• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.345-346
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• 2007

This paper deals with design of a cube-style modular robot. The modular robot can change its own form according to the working environment. Therefore it is suitable to work in the search and rescue area with the shape of snake, legged robot and humanoid robot. Each of modular unit has to install its own controller on the body and driving mechanism in order to give it mobility autonomously. And also they should attach and detach each other with docking mechanism and algorithm. Using this mechanism, they can make union, separation, recombination. The other important point is that some information of each cell should be exchanged to reconfigure their shape and to make some docking of the modular cell. In this paper we suggested a design concept of our modular robot focused on the docking mechanism of the robot.

• 한국공간구조학회논문집
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• 제22권3호
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• pp.41-48
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• 2022

The purpose of this study is to evaluate seismic performances of a modular house system developed by a simple 4-clip fastening method and double metal assembly made of lightweight metals. In order to evaluate structural and non-structural seismic performances of the system. Shaking table test was carried out with full-scale modular units, and a nonlinear pushover analysis was performed to obtain suitable seismic responses for story drifts, displacements, force resistances and dynamic properties of the system. Through 3D analysis and shaking table test, the current method of lightweight modular metal unit assembly and systems with seismic performance of a 4-clip fastening type modular house were demonstrated safe and effective to seismic design.

• 한국건설관리학회논문집
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• 제19권2호
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• pp.50-60
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• 2018

최근 인력자원 투입량 감소 및 공기단축이 가능한 모듈러 건축공법은 반복 공정이 많은 기숙사, 주거시설, 호텔 공사 등에 다양하게 적용되고 있다. 모듈러 건축공법은 유닛 설치비용을 제외한 현장 공사비에서 외장 마감공사 비용의 비중은 약 40%를 차지하며, 마감공사는 목표공기와 비용을 유지하는데 주요한 역할을 한다. 모듈러 현장에서 유닛 설치 및 마감공사 수행을 위해 한정된 장비가 후속 액티비티에 영향을 주지 않도록 공유되어야 하며 현장 마감 비중이 커지는 모듈러 프로젝트일수록 공정관리에서 양중 계획은 매우 중요하기 때문이다. 이와 같은 T/C 운용 계획은 단일 사이클 또는 다중 사이클의 형태를 가지게 되며 사이클 주기 조율은 장비효율을 높일 수 있다. 그러나 유닛 설치 및 마감공사를 지원하기 위한 T/C 운용 계획의 대안을 평가하는데 어려움이 있다. 따라서 본 연구는 모듈러 건축 현장에서 T/C 운용의 사이클 주기 설정에 따른 운용방식의 대안을 평가하기 위해 유닛 양중 시간 및 주기, 외장재 양중 시간, 마감 작업 소요시간을 변수화하여 T/C 가동시간과 공정에 주는 영향을 파악한다. 이러한 목적을 달성하기 위해 현장에서 이루어지는 작업 프로세스 분석을 바탕으로 작업 속도를 조절하여 T/C 효율을 증대시킬 수 있는 시뮬레이션 모델을 개발한다. 본 연구는 양중 사이클 개념을 적용한 자원 평준화 방법을 제시함으로써 학술적 기여가 있으며 실무적으로 현장관리자에게 장비 계획의 대안 선택을 위한 기초자료로서 활용될 수 있을 것이다.

• 한국주거학회논문집
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• 제25권4호
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• pp.39-46
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• 2014

This research was for the investigation and analysis of the illustration of modular construction application which is different use by each school facility since modular construction related examples are rare in domestic situation, and it has a limitation because of its being basic research material for generating the basic form of modular construction. The research results are as followings. First, in case of school facility from illustration investigation results, module measurement of class modulation is as similar as $3m{\times}10m$, but in resident facility the planning of more flexible plane shape can be possible since modules of 6 cases are free and various, and facade form of various types can be appeared by combination of module unit. Second, as a result of the generated characteristics in compared analysis of representative examples, school facilities were highly indicated for movability and duration reduction areas, and the flexibility, economic efficiency, and environment-friendliness was indicated low relatively. Third, the basic planning types of modular construction can be largely divided into layered type, horizontal (straightway) type, and compound type. The layered type has a short traffic line and facility system and is appropriate for the low-rise form unless separate construction method is used since it is susceptible to load. The horizontal type is advantageous for securing an opening since it has wide extent in light but has a long traffic line and facility system. Finally, the compound type can be possible for planning of various forms but needs the combination of various unit modules and traffic line and facility plan for it can be difficult.

• 한국구조물진단유지관리공학회 논문집
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• 제20권2호
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• pp.74-85
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• 2016

모듈러 구조물은 관행적으로 철골 모멘트 저항골조와 유사한 횡력저항성능을 가진다는 가정하에 내진 설계된다. 하지만 모듈러 구조물은 중첩된 구조 부재와 단위 모듈의 체결을 위한 복잡한 접합 상세를 가지기 때문에 철골 모멘트 골조와 다른 하중 전달 메커니즘을 가진다. 본 연구에서는 중첩된 구조 부재 효과와 접합부의 거동 특성을 고려하여 총 4개의 구조해석 모델을 수립하였으며, 수립된 해석 모델을 이용하여 3층과 5층 표본 건물에 대한 비선형 정적 해석을 수행하였다. 표본 건물은 중첩된 구조 부재와 접합부의 이력 거동에 대한 모델링 방법에 따라 강성 및 강도의 차이가 발생하는 것으로 나타났다. 중첩된 구조 부재를 완전 합성, 모듈 간 접합부를 강접합으로 고려하여 설계된 모듈러 구조물은 횡 강성 및 강도가 과대 평가되는 것으로 나타났다. 뿐만 아니라 해석 결과를 통해 3층 이상의 모듈러 구조물은 철골 모멘트 저항골조와 비교하여 상대적으로 적은 초과 강도를 가지는 것을 확인할 수 있다.

