• 한국기계가공학회지
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• 제15권5호
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• pp.125-130
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• 2016

A low-recoil direct gun is useful in reducing the fire impulse generated by using a traditional shell. To apply a control equation to an AMESim Model, we have formulated a control equation for a recoil mechanism from the free object diagram. By modeling this equation, we have been able to compare the recoil distance and recoil force of a low-recoil direct gun. Here, we can analyze the recoil characteristics between traditional direct guns and low-recoil direct guns with perforated muzzle brakes. It is possible to mount a low-recoil direct gun with a perforated muzzle brake on a lightweight tracked vehicle by reducing its fire impulse.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.30.4-30
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• 2001

In this paper, design and integration of a newly developed double-tracked mobile robot called ROBHAZ-DT are introduced. It is designed to carry out military and civil missions in various hazardous environments such as the areas of fire, war, disaster and mine field etc. ROBHAZ-DT is configured with three mechanical bodies, namely front, rear and main body. By using its rotational passive adaptation mechanism equipped between the front and rear bodies, ROBHAZ-DT shows a good mobile capability on uneven terrain including stairs. The passive adaptation mechanism reduces energy consumption and offers simplicity in the design of the ROBHAZ-DT ...

• 로봇학회논문지
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• 제5권3호
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• pp.270-277
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• 2010

Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for the purpose of surveillance, reconnaissance, search and rescue, and etc. We have considered a terrain adaptive hybrid robot platform which is equipped with rapid navigation on flat floors and good performance on overcoming stairs or obstacles. Since our special consideration is posed to its flexibility for real application, we devised a design of a transformable robot structure which consists of an ordinary wheeled structure to navigate fast on flat floor and a variable tracked structure to climb stairs effectively. Especially, track arms installed in front side, rear side, and mid side are used for navigation mode transition between flatland navigation and stairs climbing. The mode transition is determined and implemented by adaptive driving mode control of mobile robot. The wheel and track hybrid mobile platform apparatus applied off-road driving mechanism for various professional service robots is verified through experiments for navigation performance in real and test-bed environment.

• 대한전기학회논문지
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• 제38권12호
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• pp.1007-1013
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• 1989

This paper describes the procedure of kinmatic design of a quadruped walking machine which has better mobility and higher energy efficiency than the wheeled or tracked vehicles on the rough terrain. Specifically, this paper puts much emphasis on the procedure and its rationality of the design of the leg which is the key mechanical element of the walking robot. And it shows the appropriateness of the selected mechanism and the design method through the walking experiment of the prototype machine built upon the resulted design. The pantograph mechanisms are proved to be acceptable as the leg of the walking machine from the experiment even though it is indicated that the walking speed and the body deflection should be improved further. This paper also describes the problems of the realization of the gait the frictional effects along with their causes in the walking experiment.

• 한국수산과학회지
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• 제50권2호
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• pp.222-226
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• 2017

It is well known that typhoons strongly influence marine ecosystems. For example, red tides nearly disappear after the passage of typhoons, although the physical or biological mechanism underlying this has not been elucidated. Here, a particle tracking model is executed in a three-dimensional primitive equation model to understand the process of red tide extinction after the passage of a typhoon. Red tide organisms may be regarded as tracers because they have limited mobility and thus their behavior is governed entirely by currents. Initially, tracers are randomly scattered within a limited area, and their spatial and temporal behavior is tracked during and after the passage of a typhoon. This model suggests that the extinction of red tides is significantly influenced by momentum disturbances caused by the typhoon.

• 한국산학기술학회논문지
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• 제21권7호
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• pp.191-200
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• 2020

군용 궤도차량은 일반 차량보다 더 가혹한 주행조건과 기후환경에서 운용되며, 이러한 환경에서 사용되기 위하여 적용되는 부품들은 고도의 신뢰성과 내구성이 요구된다. 특히 디젤엔진은 군용 궤도차량의 주 동력발생장치로써, 차량 주행 간 고장이 발생할 시에 대형사고로 이어질 가능성이 높다. 따라서 엔진의 고장 및 파손원인을 분석하는 것은 추후 발생할 수 있는 유사한 사례를 사전에 예방할 수 있는 중요한 과정이라고 할 수 있다. 본 연구에서는 군용 궤도차량 주행 간 발생된 고장 엔진에 대하여 분해검사와 경도 측정, 파단면 분석 등의 파손원인검토를 통하여 엔진 파손 메커니즘을 규명하였다. 파손 엔진에 대한 분해검사를 통하여 4번 커넥팅 로드에서 볼트가 분리되어 이탈된 것이 확인되었다. 또한 4번 커넥팅 로드 볼트의 경도 측정 결과는 규격에 적합하였으며, 파손된 볼트의 파단면 분석을 통하여 볼트는 연성파괴 되었다는 것을 알 수 있었다. 이와 같은 분석 결과를 바탕으로 이번에 발생된 군용 궤도차량 디젤엔진의 파손은 최초 4번 커넥팅 로드 볼트의 풀림으로 인한 이탈과 파손이 연쇄적인 손상으로 이어져 발생되었던 것으로 판단되었다. 본 연구에서 수행한 엔진 고장원인분석 결과는 향후 타 장비의 유사한 엔진 고장 및 파손원인분석 연구에 참고사례 및 유용한 자료가 될 수 있을 것으로 사료된다.

