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김동남(Dongnam Kim),오경원(Kyeongwon Oh),홍대희(Daehie Hong),박종협(Jong-Hyup Park) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
Since the dismantling processes of building are very dangerous, there have been many studies to develop a remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling actuator that is usually an excavator, a novel concept of tele-operated haptic device is proposed. Operators who use this haptic device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the haptic device, the workspace mapping from the haptic device to the excavator is explored. Second, the kinematics which deals with the conversion from the 3 dimensional position information of the haptic device to the joint variable information of the backhoe is included. Lastly, 3D graphical simulation of both haptic device and the backhoe will be shown. This new design of the haptic device can be easily manufactured and gives the workers very convenient and transparent remote control capability.
김태형(Taehyung Kim),홍대희(Daehie Hong),주백석(Baeksuk Chu),김동남(Dongnam Kim),금재성(Jaesung Keum),김진(Jin Kim) 대한설비공학회 2008 대한설비공학회 학술발표대회논문집 Vol.2008 No.2
Over 70% of the land is mountains in Korea, so that many roadways naturally includes tunnels. The air flow inside tunnel has complex characteristics, such that a new flow field is formed by following vehicles passing through the tunnel before previous flow field is stabilized. Due to these time delayed-transient characteristics, the ventilation facility requires the complex control algorithm that can handle adaptive and predictive controls. Also, it needs to be closely related to the disaster prevention system. The technology to integrate these system determines the success of TGMS. The pollutant levels exhausted from the vehicles passing through tunnel depend on vehicle years and passing velocity. They also depend on the slope and altitude of the tunnel. In order to solve this problem, an algorithm for estimating the compensating factors for calculating on design capacity of ventilation facilities was developed. Also, an integrated ventilation control algorithm with disaster prevention program to operate several tunnels was developed based on TGMS.