• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.1173-1178
• /
• 2007

The robot for narrow space is used in searching, investigating or cleaning. Up to now variety of researches on in-pipe robots have been introduced. However it is still hard to overcome vertical or curved passage. In most cases of narrow space robots are able to travel just aimed diameter which was selected when those are developed. Also, a large percentage of robots are not able to detect the configuration of pipe or circumstance. In this paper we present a robot called PAROYSⅡ for narrow space with vertical and curved passage. This proposed robot is not affected at all to variance of pipes, vertical or horizontal passages, curved pipes, projecting parts and parallel planes. In addition to that, it will perceive the internal configuration of pipe and terrain, which will be not only available to control navigating scheme by itself, but also mappable about the passage which the robot traveled. Core points in the design and structure are introduced and preliminary verification is given.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.806-811
• /
• 2005

The robot to search and rescue is used in narrow space where human cannot approach. In case of this robot, it can overcome obstacles such as wrecks or stairs etc. Also, this robot can do various locomotion for each object. In this reason, an articulated robot has advantages comparing with one module robot. However, the existing articulated robot has limits to overcome vertical passages. For expanding contacted territory of robot, a novel mechanism is demanded. In this paper, the novel mechanism of articulated mobile robot is designed for moving level ground and vertical passages. This paper proposes to change wheel alignment. The robot needs two important motions for passing vertical passages like pipe. One is a motion to press wheels at wall for not falling into gravity direction. The other is a motion that wheels contact a vertical direction of wall's tangential direction for reducing loss of force. The mechanism of the robot focused that two motions can be acted to use just one motor. Length of each link of robot is optimized that wheels contact a vertical direction of wall's tangential direction through kinematic modeling of each link. The force of pressing wall of robot is calculated through dynamic modeling. This robot composes four modules. This mechanism is confirmed by dynamic simulation using ADAMS program. The articulated mobile robot is elaborated based on the results of kinematic modeling and dynamic simulation.

• Fire Science and Engineering
• /
• v.34 no.1
• /
• pp.47-54
• /
• 2020

This paper proposes a solution to the problems of constructing and installing sway braces for existing standpipes in narrow spaces and pits. The study develops a floor-fixed sway brace for a narrow space that can support the ground area under horizontal seismic loads (X-axis, Y-axis) as well as vertical seismic loads (Z-axis). The results of structural analysis using SolidWorks simulation showed that the eccentric load was generated in the first design according to the anchored position along the vertical direction, and the problem of exceeding the allowable stress of the material along the horizontal and vertical directions. In the second design model, deformation caused by the eccentric load along the vertical direction, similar to the first design model, did not occur. The maximum strain rate was 0.17%, which is approximately 12.84% less than the first design model (Maximum strain rate of 13.01%). It was confirmed that the structural stability and durability improved. Compressive and tensile load testing of the prototypes showed that all of them meet the performance criteria of the standard.

• Journal of the Korean Geotechnical Society
• /
• v.15 no.4
• /
• pp.261-277
• /
• 1999

The horizontal and vertical earth pressures in backfill space which is narrowly excavated like ditch are affected by the share of ditch backfill space and the wall friction between excavated surface and backfill soil. In this paper, for the excavated surface the Handy's equation of a symmetric vertical case and the Kellogg's equation of a symmetric sloped one are modified to show the minor principal stress arch for the unsymmetrical excavated backfill space. Compared with the soil test box result, a similarity in magnitude and distribution of backfill earth pressure shows that the earth pressure has been observed. The backfill earth pressure in unsymmetrically sloped space has been shown twice as much as the one in vertically excavated space and also remarkable decline of arching for the former case. It is verified that the earth pressure equation should account the shape and size of backfill space to calculate the earth pressure for similar structure to the one handled in this study.

• KEPCO Journal on Electric Power and Energy
• /
• v.5 no.4
• /
• pp.257-262
• /
• 2019

Lattice steel towers for overhead transmission lines have been replaced by tubular steel poles due to the visual impact of large and complex shape of truss type. Demand for tubular steel poles consisting of a single frame member continues to grow because of its advantages such as visual minimization, architectural appeal and minimal site consumptions. However, there are some constraints on the transportation and construction. As the diameter of tower base has been enlarged, it may exceed minimum height limit required to pass the tunnel in case of land transportation. Also, in a narrow place where it is not easy to secure the installation areas such as mountainous places, there might be some areas wherein it must secure a wide working space so that large vehicles and working cranes will be allowed to enter. In this paper, we presented a vertical separated tubular steel pole, which is a new type of support that can be implemented for general purpose such as mountainous areas or narrow areas to improve the issues raised by breaking away from the conventional design and fabrication methods. Technical approaches for overcoming the limit of the cross-sectional size is to separate and modularize the cross-section of the tubular steel pole designed with a size that cannot be carried or assembled, and to lighten it with a weight capable of being transported and assembled in a narrow space or mountainous area. As a result of this research, it will be possible to enter small and medium sized vehicles in locations where it is restricted to transport by large-sized vehicles. In the case of mountainous areas, it will be possible to divide it into a weight capable of being carried by a helicopter and it will be easy to adjust and fabricate it with individual modules. Furthermore, in order to break away from the traditional construction method, we proposed the equipment that can be applied to the assembly of Tubular Steel Pole without using a large crane in locations where there is no accessible road or in locations wherein large cranes cannot enter. In particular, this paper shows the movable assembling equipment and some methods that are specialized for vertical separated tubular steel pole consisting of members with reduced weight. The proposed assembly equipment is a device for assembling the body of the Tubular Steel Poles. It will be installed inside the support and the modules can be lifted by using the support itself.

