최적 타이어 힘 분배 방법을 통한 전기차의 독립 6WD/6WS에 관한 연구

김동형(Dong-Hyung Kim),김창준(Chang-Jun Kim),김영렬(Young-Ryul Kim),한창수(Chang-Soo Han) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.7

This paper presents an optimum tire force distribution method for 6WD/6WS(6-Wheel-Drive and 6-Wheel-Steering) electric vehicles. Using an independent steering and driving system, the performance of 6WD/6WS vehicles can be improved, as, for example, with respect to their maneuverability under low speed and their stability at high speed. Therefore, there should be a control strategy for finding the optimum tire forces that satisfy the driver’s command and minimize energy consumption. From the driver’s commands (steering angle and accelerator/brake pedal stroke), the desired yaw moment, the desired lateral force, and the desired longitudinal force were obtained. These three values were distributed to each wheel as the torque and the steering angle, based on the optimum tire force distribution method. The optimum tire force distribution method finds the longitudinal/lateral tire forces of each wheel that minimize the cost function, which is the sum of the normalized tire forces. Next, the longitudinal/lateral tire forces of each wheel are converted into the reference torque inputs and the steering wheel angle inputs. The proposed method was tested through a simulation, and its effectiveness was verified.

일반 논문 : 「충무로국제영화제」 발전모형의 탐색 -충무로 문화원형 기억복원 필요성을 중심으로-

김한창 ( Han Chang Kim ) 한국영화교육학회 2010 영화교육연구 Vol.12 No.-

4th Chungmuro International Film Festival in seoul with widespread budget cuts, touching or standing on the verge of coming around. But in South Korea Chungmuro film symbol of the symbolism did not stop at simply as past years can be sublimated into the historical legacy now. Chungmuro International Film Festival, this study pointed out the problem is not to find. Chungmuro International Film Festival is related to the institutionalization of all policies will be looking for a reliable way before. First, New Institutionalism what conditions need to be institutionalized in, and how those conditions can be converted to a cultural policy and how the success of the festival again be reduced if it was to search for. As a result, the stability of new institutionalism institutions referred to in the absence of the contradictions and cracks, and the possibility of institutional change as stable as possible is important to maintain said initial conditions. In addition to these initial conditions can be converted to cultural archetype that is the gist of this study. Chungmuro from the colonial era has formed a national nostalgia. Such historical reflection on the emotion and reality, if added to the film Chungmuro International Film Festival in seoul Korea film and film to communicate and interact with the world will be a festival.

영/한 판정의문문의 초점과 의미 분석

김한창(Kim Han chang) 현대문법학회 1998 현대문법연구 Vol.14 No.-

In this paper we have attempted to elucidate the relationship of alternatives to be focused in the three basic types of interrogatives(YNQ/AltQ/WHQ) in English and Korean and to classify the speech acts of yes-no questions making a contrastive analysis between the expressions of the two languages in terms of questions and answers. We reduce the speech acts of YNQs by considering various speech act conditions. Our investigation of the syntactic/semantic relationship between the basic types of interrogatives shows that the number of alternative variables determines the classification of these interrogatives: YNQ is restricted to only one focused item to be answered; AltQ is limited to more than one focused disjunctive items; WHQ provides the unlimited number of alternative variables from which to choose answers. These relational phenomena permit composite questions and composite answers besides simple ones. We insist that these composite questions and answers be dealt with in grammar books as particular types of discourse. As for the classification of speech acts we are confined to the YNQs in order to reduce the burden of investigation. The propositional content and illocutionary force were our main concern in dealing with YNQs. Our analysis indicates that the YNQs comprise many kinds of speech acts which ordinary learners of both English and Korean are not ordinarily aware of. We, however, reduced them to informative questions, assumptive questions, dubitative questions, directive questions, rhetorical questions, and reply questions. Our linguistic findings could be useful to the students of both languages. The method of study relies on discriptive approaches, leaving the formalization of linguistic findings to the task of formalists. Descriptivism has its own merits, because it provides data for formalists.

축소 모델 차량을 통한 자율 주행 차량의 경로 추종 및 장애물 회피 기법에 관한 연구

김동형(Donghyung Kim),김창준(Changjun Kim),김영렬(Youngryul Kim),한창수(Changsoo Han) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5

This paper presents a method that integrates the geometric path tracking and the obstacle avoidance for autonomous ground vehicle (AGV). AGV follows the path by moving through the turning radius given from the pure pursuit method which is the one of the geometric path tracking methods. As the AGV equipped with 2D laser scanner, the obstacle within the sensing range of 2D laser scanner, the virtual force is obtained. Therefore, the turning radius for avoiding the obstacle is calculated by inversely proportional to the virtual force. By integrating the turning radius for avoiding the obstacle and the turning radius for following the path, AGV follows the path and avoids the obstacle simultaneously. The effectiveness of the proposed method is verified through the real experiments using a scale-down vehicle.

