• 로봇학회논문지
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• 제10권3호
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• pp.139-145
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• 2015

This paper proposed a method of cooperative control of three mobile robots for carrying an object placed on a floor together. Each robot moves to the object independently from its location to a pre-designated location for grasping the object stably. After grasping the common object, the coordination among the robots has been achieved by a master-slave mode. That is, a trajectory planning has been done for the master robot and the distances form the master robot to the two slave robots have been kept constant during the carrying operation. The localization for mobile robots has been implemented using the encoder data and inverse kinematics since the whole system does not have the slippage as much as a single mobile robot. Before the carrying operation, the lifting operations are implemented using the manipulators attached on the top of the mobile robots cooperatively. The real cooperative lifting and carrying operations are implanted to show the feasibility of the master-slave mode control based on the kinematics using the mobile manipulators developed for this research.

• 한국수산과학회지
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• 제36권6호
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• pp.669-675
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• 2003

To increase fishery resources in coastal waters, juvenile fish and bivalves are artificially released every year in Korea. This study provides a methodology to estimate an optimal release quantity based on the carrying capacity of the receiving basins. Carrying capacity was defined by E.p. Odum's theory of ecosystem development as the upper limit of biomass, where total system respiration equals total primary production. The Ecopath trophic ecological model was used to determine carrying capacity in the surfzone ecosystem of Bangjukpo on the southern coast of Korea. Using a top-down control method, various biomasses of fish groups were given to the simulation, with primary production constant and no catch. The results showed that biomass of selected fish groups increased by two orders of magnitude, yielding a five-fold increase in overall consumer biomass. The resultant values are 10 times higher than those estimated in open seas. This can be explained by higher primary production in the Bangjukpo surfzone ecosystem. This method can be used for strategic releases and ecosystem management, particularly when based on an ecological background.

• 한국전통조경학회지
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• 제30권3호
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• pp.21-28
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• 2012

본 연구는 최근 역사정원 관광공간으로 이용이 증가하고 있는 경주 동궁과 월지의 물리적 수용력과 심리적 수용력을 중심으로 경주 동궁과 월지의 적정수용력을 측정하여 향후 정보 모니터링 조기경보시스템의 구축과 지속가능한 관리방안을 설정하기 위한 기초자료를 제시하는데 목적이 있다. 이를 위해 현장관측과 설문조사를 실시하였다. 물리적 수용력은 경관 결절점 공간용량과 도로 공간용량, 기타 공간용량을 나눠서 산정하였으며, 심리적 수용력은 관광객의 시각, 청각, 촉각, 행동 느낌과 만족도 측면에서의 접근을 통하여 추정하였다. 실제 이용관광객 수와 적정 수용력을 비교해 보면 주간에는 이용관광객 수가 적합한 반면, 야간에는 적정 수용력의 두 배 이상 초과된 것으로 나타났다. 그리고 야간 방문객은 단체관광객이 주류를 이루어서 짧고 정해진 시간대에 집중되어 유적지의 경관과 식생 환경을 훼손시켰다. 이러한 결과를 중심으로 경주 동궁과 월지의 관리에 대한 정책적 관리개선방안을 제시하였다.

• 한국전산구조공학회논문집
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• 제30권1호
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• pp.55-61
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• 2017

최근 콘크리트 궤도 슬래브 하면과 교량 바닥판 사이에 저마찰 슬라이드층을 형성하는 궤도 시스템인 슬라이딩 궤도와 관련된 연구가 활발히 진행되고 있다. 본 연구에서는 슬라이딩 궤도에서 열차 주행에 따른 횡방향 하중을 저항하기 위해 설치되는 횡방향 지지 콘크리트 블록의 전단 내하력에 대한 연구를 수행하였다. 횡방향 지지 콘크리트 블록의 전단 내하력 산정을 위해 타설경계면에서의 콘크리트 마찰 및 철근의 다월 거동을 고려한 산정 기법을 개발하다. 제안된 산정 기법은 기존의 실험에서 측정된 전단 내하력을 13~23% 정도 보수적으로 예측하는 것으로 나타났다. 이는 균열면 골재 맞물림 효과를 무시한 것에 따른 것으로, 현장에서의 타설경계면 상태가 불확실한 것을 고려할 때 횡방향 지지 콘크리트 블록에 대한 안전측 설계를 위해 제안된 산정 기법이 합리적인 것으로 판단된다. 제안된 전단 내하력 산정 기법을 토대로 횡방향 지지 콘크리트 블록에 대한 설계 방안을 마련하였다.

• Geomechanics and Engineering
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• 제10권5호
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• pp.599-615
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• 2016

The present research presents experimental and finite element studies to investigate the behavior of piled raft-tunnel system in a sandy soil. In the experimental work, a small scale model was tested in a sand box with load applied vertically to the raft through a hydraulic jack. Five configurations of piles were tested in the laboratory. The effects of pile length (L), number of piles in the group and the clearance distance between pile tip and top of tunnel surface (H) on the load carrying capacity of the piled raft-tunnel system are investigated. The load sharing percent between piles and rafts are included in the load-settlement presentation. The experimental work on piled raft-tunnel system yielded that all piles in the group carry the same fraction of load. The load carrying capacity of the piled raft-tunnel model was increased with increasing (L) for variable (H) distances and decreased with increasing (H) for constant pile lengths. The total load carrying capacity of the piled raft-tunnel model decreases with decreasing number of piles in the group. The total load carrying capacity of the piles relative to the total applied load (piles share) increases with increasing (L) and the number of piles in the group. The increase in (L/H) ratio for variable (H) distance and number of piles leads to an increase in piles share. ANSYS finite element program is used to model and analyze the piled raft-tunnel system. A three dimensional analysis with elastoplastic soil model is carried out. The obtained results revealed that the finite element method and the experimental modeling are rationally agreed.