• 한국기계가공학회지
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• 제17권2호
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• pp.109-117
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• 2018

The experimental results are presented of an autonomous flight algorithm of a foldable quadcopter with airdrop launching functions. A foldable wing structure enabled the quadcopter to be inserted into a rocket container with limited space. The foldable quadcopter was then separated from the rocket in the air. The flight pattern was tracked using a global positioning system (GPS) with various sensors, including an inertial measurement unit (IMU) module until a designated target position was reached. Extensive field tests were conducted through an international rocket competition, ARLISS 2017, which was held in Black Rock Desert, Nevada, USA. The flight trajectory record of the experiments is stored in electrically erasable programmable read-only memory (EEPROM) embedded in the main control unit. The flight record confirmed that the quadcopter successfully separated from the rocket, executed flight toward the target for a certain length of time, and stably landed on the ground.

• 정보보호학회논문지
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• 제29권6호
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• pp.1375-1382
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• 2019

최근 상용 프로텍터인 Themida의 최신 버전이 업데이트되면서, 추적할 초기 데이터를 제공하는 가상 메모리 할당을 사용하지 않도록 변경해 기존 연구의 정규화된 대응방안을 적용할 수 없게 되었다. 또한, 실행 중에 결정되는 값이 많아 동적으로 추적하기 수월했던 기존의 버전에 비해, 프로텍터를 적용하는 시점에 결정된 고정값이 많아 동적으로 추적하는데 어려움이 생겼다. API 난독화 과정을 정규화하기 어려워지도록 최신 버전의 Themida가 어떤 방식을 채용했는지 알아보고, 이를 해제하는 자동화된 시스템을 추후 개발하기 위해 어떠한 기술을 적용할 수 있을지 가능성을 검토해 본다.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2009년 추계학술발표대회
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• pp.197-201
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• 2009

A lot of work is carried out concerning to acicular ferrite formation in the weld metal of high strength and low-alloy steel. Those results are suggesting that oxides that contain titanium elements provides nucleation site of intragranular ferrite, referred as acicular ferrite. Thus, when intragranular ferrite is expected to form in heat-affected zone, oxide containing titanium element should be formed in the steel. However, normal steel is deoxidized by using aluminum element (Al-killed steel) with little oxygen content. It means almost oxygen is deoxidized with aluminum elements. In the present work, in order to form the acicular ferrite in the heat affected zone, with the same concept in the case of weld metal, the steel deoxidized with titanium element (titanium killed-steel) is prepared and the acicular ferrite formation is observed in detail by using laser-conforcal microscopy technique. The confocal technique makes it possible that the morphological change along the phase transformation from austenite to ferrite is in-situ tracked. Thus, the inclusion that stimulated the ferrite nucleation could be directly selected from the observed images, in the HAZ of the Ti-killed steel. The chemical composition of the selected inclusion is analyzed and the nucleation potential is discussed by changing the nucleation site with boron element. The potency for the ferrite nucleation is summarized and the existence of effective and ineffective manganese sulfide for nucleation is made clear.

• 한국도로학회논문집
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• 제20권1호
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• pp.9-18
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• 2018

PURPOSES : In this research, the initiation and development of corrugation on a gravel road with certain wheel and boundary conditions were evaluated using a coupled discrete-element method (DEM) with multibody dynamics (MBD). METHODS : In this study, 665,534 particles with a 4-mm diameter were generated and compacted to build a circular roadbed track, with a depth and width of 42 mm and 50 mm, respectively. A single wheel with a 100-mm diameter, 40-mm width, and 0.157-kg mass was considered for the track. The single wheel was set to run slowly on the track with a speed of 2.5 rad/s so that the corrugation was gradually initiated and developed without losing contact between the wheel and the roadbed. Then, the shape of the track surface was monitored, and the movement of the particles in the roadbed was tracked at certain wheel-pass numbers to evaluate the overall corrugation initiation and development mechanism. RESULTS : Two types of corrugation, long wave-length and short wave-length, were observed in the circular track. It seems that the long wave-length corrugation was developed by the longitudinal movement of surface particles in the entire track, while the short wave-length corrugation was developed by shear deformation in a local section. Properties such as particle coefficients, track bulk density, and wheel mass, have significant effects on the initiation and development of long-wave corrugation. CONCLUSIONS : It was concluded that the coupled numerical method applied in this research could be effectively used to simulate the corrugation of a gravel road and to understand the mechanism that initiates and develops corrugation. To derive a comprehensive conclusion for the corrugation development under various conditions, the driver's acceleration and deceleration with various particle gradations and wheel-configuration models should be considered in the simulation.