자율주행 차량의 경유점 추종을 위한 통합된 궤적 계획기 및 제어기에 관한 연구

김동형(Donghyung Kim),김창준(Changjun Kim),김상호(Sangho Kim),최주영(Jooyoung Choi),최민석,한창수(Changsoo Han) 한국자동차공학회 2011 한국자동차공학회 부문종합 학술대회 Vol.2011 No.5

This paper presents the integrated trajectory planner and controller for the waypoint tracking of autonomous vehicles. In the case of that there are no driving lanes, the trajectory should be planned for the vehicle. However, because of the nonholonomic constraint which renders the motion orthogonal to the vehicle’s forward direction is impossible, the trajectory planning and the control problems are becoming complicated. To solve these problems, the trajectory planning and control are integrated using the flatness property of the kinematic model of the vehicle. And with the given waypoints, the waypoint tracking algorithm is proposed to plan the trajectory for the next waypoint. Therefore the vehicle follows the waypoints in order. Finally, the performance of the proposed method is tested through simulation.

로봇형 차량을 위한 거리센서 기반 운동계획에 관한 연구

김동형(Donghyung Kim),김창준(Changjun Kim),김상호(Sangho Kim),최주영(Jooyoung Choi),한창수(Changsoo Han) 한국자동차공학회 2011 한국자동차공학회 학술대회 및 전시회 Vol.2011 No.11

This paper presents the sensor-based motion planning for robotic vehicles. To be more practical method, the range sensor with the limited range and angle is considered for the robot. Based on the vehicle’s range sensor, the nonholonomic navigation algorithm plans the motion as the instantaneous turning radius which has the lower limit so that the constraints on the robot are satisfied. And the algorithms for the each behavior examine not only the sensor’s limited range and field of the view but also the nonholonomic characteristic of the robotic vehicle. The performance of the motion planning algorithm is tested through the various simulations.

B-spline 곡선을 이용한 양팔 로봇의 궤적 계획

김동형(Dong-Hyung Kim),최윤성(Youn-Sung Choi),김현국(Hyeonguk Kim),전명재(Myoungjae Jun),백성훈(Sunghoon Back),이용석(Yongseok Lee),이지영(Ji Yeong Lee),한창수(Chang-Soo Han) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.3

This paper proposes an algorithm for the trajectory planning of a dual-arm robot. Since the original collision-free path obtained in a probabilistic manner is unnecessarily jerky, it may induce high acceleration in the robot’s actuators, so we regard this as a low-quality path. We propose a B-spline trajectory planning algorithm that transforms the path into a collision-free and smooth trajectory to improve its quality. We applied our proposed algorithm to a cell-phone assembly task using a dual-arm robot as a specific application example. The simulation results show that the smooth and collision-free trajectories can be generated for the task with our motion planning simulator.

장애인스포츠실업팀 고용 현실화를 위한 운영특성 분석

김권일 ( Kwon-il Kim ),김미혜 ( Mi-hye Kim ),한창수 ( Chang Su Han ) 한국특수체육학회 2020 한국특수체육학회지 Vol.28 No.1