• Proceedings of the Korean Institute of Interior Design Conference
• /
• 2005.05a
• /
• pp.271-272
• /
• 2005

As regards of designing, I chose a simple wall design of repeating pattern of vertical windows, rather than making the building as a glamourous obzet. This kind of approach was intended to pursue strong image of construction company, interchanging and communicating with its confused surrounding. Therefore, I boldly removed parts that I considered needless from the facade, and used simple and easy words clearly implying the organization. Lobby is the face of the building, but since the space is deep and narrow and the reality of lease should be considered, there was limit to give original image to the lobby. Instead, high ceiling is the biggest feature of this space. Doorae Engineering-Construction Corp. is young and energetic company. I wanted to highlight the young and energetic image of the company by crossing tore oblique piece of boards. This doesn't just has a simple function as ceiling, but also work as a major subject in the space. In addition of this powerful space of oblique lines, indirect lighting is used to emphasize the character of territory, continuity and deepness of the space. Character of territory that divides main and supplementary function and main and supplementary moving line is expressed by flow of dimension, and continuity and deepness of space is emphasized by indirect lighting flowing linearly through the crack between the ceiling and the wall.

• Journal of Drive and Control
• /
• v.18 no.4
• /
• pp.19-27
• /
• 2021

A bunker bed is a type of furniture that efficiently utilizes a narrow indoor space by having a high bed and using the empty space below as a living and storage space. The demand for multi-purpose furniture is increasing due to the recent increase in single-person households and wide-spread shared accommodation. According to the consumer research, one of the major drawbacks of a bunker bed was to get on and off the bed through a ladder or stairs. In order to overcome these problems, it was confirmed that the height adjustment function that can easily adjust the minimum and maximum heights of the bed was necessary. In this study, a height adjustable bunker bed was designed by using a gas spring that generates a repulsive force by the compressed gas inside. The design process consisted of the following three steps: Firstly, the hysteresis characteristics due to a friction and spring constant of a commercial gas spring were confirmed by measuring the repulsive force vs. compressed displacement. Secondly, requirements of the vertical lifting force exerted on the bed against gravity force were derived. Finally, the height-adjustable bed using the four-bar link mechanism was designed with 4 parameters so that the bed weight of 60-70 kgf could be adjusted to 800 mm in height by an affordable initial operation force. The performance was verified through prototype production and the results of vertical displacement and force to move were nearly the same as designed. In addition, an electrically operated height-adjustable bed was also designed with linear actuators and the performance was proved with the prototype.

• Journal of the Korean Academy of Esthetic Dentistry
• /
• v.29 no.2
• /
• pp.84-91
• /
• 2020

Regeneration of interdental papilla damaged by periodontal disease is a very challenging task. So far, many dentists have devised and introduced great surgical methods. Comparing the pros and cons of the methods introduced so far, I came up with the best way to regenerate interdental papilla. Temporarily creating space between narrow interdental papilla, which cannot be solved by periodontal surgery alone, was a great help for connective tissue graft(CTG). The CTG was performed using a microblade, and only one vertical incision was performed off the gingival margin, and the graft was performed by inserting the grafts through here. Along with the orthodontic treatment, the area between the narrow interdental papilla was widened to make it easier for the CTG was carried out. After a period of maintenance, I was able to gather the teeth again with orthodontic force and regenerate the interdental papilla. I named this method ELSA (Enlargement of space-Labial graft-Squeezing-for Augmentation of papilla) technique.

• Journal of Advanced Navigation Technology
• /
• v.25 no.5
• /
• pp.384-389
• /
• 2021

An optimal ground station (GS) antenna pattern design method for network-based UAV command and control communication systems considering complexity and performance is presented. The GS antenna consists of multiple side sectors and one upward sector. The antenna gain for each vertical/horizontal angle of the GS antenna according to the change of antenna design parameters such as the number of sectors, horizontal and vertical beam-width, and tilt-angle is modeled, and the effect of the parameter changes on the signal-to-noise ratio (SNR) distribution in the virtual three-dimensional space is analyzed. It is observed that the tilt-angle of the side sectors has the greatest effect on the performance, and the longer the distance between GSs, the higher the maximum altitude and the smaller the number of side sectors, the tilt-angle should be lower. In addition, it is observed that the wider vertical beam-width of the side sector is advantageous in maximizing the lowest SNR, but narrow vertical beam-width is advantageous in maximizing the average SNR.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2001.10a
• /
• pp.153-168
• /
• 2001

In the country where the population concentrates in the metropolis with the narrow land, development of th ocean space is necessary. Recently, mega-float offshore structure is studied as one of the effective utilization of the ocean space. And very large floating structure are now being considered for various applications such as floating airports, offshore cities and so on. This very large structure is relatively flexible compared with real floating structures like large ships. when we estimate dynamic responses of these structures in waves, the elastic deformation is important, because vertical dimension is small compared with horizontal. And it is necessary to examine the effect of ocean wave eternal force received from the natural environment. In this study, the mat-type large floating structure is made to be analytical model. And the analysis of the dynamic response as it receives regular wave is studied. The finite element method is used in the analysis of structure part of this model. And the analysis is carried out using the boundary element method in the fluid part. In order to know the characteristics of the dynamic response of the large floating structures, effects of wavelength, bending rigidity of the structure, water depth, and wave direction on dynamic response of the floating structure are studied by use of numerical calculation.