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Hexapod robot의 시뮬레이션 기반 동역학 및 제어 설계
권정주(Jeong Joo Kwon),오영교(Young Kyo Oh),김성수(Sung-Soo Kim),원문철(Moon cheol Won),박성호(Sung ho Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5
In order to test a camera stabilizer system mounted on a unmanned vehicle or a mobile robot in the laboratory environment, a hexapod robot that can generate vehicle motion is being developed. Simulation based design procedure has been employed for the development of the hexapod robot system. A virtual model of the hexapod robot has been created using 3D CAD modeler ProE and multibody dynamics program ADAMS. The required motor capacity has been estimated by inverse dynamics analysis of the virtual model to select motors. Motor modeling of the selected motor has been carried out with actual motor test. Transfer function of the motor has been obtained for the virtaul model. Dynamics and control co-simulations using ADAMS and Matlab/Simulink have been carried out to evaluate the control performances. Gain tuning process has been carried out with this virtual model to show the effectiveness of the simulation based design.
시뮬레이션 기반 기동형 경계로봇의 설계 및 안정화 실험
권정주(Jeong Joo Kwon),김성수(Sung-Soo Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
A mobile surveillance robot is defined as a surveillance robot system mounted on mobile platform to protect public areas such as airport or harbor from terrorists or invaders. This mobile surveillance robot consists of a camera system, a laser illuminator, a thermal imager and a gun module. In order to obtain the stabled image and targeting, this system requires a stabilizer to compensate disturbance of vehicle motion. In this research, using virtual model which designed through the simulation based design, mobile surveillance robot carried out the simulation of stabilization control and carried out the stabilization control test using fabricated mobile surveillance robot.
도시재생사업 추진과정에서 나타난 거버넌스 참여주체별 의사결정 영향력 분석
권정주(Kwon Jeong-Ju),조진희(Jo Jin-Hee),전원식(Jeon Won-Sik),황희연(Hwang Hee-Yun) 한국도시행정학회 2012 도시 행정 학보 Vol.25 No.2
Governance which emerges as the best alternative for solving local community’s problems such as urban decline is based on consensual decision-making and participants’s diversity. This study chose Jungang-dong, Chungju-city to build a model which can measure and evaluate decision making level of governance and analyzed decision making influence of each participant which appeared in the process of urban regeneration project. To do this, this study quantitatively drew the results by deviding decision making influence of each participants in governance into ideal type and practical situation. The results are as follows.; The deference of influence is local government(+109), city council(+61), local expert(-30), researchers(-41), local residents(-99) in practical situation to ideal type. These results mean that the administration has the excessively strong decision making influence. But the rate of concordance about decision making influence between ideal type and practical situation is from 31% to 82% during the nine time meetings. This analysis shows that the governance which appeared at Jungang-dong, Chungju-city in the process of urban regeneration project has been developing the governance which can do consensual making-decision.
청주 원흥이생태공원 조성과정에서 나타난 거버넌스 의사결정 영향력 변화 분석
권정주,김동호,황희연,Kwon, Jeong-Ju,Kim, Dong-Ho,Hwang, Hee-Yun 한국조경학회 2011 韓國造景學會誌 Vol.39 No.1
최근 새로운 도시관리 시스템으로 대두되고 있는 거버넌스의 정착을 위해서는 지역적 상황과 특색에 적합한 Good-Local거버넌스의 바람직한 모델 및 모형의 마련이 시급한 상황이다. 이에 본 연구는 거버넌스의 핵심요소인 의사결정 영향력에 대해 이상적 형태와 실제상황을 비교하는 새로운 방법론을 통해 청주시 원흥이 생태공원 조성과정에서 나타난 거버넌스 참여주체 영향력 변화를 분석했다. 분석결과, 원흥이 생태공원 조성에 따른 지역문제 해결을 통해 거버넌스 참여주체의 의사결정 영향력 수준이 점차적으로 향상되었으며, 운영 관리기에 이르러서는 새로운 지역문제에 대해서 협의형성적인 의사결정을 할 수 있는 Good-Local 거버넌스로 발전했음을 알 수 있었다. 향후 본 연구에서 제시된 분석기법을 다양한 거버넌스 사례에 적용 및 분석을 통해 거버넌스 구성의 핵심요소라 할 수 있는 영향력의 수준을 평가하는 일반화된 모형을 구축하여야 할 것이다. To establish governance, which is rising as the new urban management system, it is significant to prepare Good-Local governance model that is proper to regional conditions and characteristics. This study analyzes changes in influence of governance participants appeared during the process in ecological park in Chungju Won-heung, using new methodology comparing ideal form and real condition regarding the influence of decision making, which is the key factor of governance. The result of this study showed that influence in participation of governance decision making improved gradually and this developed as Good-Local governance decision making by developing consultation regarding the new regional issue when it comes to operation and management. For further study, general model needs to be established through applying and analyzing suggested analysis method to various governance cases to evaluate the level of influence, which is the key component.
예술매개 도시재생 프로그램이 주거공동체 의식 변화에 미치는 영향력 분석 - 청주시 사직2동을 중심으로 -
최민경,황희연,권정주,Choi, Min-Gyeong,Hwang, Hee-Yun,Kwon, Jeong-Ju 한국주거학회 2012 한국주거학회 논문집 Vol.23 No.4
This study conducted an analysis of importance levels and also an AHP analysis based on the results of the monitoring (from Aug 2011 through Feb 2012) carried out in the Sajik 2-dong in the City of Cheong-ju. By quantitatively eliciting the effects that the urban regeneration projects that use art programs have on the changes in the perception of community housings and by analyzing the results of objective verification, this study was able to ascertain that local resident festivals had the greatest impacts on the change in the perception of community housings in the Sajik 2-dong in the City of Cheong-ju. This is deemed to be attributable to the fact that programs such as local resident festivals, in which various age groups participated, - amidst the unmitigated circumstance of Sajik 2-dong in the City of Cheong-ju (conflicts among the residents on account of redevelopment project) - exerted significant influences in the perceptional change of the community and in the resolution of conflicts.