanism enabling the docking of two robots are addressed. The designed swarm-bot has advantages in terms of overcoming obstacle or stair climbing which is not easily implemented by a single robot, increasing the adaptability to the environment.