• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.166-171
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• 1989

In the view of the fact that mobile robot in nuclear facilities should be able to turn in narrow space, go over obstacles, and climb stairs for the inspection and maintenance, a robot, named as KAEROT, is developed. It adopts 2DWIS (2-Driving Wheels, 1-Steering) and has three planetary wheels that are composed of two star-like arms and three small wheels. The experiments were carried out in two locomotion methods; (1) by controlling the rear wheel speed as a function of steering angle, and (2) by using inclination and stair-detection sensor to control the position of planetary and small wheel. The developed robot moved on the floor with stability. Results from the experiment on the rectangular obstacle as well as the computer simulation showed a feasibility on the stairs.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.953-957
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• 1994

A performance prediction method is presented in this paper for design of a rotating machinery having power split/circulated transmisson with slip elements and planetary gears. And internal power flow patterns of such systems are theoretically analyzed by using mathematical modeling. To estimate usefulness of the designed machinary, geometrical approach has been adopted through the performance locus diagram which represents overall characteristics of the system. This gives us complect prediction of the qualitative performane and effects of design factors such as system layout, types and gear ratios of planetary gears and disign parameters of slip elements. The results for one of them are compared with experimental ones using dynamometer for verification.

• 신재생에너지
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• 제1권4호
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• pp.55-59
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• 2005

In this paper, a new drive system(SHS) for hybrid electric vehicle is proposed. As dual rotor hybrid electric vehicle using planetary gearsets, the SHS has the advantages of both series and parallel systems. The output speed and torque of SHS can be determined at specific point regardless of the engine's operating point. When the size of generator which is used in SHS is same as in THS, the SHS has more activities of engine control due to the ability that is operated in lower speed range. To maximize the performance of system, we carried out optimization for the three parameters that are engine, motorl and motor2. As the result of the optimization, we confirmed the SHS is more preferable to THS in fuel consumption and acceleration area.

• 천문학회보
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• 제39권1호
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• pp.56.1-56.1
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• 2014

With the advent of high-resolution high-sensitivity observations, spiral patterns have been revealed around several asymptotic giant branch (AGB) stars. Such patterns can provide possible evidence for the existence of central binary stars embedded in outflowing circumstellar envelopes. It is, however, not generally recognized that the binary induced pattern, vertically extended from the orbital plane, exhibits a ring-like pattern with an inclined viewing angle. I will first review the binary-induced spiral-shell patterns on the AGB circumstellar envelopes with the effect of inclination angle with respect to the orbital plane, of which large inclination cases reveal incomplete ring-like patterns. I will describe a method of extracting such spiral-shell from the gas kinematics of an incomplete ring-like pattern to place constraints on the characteristics of the (unknown) central binary stars. This first success may open the possibility of connecting the ring-like patterns commonly found in the AGB circumstellar envelopes and in the outer parts of (pre-)planetary nebulae and pointing to the conceivable presence of central binary systems, which may give a clue for the onset of asymmetrical planetary nebulae.

• 천문학논총
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• 제30권2호
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• pp.289-292
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• 2015

Most of the stars in the Galaxy are in binary systems. Binaries should be possible as the hosting stars of planets. Searching for planetary companions to binaries, especially evolved close binary stars, can provide insight into the formation and the ultimate fate of circumbinary planets and shed light on the late evolution of binary stars. In order to do this, we have chosen some post common envelope binaries including sdB-type eclipsing binaries and detached WD+dM eclipsing binaries as our targets and monitored them for several years. In this paper, we will present some of our new observations and results for three targets, NSVS 07826147, NSVS14256825 and RR Cae.

• 천문학회지
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• 제38권2호
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• pp.315-318
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• 2005

We have carried out a precise Doppler survey of G-type giants aiming to unveil the properties of planetary systems in intermediate-mass stars ($1.5-5M_{\bigodot}$). G-type giants are promising targets for Doppler planet searches around massive stars, because they are slow-rotators and have many sharp absorption lines in their spectra and their surface activities are relatively low in contrast to their younger counterparts on the main-sequence (B-A stars). We are now monitoring radial velocities of about 300 late G-type (including early K-type) giants using HIgh Dispersion Echelle Spectrograph (HIDES) at Okayama Astrophysical Observatory. We have achieved a Doppler precision of about 6-7 m/s over a time span of 3 years using an iodine absorption cell. We found that most of the targets have radial velocity scatters of ${\sigma}{\~} 10-20 m\;s^{-1}$ over 1-3 years, with the most stable reaching levels of 6-8 m $s^{-1}$. Up to now, we have succeeded in discovering the first extrasolar planet around a G-type giant star HD 104985, and also found several candidates showing significant radial velocity variations, suggesting the existence of stellar and substellar companions. Observations have continued to establish their variability.

