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수도권 도시의 자족도에 관한 연구- 수도권 신도시 소재 도시를 중심으로 -
안국현,이명훈 한국지역개발학회 2006 한국지역개발학회지 Vol.18 No.3
The purpose of this study is to show the properness which can make one independent city area combined neighborhood cities. The New Town will be a center of it's area not a bed town using the interaction analysis with neighborhood cities.The interaction between The New Town of Seoul Metropolitan Area and The Urban Area were analysed using the commute-traffic data in 1996, 2002. And, the interrelation were analysed after considered The second and third employee's increasing rate of each cities. Cities in Seoul Metropolitan were showed higher interaction within 10~30km's area. The New Town of Seoul Metropolitan in early 1990's was decreasing traffic flow to seoul, still showed high reliance. The New Town will be able to dispersion of population and as developing areas capacity far away 50~60km from Seoul
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센서리스 협동로봇의 직관적인 교시를 위한 직교공간 직접교시
안국현,송재복 한국로봇학회 2019 로봇학회 논문지 Vol.14 No.4
Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.
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다자유도 수동식 중력보상장치 기반의 6자유도 산업용 로봇
안국현,송재복 한국로봇학회 2017 로봇학회 논문지 Vol.12 No.1
Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.
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동력 분기 하이브리드 전기 자동차의 운행 모드 시뮬레이션
안국현(Ahn, Kuk-Hyun),조성태(Cho, Sung-Tae),임원식(Lim, Won-Sik),박영일(Park, Yeong-Il),이장무(Lee, Jang-Moo) 한국신재생에너지학회 2006 한국신재생에너지학회 학술대회논문집 Vol.2006 No.06
The power split hybrid power train is considered to be one of the most prospective configuration for the hybrid electric vehicle (HEV). Toyota Prius, representing this type of vehicle, showed outstanding performances in fuel efficiency, emission reduction and acceleration. The excellence is largely due to the fact that it utilizes almost all operation modes of HEV. Those modes include ZEV (Zero Emission Vehicle) driving, idle stop, fuel cut-off, power assist, active charging, regenerative braking and so forth. In this paper, a few of the mode operations were simulated using AVL Cruise. Also, control logics to operate the powertrain in each mode were developed. The states of powertrain components were displayed and analyzed. By controlling the three components (engine, motor and generator), it was possible to run the powertrain in several hybrid operation modes.
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