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정창현(Chang-Hyun, Jung),남택근(Taek-Kun, Nam),정중식(Jung-Sik, Jeong) 한국항해항만학회 2012 한국항해항만학회지 Vol.36 No.10
세계 해상교통량의 증가와 고속선의 증가로 해양사고 발생 가능성이 점점 높아지고 있으며, 그 피해 규모도 상대적으로 커지고 있는 추세이다. 국내에서는 2007년 허베이 스피리트호 사고, 2010년 천안함 사고에서와 같이 해양사고 발생시 초기대응의 미흡, 비상대응체계의 부재, 적절한 구조체계의 부족, 사고현장의 혼란 등으로 구난 활동이 지연됨으로써 막대한 인명 또는 재산상의 피해를 가져왔다. 사고 발생 후 적절한 피난처의 제공이나 신속한 사고처리는 사고선박으로부터 발생 가능한 잠재적인 환경오염 및 2차적인 피해로의 확산을 막을 수 있다. 따라서 최근 남해부근에서 발생한 선박 충돌사고의 구난과정을 살펴보고, 그 과정에서 도출된 문제점을 바탕으로 현재 국내 구난시스템에서 개선이 요구되는 부분을 제시하였다. 그 주요 내용으로는 외국의 피난처 지정 사례와 IMO 관련 지침을 바탕으로 피난처 제공에 대한 절차 수립의 당위성을 제시하였으며, 사고선박을 항내 또는 피난처로 이동시키기 위한 사고선박 예인지원시스템의 필요성을 제시하였다. 또한, ISU 가입을 위한 국가적인 지원방안의 검토와 사고 발생시 국내업체가 구난활동에 적극적으로 참여할 수 있도록 제도적 보완이 요구된다. There has been increasing the possibility of occurring the marine accident and become bigger the extent of damage with the growing number and high speed of ships. Also, there were tremendous loss of lives and properties in accidents of Hebei spirit in 2007 and Cheon Ahan war ship in 2010 with the insufficient salvage response and the lack of emergency response systems. When a ship has suffered an incident, the best way of preventing damage or pollution from its progressive deterioration would be to providing a place of refuge and to repair the damage rapidly. Therefore, it was examined the recent collision accident broken out near the Nam-Hae, and then suggested that it was necessary to be improved of the domestic salvage systems. It requires the procedures of providing a place of refuge, and the towing support system which make the damaged ship moved to the safe area, and joining of the ISU.
Path Planning of a Free Flying Object and its Application for Gymnastic Robots
Nam Taek-Kun,Kim Yong-Joo The Korean Institute of Electrical Engineers 2005 KIEE International Transactions on Electrical Mach Vol.b5 No.1
The motion of animals and gymnasts in the air as well as free flying space robots without thrusters are subjected to nonholonomic constraints generated by the law of conservation of angular momentum. The purpose of this paper is to derive analytical posture control laws for free flying objects in the air. We propose the bang-bang control method for trajectory planning of a 3 link mechanical system with initial angular momentum. This technique is used to reduce the DOF (degrees of freedom) at first switching phase and to determine the control inputs to steer the reduced order system to the desired position. Computer simulations for motion planning of an athlete approximated by 3 link, namely platform diving, are provided to verify the effectiveness of the proposed control scheme.
A path planning of free flying object and its application to the control of gymnastic robot
Nam, Taek-Kun,So, Myung-Ok The Korean Society of Marine Engineering 2003 한국마린엔지니어링학회지 Vol.27 No.4
Motions of animals and gymnasts in the air as well as free flying space robots without thruster are subject to nonholonomic constraints generated by the law of conservation of angular momentum. The interest in nonholonomic control problems is motivated by the fact that such systems can not stabilized to its equilibrium points by the smooth control input. The purpose of this paper is to derive analytical posture control laws for free flying objects in the air. We propose a control method using bang-bang control for trajectory planning of a 3 link mechanical system with initial angular momentum. We reduce the DOF (degrees of freedom) of control object in the first control phase and determine the control inputs to steer the reduced order system from its initial position to its desired position. Computer simulation for a motion planning of an athlete approximated by 3 link is presented to illustrate the effectiveness of the Proposed control scheme.
남택근(Nam Taek-Kun),노영오(Roh Young-Oh),오세준(Oh Se-Jun) 한국마린엔지니어링학회 2007 한국마린엔지니어링학회 학술대회 논문집 Vol.2007 No.-
A nonholonomic system can be derived from velocity and acceleration constraints which is not integrable. It was interesting object since the nonhlonomic system cannot be stabilized its equilibrium points by time-invariant and continuous controller. In this paper, chained transformation procedure which is a method to control nonholonomic system and singularity occurred during its transformation were introduced.
남택근(Taek-Kun Nam),김용주(Yong-Joo Kim),이기창(Chang-Ki Lee),박진길(Jin-Gil Park) 한국마린엔지니어링학회 2003 한국마린엔지니어링학회 학술대회 논문집 Vol.2003 No.-
In this paper, we address the development of control scheme for the magnetic levitation positioning system. This planar magnetic levitator employs four permanent magnet liner motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for propulsion. This stage can generate six degrees of freedom motion by the vertical and horizontal force. We proposed control algorithm for the magnetic levitation stage from its initial configuration to its desired one using sliding mode control. Simulation result is provided to verify the effectiveness of the proposed control scheme.