• Proceedings of the KSR Conference
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• 2008.06a
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• pp.691-706
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• 2008

ATP(Automatic Train Protection) system in railway signaling system is the important one grasping the position and velocity of a train. The wayside transmitter of ATP system is installed between rails. In concrete slab track, the signal current using wayside transmitter of ATP system is influenced by reinforcing bars. The magnetic coupling between reinforcing bars and wayside transmitter of ATP system as a filter makes an input current distorted. So, it makes an alternating current signal with a desirable size not transmit to on-board system of a train. Way to decrease the distortion of an input current signal frequency is to avoid maximum induction current frequency. And the induction phenomenon between reinforcing bars insulated and wayside transmitter of ATP system does not occur. In this paper, we represent the model about wayside transmitter of ATP system and reinforcing bars on the concrete slab tracks, and calculated the parameters demanded for the model. Also, we demonstrated it through the Maxwell program. Furthermore, we calculated impedance on wayside transmitter used in KVB system and ERTMS/ETCS system which are a kind of ATP system, frequency response of induction current, using the Matlab, and demonstrated the validity of it, using the PSpice program.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.39-47
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• 2020

This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.1841-1848
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• 2010

Electric railway system consist of rolling stock, track, signal and streetcar line system. ATP(Automatic Train Protection) system in railway signaling system is the important one grasping the position and velocity of a train. The wayside transmitter of ATP system is installed between rails. Recently, the research about increasing train speed has been developed in total departments of the railroad systems. The study on the information transmission between on-board transmitter and wayside transmitter is required for increasing the train speed in the ATP system. When the train speed is increased as to same transmissi on distance, the problem on information transmission occurs because the transmission time is decreased. In case that the transmission distance is extended, the transmission time is decreased with respect to the train speed. Therefore, we have to define the standard magnetic intensity as to the train speed in order to transmit correctly telegram. In this paper, the transmission distance for the telegram is suggested on the basis of the train speed. Also, the standard magnetic intensity from the wayside transmitter to on-board transmitter is proposed by using transmission distance regarding the train speed in the ERTMS/ETCS system by using Matlab program.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.10
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• pp.1803-1808
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• 2010

Electric railway system consists of rolling stock, track, signal and catenary system. ATP system in railway signaling system is the important one grasping the position and velocity of a train. The wayside device of ATP system is installed between rails. Recently, the research about increasing train speed has been developed in total departments of the railroad systems. The study on the information transmission between on-board device and wayside device is required for increasing the train speed in the ATP system. When the train speed is increased as to same transmission distance, the problem on information transmission occurs because the transmission time is decreased. In case that the transmission distance is extended, the transmission time is decreased with respect to the train speed. Therefore, we have to define the standard magnetic field intensity as to the train speed in order to transmit correctly telegram. In this paper, the transmission distance for the telegram is suggested on the basis of the train speed. Also, the standard magnetic field intensity from the wayside device to on-board device is proposed by using transmission distance regarding the train speed in the ERTMS/ETCS system by using Matlab program. Also, BER according to the train speed is presented by calculating electric field intensity from the magnetic field intensity.

• International Journal of Internet, Broadcasting and Communication
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• v.14 no.2
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• pp.89-97
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• 2022

The growth of online market is accelerating due to the development of technology and the era of pandemic. In order to deliver the ordered product to customers courier service should be used. In addition, the courier logistics market is growing with the growth of the online market. With the growth of the logistics market, traffic and environmental problems are emerging as social issues. Logistics technology of urban community logistics courier terminal system utilizing vacant space in the city has been developed as a new alternative to environment and traffic problems by increasing logistics efficiency in the city area. In this study, we propose a concept of a system that performs operational concept definition and scenario analysis by applying model-based perspective analysis to urban community logistics courier terminal system under development. Through this study, we defined the operating concept of the urban community logistics courier terminal, which is the target of development, and defined the scenario for system operation by grasping the structure and function of the system and applied it to system development.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.756-759
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• 1997

Multi-arm cooperation robot system is required for more specific and dextrous jobs such as transferring very large or heavy objects, or grasping work piece while processing on it. There is little research on 3-dimensional multi-arm robot. Here we propose two performance indices presenting isotropy of end-effector's acceleration and velocity capabilities with constraints of joint torques, that is Isotropic Acceleration Radius [IAR] and Isotropic Velocity Radius [IVRI. Also the procedure to find 3-dimensional IAR, IVR is proposed, where available acceleration set concept is used. The case of 3-dimensional two 3 joint robot system was simulated and the distributions of IAR, IVR was studied.

• Korean Journal of Organic Agriculture
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• v.12 no.1
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• pp.23-44
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• 2004

TCA(Total Cost Assessment) can be defined by a tool to evaluate actual profit about investment. Also, It can be used by method to make more reasonable decision-making in business. Enforcement of 'direct payment system' for environment friendship farmhouse of government is spreading recent times. But, it is true that it is no definite standard about appropriation of disbursement amount of money. TCA method can be utilized usefully for solution of these problem. Also, It will help to decide price grasping invisible cost and environment cost. Therefore, We tried that may can apply TCA theory in farmhouse class, and attempted economic performance estimation which use this. This study introduces TCA theory and developed applicable expense list in agriculture field. Also, We applied TCA theory to farmhouse. This theories referenced domestic and th6 foreign countries, connection literature. But, It handled part about invisible cost and social cost etc..

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1087-1090
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• 2004

stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. In this paper we persent a visual approach to the problem of object grasping. First we propose object recognization method which can find the object position and pose using feature points. A robot recognizes the feature point to Object. So a number of feature point is the more, the better, but if it is overly many, the robot have to process many data, it makes real-time image processing ability weakly. In other to avoid this problem, the robot selects only two point and recognize the object by line made by two points. Second we propose trajectory planing of the robot manipulator. Using grometry of between object and gripper, robot can find a goal point to translate the robot manipulator, and then it can grip the object successfully.

• Journal of The Korea Institute of Healthcare Architecture
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• v.14 no.2
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• pp.25-34
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• 2008

The purpose of this study was to spatial organization feature and area composition of the over 500beds general hospital that will be expected construct in Seoul, Gyeonggi-do area after 2000year. From this study, we can suggest architectural planning for the efficiency operating of emergency medical facilities that can be used as preliminary data. The Spatial organization of emergency medical facilities are categorize into 4 session as medical examination and treatment, diagonosticradiology, staff, public and the others. We can find spatial organization system and area composition that compare area composition of 6 hospital the subject of research in a emergency medical facilities. The result of this study were as follows : spatial distribution of its field, grasping of spatial organization factor and recognize its merits and demerits should be researched in advance. Through this kind of recognizing emergency system, realistic medical local and condition architectural planning for spatial organization will be operate.

• Journal of KSNVE
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• v.6 no.5
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• pp.555-565
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• 1996

This paper is concerned with the theoretical and experimental study on the force control of a miniature robotic finger that grasps an object at three other positions with the fingertip. The artificial finger is a uniform flexible cantilever beam equipped with a distributed set of compact grasping force sensors. Control action is applied by a piezoceramic bimorph strip placed at the base of the finger. The mathematical model of the assembled electro- mechanical system is developed. The distributed sensors are described by a set of concentrated mass-spring system. The formulated equations of motion are then applied to a control problem in which the finger is commanded to grasp an object. The H$_{\infty}$-controller is introduced to drive the finger. The usefulness of the proposed control technique is verified by simulation and experiment..