• 대한안전경영과학회지
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• 제18권3호
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• pp.147-154
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• 2016

This paper suggests a specific model that could efficiently improve the interaction and the interface between MES(Manufacturing Execution System) server and PDA terminal through RFID(Radio Frequency Identification) system and bar-code system in automative transmission shipment place of the finished assembly parts. The proposed model shows that the new method by RF-Tag system can more efficiently perform to reduce processing time and loading time for shipment, compared with the current approach by bar-code system. It is noted in case of the method by RF-Tag that the effects of proposed model are as follows; (a) While the shipping lead time per truck for carrying by the current method was 35 minutes, the shipping lead time by the new method was 15 minutes. (b) While the accuracy for carrying by the current method was 50%, the accuracy by the new method was 99%.

• 한국수산과학회지
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• 제35권4호
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• pp.408-416
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• 2002

과밀양식으로 생산성이 저하되고 있는 거제 $\cdot$ 한산만의 안정적이고 지속적인 굴 생산방안을 제시하기 위하여 생태계 모델을 이용하여 먹이 공급량을 추정하였고, 양식 굴의 여수율과 chloro-phyll $\alpha$ 농도로부터 먹이 요구량을 계산하여 양식 수용력을 산정한 결과는 다음과 같다. 수확 크기별 굴의 먹이 요구량은 습중량 4g의 알굴인 경우 1.40~4.82mgC/ind./day (평균 2.49mgC/ind./day), 습중량 7g의 알굴인 경우 1.96-6.77mgC/ind./day (평균 3.50mgC/ind./day) 범위로 나타나 알굴의 습중량이 증가할수록 먹이 요구량도 크게 나타났다. 월별로는 2월이 가장 작았고, 9월이 가장 크게 나타났다. 월별 먹이 공급량을 월별 먹이 요구량으로 나누어 수확 크기별 수용력을 산정한 결과 2월이 평균 6.10 ton/ha로 최저 수용력을 나타내었고, 4월이 14.91 ton/ha로 최대 수용력을 나타내었다. 거제 $\cdot$ 한산만의 알굴 생산량은 9ton/ha로 최대 수용력의 $60\%$ 수준이나 지속적 생산을 위해서는 임계 수용력인 2월의 6.1ton/ha와 통계자료에 의한 최대 생산량 5.5ton/ha를 감안하여 현재 시설량을 $32\%{\~}39\%$ 정도 줄여야 할 것으로 판단되었다.

• 자동차안전학회지
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• 제4권2호
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• pp.32-36
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• 2012

The Automatic unmanned target object carrying system (AUTOCS) is developed for testing road vehicle radar and vision sensor. It is important for the target to reflect the realistic target characteristics when developing ASV or ADAS products. The AUTOCS is developed to move the pedestrian or motorcycle target for desired speed and position. The AUTOCS is designed that only payload target which is a manikin or a motorcycle is detected by the sensor not the AUTOCS itself. In order for the AUTOCS to have low exposure to radar, the AUTOCS is stealthy shaped to have low RCS(Radar Cross Section). For deceiving vision sensor, the AUTOCS has a specially designed pattern on outside skin which resembles the asphalt pattern. The AUTOCS has three driving modes which are remote control, path following and replay. The AUTOCS V.1 is tested to verify the radar detect characteristics, and the AUTOCS successfully demonstrated that it is not detected by a car radar. The result is presented in this paper.

• Structural Engineering and Mechanics
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• 제63권4호
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• pp.551-565
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• 2017

In this paper, an analytical approach is proposed for determining vibration characteristics of cracked non-uniform continuous Timoshenko beam carrying an arbitrary number of spring-mass systems. This method is based on the Timoshenko beam theory, transfer matrix method and numerical assembly method to obtain natural frequencies and mode shapes. Firstly, the beam is considered to be divided into several segments by spring-mass systems and support points, and four undetermined coefficients of vibration modal function are contained in each sub-segment. The undetermined coefficient matrices at spring-mass systems and pinned supports are obtained by using equilibrium and continuity conditions. Then, the overall matrix of undetermined coefficients for the whole vibration system is obtained by the numerical assembly technique. The natural frequencies and mode shapes of a cracked non-uniform continuous Timoshenko beam carrying an arbitrary number of spring-mass systems are obtained from the overall matrix combined with half-interval method and Runge-Kutta method. Finally, two numerical examples are used to verify the validity and reliability of this method, and the effects of cracks on the transverse vibration mode shapes and the rotational mode shapes are compared. The influences of the crack location, depth, position of spring-mass system and other parameters on natural frequencies of non-uniform continuous Timoshenko beam are discussed.

• Structural Engineering and Mechanics
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• 제28권6호
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• pp.659-676
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• 2008

The reports regarding the free vibration analysis of uniform beams carrying single or multiple spring-mass systems are plenty, however, among which, those with inertia effect of the helical spring(s) considered are limited. In this paper, by taking the mass of the helical spring into consideration, the stiffness and mass matrices of a spring-mass system and an equivalent mass that may be used to replace the effect of a spring-mass system are derived. By means of the last element stiffness and mass matrices, the natural frequencies and mode shapes for a uniform cantilever beam carrying any number of springmass systems (or loaded beam) are determined using the conventional finite element method (FEM). Similarly, by means of the last equivalent mass, the natural frequencies and mode shapes of the same loaded beam are also determined using the presented equivalent mass method (EMM), where the cantilever beam elastically mounted by a number of lumped masses is replaced by the same beam rigidly attached by the same number of equivalent masses. Good agreement between the numerical results of FEM and those of EMM and/or those of the existing literature confirms the reliability of the presented approaches.