• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1173-1178
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• 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.806-811
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• 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.

• 한국화재소방학회논문지
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• 제34권1호
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• pp.47-54
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• 2020

본 논문은 협소공간인 피트 내부에 설치되는 기존 입상관 흔들림방지버팀대의 설치 및 시공 상의 문제점을 개선하고, 수평지진하중(X축, Y축)에 대한 지지역할과 더불어 추가적으로 수직지진하중(Z축)을 지지할 수 있는 협소공간전용 바닥고정형 입상관 버팀대 개발에 관한 연구이다. 솔리드웍스 시뮬레이션을 이용한 구조해석 결과 1차 설계모델의 경우 수직방향에서 앵커 위치에 따른 편심하중이 발생하였고, 수평 및 수직 방향에서 모두 재질의 허용응력을 초과하는 문제가 나타났다. 2차 설계모델의 경우 1차 설계모델에서 발생하였던 수직방향으로의 편심하중에 의한 변형이 발생되지 않았고, 최대변형률이 0.17%로 1차 설계모델(최대변형률 13.01%)보다 약 12.84% 감소하는 것으로 나타나 구조적인 안정성 및 내구성이 향상된 것을 확인할 수 있었다. 시제품에 대한 압축 및 인장 하중시험결과 모든 시제품이 기준에서 정한 성능기준에 적합한 것으로 나타났다.

• 한국지반공학회논문집
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• 제15권4호
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• pp.261-277
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• 1999

고랑형태로 좁게 굴착된 되메움 공간에 대한 수평 및 연직 토압은 굴착면과 되메움 흙과의 벽면마찰 및 고랑식 되메움공간의 형상에 따라 그 영향을 받는다. 본 연구에서는 대칭수직 굴착면에 대한 Handy의 제안식 및 대칭경사굴착면에 대한 Kellogg의 식을 수정하여 비대칭 굴착형상의 되메움 공간에 대한 수정식과 최소주응력아치 형태를 나타내어 보였다. 수정된 식은 모형토조 실험결과와 비교하였을 때 되메움 토압의 크기, 분포 등 그 경향이 매우 유사하였으며 비대칭으로 경사진 공간에서의 되메움 토압이 대칭적으로 수직하게 굴착된 공간에서의 토압보다 2배 이상의 큰 크기와 현저한 아칭현상의 저하를 보였다. 본 연구와 유사한 현장의 구조물에 미치는 토압을 산정할 때 되메움 공간의 형상 및 크기 등을 고려한 토압산정식이 적용되어져야 할 것으로 확인되었다.

• KEPCO Journal on Electric Power and Energy
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• 제5권4호
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• pp.257-262
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• 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.

• 한국실내디자인학회:학술대회논문집
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• 한국실내디자인학회 2005년도 춘계학술발표대회 논문집
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• pp.271-272
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• 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.

• 드라이브 ㆍ 컨트롤
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• 제18권4호
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• pp.19-27
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• 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.

• 대한심미치과학회지
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• 제29권2호
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• pp.84-91
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• 2020

치주질환으로 손상된 치간유두의 재생은 아주 도전적인 과제이다. 지금까지 많은 치과의사들이 훌륭한 수술적인 방법을 고안하여 소개하였다. 지금까지 소개된 술식들을 순서대로 비교해보고 장단점을 비교해 치간유두를 재생을 위한 최적의 방법을 고안해보았다. 치주수술만으로 해결하기 어려운 좁은 치간유두 사이의 공간을 부분교정치료를 통하여 공간을 일시적으로 만들어 주는 것이 치은이식을 위해 큰 도움이 되었다. 치은이식은 마이크로 블레이드를 이용하여 박리를 시행하고 치은경계부에서 떨어진 수직절개를 하나만 시행해 여기를 통해 추가적인 박리와 이식편을 넣어서 치은이식을 시행하였다. 이렇게 교정치료를 동반하여 좁은 치간유두 사이의 폭을 벌려서 치은이식이 더 용이한 상태로 만들어 치은이식을 진행하고, 치은이 성숙한 뒤 교정력으로 다시 치아사이를 모아주는 술식(ELSA technique)을 통해 치간유두 재생을 할 수 있었다.

• 한국항행학회논문지
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• 제25권5호
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• pp.384-389
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• 2021

네트워크 기반 무인기 제어통신 시스템을 위한 복잡도와 성능을 고려한 지상국 최적 안테나 패턴 설계 방식을 제시하였다. 다수개의 측면 섹터와 한 개의 상향 섹터로 구성되는 지상국 안테나의 섹터 수, 수평/수직 빔폭, 틸팅각도 등 안테나 설계 파라미터의 변화에 따른 수직/수평 각도 별 안테나 이득을 모델링하고, 가상의 3차원 공간 내에서 각 파라미터의 변화가 신호 대 잡음 비 (SNR : signal to noise ratio) 분포에 미치는 영향을 분석하였다. 다양한 파라미터 중 측면 섹터의 틸팅 각도가 성능에 가장 큰 영향을 미치는데, 지상국 간 거리가 길수록, 최고 고도가 높을수록, 측면 섹터 수가 작을수록 틸팅 각도를 낮춰야 함을 확인할 수 있었다. 또한 최저 SNR 최대화 측면에서는 측면 섹터 수직 빔폭을 늘리는 것이 유리하지만 평균 SNR 측면에서는 수직 빔폭을 줄이는 것이 유리함을 확인하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2001년도 Proceeding of KIN-CIN Joint Symposium 2001 on Satellite Navigation/AIS, lntelligence , Computer Based Marine Simulation System and VDR
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• pp.153-168
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• 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.