• 한국광물학회지
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• 제17권2호
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• pp.115-121
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• 2004

한국 전남지역 구시광상에서 채취한 엽납석 시료에 대해 금 부착방법으로 투과전자현미경 (TEM)을 사용하여 결정표면의 미세 형태를 관찰하였다. 그 결과, 일라이트 및 고령석과 같은 점토광물에 일반적인 나선형 계단형태와 달리, 구시광상 엽납석의 (001)표면에는 다소 기형적인 원형의 섬 모양을 가진 폐쇄된 계단형태가 특징적으로 잘 관찰되었다. 이러한 관찰결과로 보아, 구시광상 엽납석은 다른 점토광물에 비하여 상대적으로 높은 온도와 혹은 더 과포화된 열수용액에서 성장한 것으로 사료된다. 구시광상 엽납석의 미세 형태는 서남 일본에 위치하는 쇼코잔광산과 우쿠광산의 엽납석과 매우 유사하므로, 엽납석의 결정성장 매카니즘도 이들과 거의 동일할 것으로 보인다.

• 한국자동차공학회논문집
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• 제15권6호
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• pp.87-93
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• 2007

It is complicate to analysis the systems, dual mode hybrid systems, because they are composed of many planetary gear sets. For the performance test, it needs to define the systems with representative parameters. In this paper, system parameters, $\alpha$, $\beta$, $\zeta$, are introduced to define the systems, and an arbitrary system like E-IVT developed by Renault Motors is converted to the general system having equivalent parameters, such as $\beta'$, $R'_b$. Pontryagin principle and Kuhn-Tucker condition method are applied to solve the constrained problems, by which the methodology for accelerating test is generalized, and the results of the simulation are reported. In addition, the effects of alternative strategies are mentioned. The method of fuel economy test at engine mode is also introduced. The results of test at engine mode is different from the results of optimal trajectory, but the fuel economy of the engine mode is related to the highway driving and optimized operating of the system.

• 한국자동차공학회논문집
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• 제15권5호
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• pp.118-124
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• 2007

The efficiency of the hybrid systems which are composed of compound planetary gear sets depend on the amount of the recirculating energy among the motors and battery. This paper studies the analysis of the system efficiency with the parameters, ${\alpha},\;{\beta},\;{\gamma_a},\;{\gamma_b}$ and $\gamma_s$. The efficiency of the systems and the relative torque, speed and power of the power resources are represented by these parameters. The recuperating parameter $\kappa$ which makes the systems generalized is introduced, so the efficiencies of the modes such as the hybrid mode, the engine mode, the motoring mode and the recuperating mode are analyzed with simple equations. The tendency of the system efficiency according to the variations of the $\gamma_s$ and $\kappa$ are studied, by which it can be possible to reduce the loss of the power because the strategies for avoiding the singular speed ratio $\gamma_s$ are helpful for the system efficiency and specific value of $\kappa$ can increase the efficiency of the systems.

• 로봇학회논문지
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• 제13권1호
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• pp.26-30
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• 2018

Planetary global localization is necessary for long-range rover missions in which communication with command center operator is throttled due to the long distance. There has been number of researches that address this problem by exploiting and matching rover surroundings with global digital elevation maps (DEM). Using conventional methods for matching, however, is challenging due to artifacts in both DEM rendered images, and/or rover 2D images caused by DEM low resolution, rover image illumination variations and small terrain features. In this work, we use train CNN discriminator to match rover 2D image with DEM rendered images using conditional Generative Adversarial Network architecture (cGAN). We then use this discriminator to search an uncertainty bound given by visual odometry (VO) error bound to estimate rover optimal location and orientation. We demonstrate our network capability to learn to translate rover image into DEM simulated image and match them using Devon Island dataset. The experimental results show that our proposed approach achieves ~74% mean average precision.