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RISS 인기검색어
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- 저자 : 오광석(Oh, Kwang-Suek) (검색결과 265 건)
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굴삭기를 위한 레이저 스캐너 기반 확률 및 예견 작업 위험도 평가 알고리즘 개발
오광석,박성렬,서자호,이근호,이경수,Oh, Kwang Seok,Park, Sung Youl,Seo, Ja Ho,Lee, Geun Ho,Yi, Kyong Su 유공압건설기계학회 2016 드라이브·컨트롤 Vol.7 No.4
This paper presents a stochastic and predictive working-risk-assessment algorithm for excavators based on a one-layer laser scanner. The one-layer laser scanner is employed to detect objects and to estimate an object's dynamic behaviors such as the position, velocity, heading angle, and heading rate. To estimate the state variables, extended and linear Kalman filters are applied in consideration of laser-scanner information as the measurements. The excavator's working area is derived based on a kinematic analysis of the excavator's working parts. With the estimated dynamic behaviors and the kinematic analysis of the excavator's working parts, an object's behavior and the excavator's working area such as the maximum, actual, and predicted areas are computed for a working risk assessment. The four working-risk levels are defined using the predicted behavior and the working area, and the intersection-area-based quantitative-risk level has been computed. An actual test-data-based performance evaluation of the designed stochastic and predictive risk-assessment algorithm is conducted using a typical working scenario. The results show that the algorithm can evaluate the working-risk levels of the excavator during its operation.
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오광석,손권,최경현,Oh, Kwangseok,Son, Kwon,Choi, Kyunghyun 대한기계학회 2002 大韓機械學會論文集A Vol.26 No.5
Visual effects are important cues for providing occupants with virtual reality in a vehicle simulator which imitates real driving. The viewpoint of an occupant is sensitively dependent upon the occupant's posture, therefore, the total human body motion must be considered in a graphic simulator. A real-time simulation is required for the dynamic analysis of complex human body motion. This study attempts to apply a neural network to the motion analysis in various driving situations. A full car of medium-sized vehicles was selected and modeled, and then analyzed using ADAMS in such driving conditions as bump-pass and lane-change for acquiring the accelerations of chassis of the vehicle model. A hybrid III 50%ile adult male dummy model was selected and modeled in an ellipsoid model. Multibody system analysis software, MADYMO, was used in the motion analysis of an occupant model in the seated position under the acceleration field of the vehicle model. Acceleration data of the head were collected as inputs to the viewpoint movement. Based on these data, a back-propagation neural network was composed to perform the real-time analysis of occupant motions under specified driving conditions and validated output of the composed neural network with MADYMO result in arbitrary driving scenario.
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오광석,윤승재,김학구,고경은,이경수,Oh, Kwangseok,Yun, Seungjae,Kim, Hakgu,Ko, Kyungeun,Yi, Kyongsu 대한기계학회 2013 대한기계학회논문집 Vol.37 No.5
본 논문은 Matlab/simulink 기반 휠로더 시뮬레이션 모델의 개발과 검증에 대한 논문이다. 휠로더 시뮬레이션 모델의 개발 및 검증은 실제 휠로더의 생산단계에 앞서 휠로더의 성능을 평가하고 개선하기 위한 목적을 두고 있다. 휠로더 시뮬레이션 모델은 전체적으로 주행부/유압부 동력전달계 모델, 주행부/작업장부 동역학 모델을 포함한 4 가지 모델로 나뉘어져 있다. 휠로더의 주행 및 작업성능을 평가하고 개선하기 위해서는 언급된 4 가지 모델의 통합 시뮬레이션이 필요하며 통합된 시뮬레이션 모델은 성능평가 외의 연료효율의 최적화, 하이브리드 시스템 및 지능형 휠로더 모델의 개발로써 작업효율 향상에 기여할 수 있을 것이다. 본 논문에 제안된 시뮬레이션 모델은 주행부와 작업부 실험 데이터와의 비교를 통해 검증 되었다. This paper presents the development and validation of a wheel loader simulation model. The objective of doing so is to evaluate the performance of the wheel loader and improve its overall performance using Matlab/Simulink. The wheel loader simulation model consists of 4 parts: mechanical/hydraulic powertrain model and vehicle/working dynamic model. An integrated simulation model is required to evaluate and improve the performance of the wheel loader. It is expected that this model will be applied to fuel economizing, improving the pace of operation by using the hybrid system, and the intelligent wheel loader. The performance of the proposed simulation model has been validated by using Matlab/Simulink to compare the driving and the working experimental data.
