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지상 전투차량의 명중률 영향요소 분석을 위한 포의 동역학 해석
송재복(Jaebok Song),박강(Kang Park) (사)한국CDE학회 2014 한국CDE학회 논문집 Vol.19 No.4
There are many factors that contribute to hit probability of the gun shot of ground combat vehicles. Aiming accuracy is mainly affected by the dynamic state of the vehicle. The stabilization error of the turret under system vibration is one of the major factors that affect the aiming accuracy. The vibration of the vehicle is affected by both the state of the road and the speed of the vehicle. This paper analyzes the aiming accuracy of the gun equipped on the GCV when the vehicle drives on the different roads and at different speed. The vertical displacement and the pitch angle of the gun are calculated and the impact points of the target are calculated. Distribution of the impact points on the target is greatly influenced by the pitch rotation rather than vertical displacement. And this aiming errors result in the errors of point of impacts on the target after the bullet flies through the air under trajectory equations. The GCV is modeled using a half-car model with 6 D.O.F. and the specifications of the M2 machine gun are used in trajectory calculation simulation and the target is located in 1000 m away from the gun.
반능동 현가장치를 통한 지상전투차량의 포의 진동저감 연구
송재복(Jaebok Song),박강(Kang Park) (사)한국CDE학회 2015 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2015 No.동계
The stabilization error of the turret under system vibration is one of the major factors that affect the aiming accuracy. This paper analyzes vibration reduction of the turret in the running vehicle. But the ground combat vehicle (GCV) must be able to be driven on a wild field that has very poor road conditions. This study suggests the vibration reduction technique about bounce, roll and pitch by using a MR damper and a single skyhook parameter: SH-ADD which is one of modified skyhook was selected with controller for vibration reduction. The MR damper can change the viscous damping coefficient of the shock absorber. GCV is modeled using a full-car model with 10 D.O.F. The simulation was performed by Matlab /Simulink.
송재복(Jaebok Song),박강(Kang Park) (사)한국CDE학회 2015 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2015 No.하계
The hit probability of the weapon of the Ground Combat Vehicle (GCV) is one of the major design factors to be met in the early stage of GCV development. When GCV runs, the hit probability of the gun-shot is greatly influenced by the vibrations of both the car-body and the gun. The vibration can be estimated by analyzing the dynamic model of the half-car model under the road conditions and the speed of GCV. And the hit probability of the gun shot is calculated by the trajectory equations and the vibrations of them. To reduce the errors caused by vibrations, the Automatic tracking algorithm is designed. The data is analyzed using Matlab/Simulink.
진화 알고리즘을 사용한 휴머노이드 로봇의 동작 학습 알고리즘
박가람(Galam Park),나성권(Syungkwon Ra),김창환(ChanHwan Kim),송재복(JaeBok Song) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.10
This paper presents a new methodology to improve movement database for a humanoid robot. The database is initially full of human motions so that the kinetics characteristics of human movement are immanent in it. then, the database is updated to the pseudo-optimal motions for the humanoid robot to perform more natural motions, which contain the kinetics characteristics of robot. for this, we use the evolutionary algorithm. the methodology consists of two processes (1) the offline imitation learning of human movement and (2) the online generation of natural motion. The offline process improve the initial human motion database using the evolutionary algorithm and inverse dynamics-based optimization. The optimization procedure generate new motions using the movement primitive database, minimizing the joint torque. This learning process produces a new database that can endow the humanoid robot with natural motions, which requires minimal torques. In online process, using the linear combination of the motion primitive in this updated database, the humanoid robot can generate the natural motions in real time. The proposed framework gives a systematic methodology for a humanoid robot to learn natural motions from human motions considering dynamics of the robot. The experiment of catching a ball thrown by a man is performed to show the feasibility of the proposed framework.
실외 자율주행 로봇을 위한 다수의 동적 장애물 탐지 및 선속도 기반 장애물 회피기법 개발
김선도(Sun-do Kim),노치원(Chi-Won Roh),강연식(Yeonsik Kang),강성철(Sung-chul Kang),송재복(Jaebok Song) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.7
In this paper, we used a laser range finder (LRF) to detect both the static and dynamic obstacles for the safe navigation of a mobile robot. LRF sensor measurements containing the information of obstacle’s geometry are first processed to extract the characteristic points of the obstacle in the sensor field of view. Then the dynamic states of the characteristic points are approximated using kinematic model, which are tracked by associating the measurements with Probability Data Association Filter. Finally, the collision avoidance algorithm is developed by using fuzzy decision making algorithm depending on the states of the obstacles tracked by the proposed obstacle tracking algorithm. The performance of the proposed algorithm is evaluated through experiments with the experimental mobile robot.