• 한국건축시공학회지
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• 제23권6호
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• pp.809-820
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• 2023

현대 사회에서는 1인 가구가 증가하고 주거 공간에 대한 수요가 증가하고 있으며 이에 대한 적절한 대안 모색이 중요하다. 빠른 시간 내에 경제적이고 지속 가능한 주거 공간을 제공하기 위한 방법으로 모듈러 건축이 주목받고 있다. 본 연구에서는 BIM(Building Information Modeling) 기술을 활용한 모듈러 건축 유닛 설계 및 시공 과정 최적화 방법을 제안한다. 1인 가구의 주거 요구사항과 삶의 질 향상을 위한 요인을 분석하였다. 이를 바탕으로 BIM을 활용하여 효율적이고 경제적인 모듈러 공동주택 유닛을 개발하였다. BIM은 건축 요소의 시각화 및 상호 연결을 제공하여 설계 과정의 오류를 최소화하고 생산성을 향상시킬 수 있다. 모듈러 건축의 장점과 한계를 평가하였다. BIM을 활용한 모듈러 건축물은 주거 문제를 해결할 수 있는 효과적인 대안으로 제시될 수 있으며 주거 공간의 품질과 다양성을 높일 수 있다. 다만 기술적 요구사항 및 비용 등의 한계도 고려되어야 한다. BIM 기반 1인 가구 공동주택 유닛 설계의 가능성과 장점을 제시하고 1인 가구 개선을 위한 실질적인 해결책으로 활용될 수 있다.

• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2015년도 추계 학술논문 발표대회
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• pp.164-165
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• 2015

Modular construction technique is an adaptation of factory-based mass production concept in ordinary manufacturing industries to construction industry and it assumes that panels, units, etc. are fabricated in factories and assembled in construction sites. Given its structural limitations, modular construction technique is primarily used in low-story buildings whose maximum height is usually five stories, but researchers are actively studying possible adaptation of modular construction technique to high-rise building designs these days as in the case of infill-type modular construction design. Infill-type modular construction technique, most frequently used in high-rise building construction projects, completes frame construction first in reinforced concrete structures and fills unit modules in such structures. However, infill-type modular construction technique leads to longer construction schedule accompanying increase in construction cost, cost overrun due to additional of temporary work, and possible damage to units in the wake of facility construction. Accordingly, this study is performed as a basic study for the development of bottom-up infill-type modular construction technique intended to construct structural frames and fill in units sequentially in a bid to address such drawbacks of current infill-type modular construction technique.

• Journal of Power Electronics
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• 제18권2호
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• pp.558-572
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• 2018

In addition to its modular nature, a Hybrid Modular Multilevel Converter (HMMC) assembled from half-bridge and full-bridge sub-modules, is able to block DC faults with a minimum number of switching devices, which makes it attractive for high power applications. This paper introduces a control strategy based on the Root-Least Square (RLS) algorithm to estimate the capacitor voltages instead of using direct measurements. This action eliminates the need for voltage transducers in the HMMC sub-modules and the associated communication link with the central controller. In addition to capacitor voltage balancing and suppression of circulating currents, a fault tolerant control unit (FTCU) is integrated into the proposed strategy to modify the parameters of the HMMC controller. On advantage of the proposed FTCU is that it does not need extra components. Furthermore, a fault detection unit is adapted by utilizing a hybrid estimation scheme to detect sub-module faults. The behavior of the suggested technique is assessed using PSCAD offline simulations. In addition, it is validated using a real-time digital simulator connected to a real time controller under various normal and fault conditions. The proposed strategy shows robust performance in terms of accuracy and time response since it succeeds in stabilizing the HMMC under faults.

• 국제학술발표논문집
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• The 6th International Conference on Construction Engineering and Project Management
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• pp.704-705
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• 2015

Recent research has been ongoing for modular buildings in the country, and interest increases. However, in accordance with legal restrictions in the country with regard to Project Delivery system of Modular Building, the activation of modular buildings industry is obstructed. In Korea, in accordance with national contract law, the construction contract is apply to the project delivery system of modular buildings, and in accordance with Framework Act on the Construction Industry, The project delivery system of modular buildings has to be a separate order. The definition of separate order in contract as defined in the law is that the electric work and Communication work and digestion facility work has to be separate each contract in order to be ensured professionalism. In accordance with law, the project delivery system of modular buildings is that the contract for construction is concluded with the Owner and the Construction Contractor and the contract for goods is concluded with the construction Contractor and modular manufacturer. Due to these project delivery system, the domestic factory production rate when making a modular unit is significantly reduced compared to the rate of factory production abroad and the domestic factory production rate is estimated to 10-20%. Due to the factory production rate is also low, despite what can be done at the factory the workload in construction field increases. According to the workload in field increases, the effect of the schedule reduction can be reduced. It resolved to form a consortium with a modular manufacturer and construction companies or the contract is concluded with Owner, modular manufacturer and construction companies in each. In this paper, we propose a specific project delivery system for modular building to solve the problem of the low factory production rate and the problem of schedule reduction. Through this paper, due to the variety of project delivery system on modular buildings is expected to contribute to the activation of modular buildings.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2018년도 전력전자학술대회
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• pp.436-437
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• 2018

This paper describes the structure and design of a modular DC/DC converter for connecting DC sources such as battery, solar cell, etc. to DC distribution network. The modular converter structure of IPOS type and the optimal design and implementation of the unit converter cell are discussed.