본 연구의 목적은 전국적으로 운영되고 있는 129개 장애인스포츠실업팀을 선행연구에서 제시한 장애인직장운동경기부 운영모형(임찬규, 최승권, 2012)을 기준으로 그루핑(grouping)하고, 그룹별 장ㆍ단점을 제시함으로써 선수생활의 은퇴 시 고용연계를 현실화하기 위한 정책적 시사점을 제시하는 것이다. 연구의 목적을 달성하기 위해 문헌고찰, 관련 홈페이지 분석, 관계자 인터뷰(유선 및 이메일) 등을 실시하였다. 자료의 분석결과, 국내 장애인스포츠실업팀은 세 가지로 그루핑 할 수 있었다. 첫째, ‘고용주도형’ 실업팀으로, 팀이 주도하여 훈련환경을 지원하고, 집합훈련을 실시한다는 공통점이 있다. 그러나 업무시간에는 업무에 전념하고, 업무외 시간을 훈련시간으로 규정한다는 점에서 훈련량이 적어 경기력 향상에 제약이 따르나, 은퇴후 해당 직무를 유지할 수 있다는 장점이 있다. 둘째, ‘운동중심형’ 실업팀으로, 팀이 주도하여 선수의 훈련에 필요한 제반환경(시설, 전임지도자, 용품)을 지원하고, 집합훈련을 실시함에 따라 경기력에 집중할 수 있는 장점이 있다. 그러나 선수들이 업무시간에 운동에만 집중하기 때문에 직무를 부여받지 않으며, 은퇴시 고용연계가 불안정하다는 단점이 있다. 셋째, 최근 민간기업 사이에서 급증하고 있는 ‘클럽형’ 실업팀으로, 팀은 최소한의 관여와 책임을 공유하는 운영방식으로, 집합훈련을 주도하거나 훈련시설을 지원하지 않는다. 다만 선수 당사자에게 일정 급여를 제공하여 개인훈련을 위한 비용 만을 지원하기 때문에 경기력 향상에 제약이 따르며, 은퇴후 고용연계가 불안정하다. 이러한 결과를 종합 할 때 장애인선수의 고용연계를 위해서는 클럽형이나 운동중심형보다는 고용주도형 실업팀 창단이 적극 장려되어야 하며, 정부차원에서도 고용주도형 실업팀 장려를 위한 지원을 우선 고려하여야 할 것이다. The purpose of this study was to present policy implications for making employment links a reality at the retirement of a player's career. Each group was classified according to the criteria outlined in the Operation Model of the Disabled Occupational Movement and Competition Department (Im, Chan-gyu, Choi, Seung-kwon, 2012) and presented advantages and disadvantages for each group. The study was conducted by 129 Corporate-Sponsored Teams for people with disabilities across the country to achieve the purpose of the research, literature review, analysis of the relevant website, and interview with officials were conducted. According to the analysis of the data, the nation's disabled sports industry team was able to grub in three ways. First, as a 'type of employment-driven' CSTDs, there was something in common that the team, like the movement-oriented, is to support the training environment and to conduct collective. However, in the sense that working hours were devoted to working and non-working hours are defined as training hours, there are limitations to improving performance, but the job can be maintained after retirement. Second, as a 'type of movement-oriented' CSTDs, the team had the advantage of supporting the overall environment (facilities, full-time leaders and supplies) required for the training of athletes, and focusing on the performance as the team conducts collective training. However, players were not given a job because they only focus on exercising during their working hours, and their employment links are unstable when they retire. Third, it is a 'type of club' CSTDs, which has recently been surging among private companies, and the club did not lead collective training or support training facilities, in an operating manner that shares minimal involvement and responsibilities. However, since the players only supported expenses for individual training by providing a certain salary to the players, the performance improvement was limited and the employment links after retirement are unstable. these results, the creation of a 'type of employer-driven' CSTDs rather than a 'type of club' or a 'type of movement-oriented' one should be actively encouraged for employment links of athletes with disabled, and support for encouraging a 'type of employer-driven' CSTDs at the government level should be considered.

거버넌스 지수의 실효성에 대한 소고 -정치성·실용성·규범성을 중심으로-

김한창 ( Hanchang Kim ) 한국행정학회 2013 한국행정학회 학술발표논문집 Vol.2013 No.-

거버넌스는 가치지향적인 개념이다. 동시에 생활지향적이라고 할 수 있다. 국내적으로 거버넌스는 박근혜정부가 지향하는 정부3.0과 매우 밀접하고 거버넌스 개념을 제외하고 논하 기 어렵다. 환원하면 거버넌스는 시대적 흐름이고 거부할 수 있는 생활방식이라고 할 수 있다. 따라서 거버넌스를 확산하고 활용하기 위해서는 거버넌스 지수 구성의 필요성이 대 두되고 이러한 지수구성에 있어서 거버넌스 가치와 생활지향적인 특성을 고려하여 현실적 이고 용이성을 극대화할 때 일반국민들이 거버넌스에 대한 이해도 높이고 수용성도 높아질 것이다. 본 논문은 이러한 차원에서 정치적인 측면도 고려하고 일반인들의 입장에서 최대 한의 손쉬운 지수 구성방안에 대한 논의를 한 결과 거버넌스의 절차적 단계 즉 거버넌스 인식, 형성, 성과 측면에서 활용가능한 지표들로 구성안을 제작해보았다. 키워드: 거버넌스, 지수, 사회적 자본, 정부3.0 Governance is a value-oriented concept. At the same time that life-oriented concept. Domestically Park Geun-hye government advocate Government 3.0 is very close also governance concept. in other words, governance is stream of times. it will be life style and ways. it can`t deny. Thus, the spread of governance and the need to take advantage of the emerging governance index. it should consider value oriented concept and life oriented concept. when it is maximize, people can be understood concept of governance and take acceptance of governance ways. This paper considers the easiest ways to the make governance index. finally, governance index can be made it that governance cognition step, governance formation step, governance performance step.

인공섬모 모사를 위한 금속 나노패터닝 및 탄소나노튜브성장

한창수(CHANG-SOO HAN),김기돈(KI-DON KIM),최대근(DAE-GEUN CHOI),정준호(JUN-HO JEONG),김지은(JI-EUN KIM),임현의(HYUN-EUI LIM),장원석(Zhang Weon Suk),김완두(Wan-Doo KIM),이응숙(EUNG-SUG LEE),안계혁(KEY-HYUK AHN),김길용(GIL-YONG KIM),이영희 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6

In this work, we have developed nanopatterning technologies for the fabrication of an artificial stereocilia which presented in animal sensory organism including human ear. Various nanopatterning technologies including nanoimprint lithography and photo lithography have been considered to make the pattern of the metal catalysts for carbon nanotube (CNT) growth. Catalyst patterns with several hundreds of nm size could be obtained from these technologies. Finally, CNT growth by PECVD has tried and the growth results would be presented with several growing issues.