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회전관성의 순환최소자승 추정을 이용한 모델 예견 기반 굴삭기의 충돌회피 알고리즘 개발
오광석,서자호,이근호,Oh, Kwang Seok,Seo, Jaho,Lee, Geun Ho 유공압건설기계학회 2016 드라이브·컨트롤 Vol.7 No.4
This paper proposes a model-prediction-based collision-avoidance algorithm for excavators for which the recursive-least-squares (RLS) estimation of the excavator's rotational inertia is used. To estimate the rotational inertia of the excavator, the RLS estimation with multiple forgetting and two updating rules for the nominal parameter and the forgetting factors was conducted based on the excavator-swing dynamics. The average value of the estimated rotational inertia that is for the minimizing effects of the estimation error was computed using the recursive-average method with forgetting. Based on the swing dynamics, the computed average of the rotational inertia, the damping coefficient for braking, and the excavator's braking angle were predicted, and the predicted braking angle was compared with the detected-object angle for a safety evaluation. The safety level defined in this study consists of the three levels safe, warning, and emergency braking. The analytical rotational-inertia-based performance evaluation of the designed estimation algorithm was conducted using a typical working scenario. The results of the safety evaluation show that the predictive safety-evaluation algorithm of the proposed model can evaluate the safety level of the excavator during its operation.
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주행 및 작업성능 통합 시뮬레이션을 위한 휠로더 동역학 모델의 개발
오광석(Kwangseok Oh),김학구(Hakgoo Kim),윤승재(Seungjae Yun),고경은(Kyungeun Ko),김판영(Panyoung Kim),이경수(Kyongsu Yi) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
This paper presents a 3D dynamic simulation model of a wheel loader. The objective of development of the wheel loader dynamic simulation model is to test the performance of the Wheel loader under both working and driving conditions by simulation. The wheel loader dynamic simulation model consists of 3 parts: Vehicle powertrain module, Hydraulic module for working and steering, and Vehicle dynamic module. Vehicle powertrain module consists of engine, torque converter and transmission, and Hydraulic module consists of pump, valve, cylinder and attachments. 3D dynamic simulation module is based on vehicle dynamics and multi-body (front and rear bodies) dynamic analysis method. Front and rear bodies are connected by pin in the center of steering system. Action/reaction forces and moments applied to the pin are calculated by solving front/rear dynamic simultaneous equations. Forces and moments at the pin are considered to analyze how they have an effect on the dynamics of wheel loader. The wheel loader dynamic simulation model is verified through real measurement, and it is shown that proposed dynamic simulation model can represent actual dynamics of wheel loader.
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오광석(Oh Gwang-Seok) 한신대학교 신학사상연구소 2011 신학사상 Vol.0 No.152
18세기 감리교 운동에서 여성들은 속회와 반회의 지도자로 또한 평신도설 교자로 왕성히 활동하였다. 그들은 비공식적으로 대중 앞에서 말하기 시작하여 점차 권면을 한다든가 성경을 주석해 준다든가 하면서 공식적인 평신도설 교자로 발전하였다. 감리교의 창시자 존 웨슬리는 여성도 남성과 똑같이 영적인 능력을 부여받았으며 설교를 위한 특별한 은사를 지니고 있음을 보았다. 웨슬리가 여성설교를 공식적으로 승인하기까지는 오랜 시간이 걸렸지만, 그 이전부터 여성설교가들의 활동은 영국 전역에서 활발하였고 웨슬리의 생애 말기에 이르러서는 절정에 달하였다. 웨슬리의 사후 감리교는 영국교회로부터 분리하게 됨으로 이제 하나의 독립교회로서 보다 체제를 공고히 할 필요가 있었다. 이와 함께 감리교 내에서는 정규목회직을 강조하게 되었고, 정규목회자로 오랫동안 인정받지 못했던 여성설교가들의 입지가 어려워지게 되었다. 이 연구는 존 웨슬리와 함께 시작된 감리교운동 안에서 여성 지도력이 어떻게 발전되어 갔고, 이와 관련하여 웨슬리가 어떻게 여성설교직을 승인하게 되었으며, 또한 웨슬리와 관련된 초기 감리교 여성설교가들의 활동과 그들이 만났던 문제들은 무엇이었는지를 역사적으로 고찰하였다. How did female leadership, particularly female preaching, begin and develop in the Wesleyan Methodist movement? How did John Wesley, father of Methodism, come to approve of female preaching? What were the activities and roles of female preachers in the early Methodism? What were the problems which they faced? Answering these questions is the purpose of this study. This study tries to achieve its task by examining the possible sources from the female leaders of early Methodism and Wesley. Women in the Methodist movement of eighteenth century took on public religious roles in praying bands, class meetings, and love-feasts . To some women, leading prayers within these meetings was their first exposure to public speaking. It evolved into some form of ministry for them as they went out visiting people and praying for them. Women were also encouraged to speak of their spiritual life in public meetings and to exhort fellow Methodists to faith and repentance. The line between exhorting and preaching was thin. By the 1760s, there were scores of women preaching in Methodist societies all across the British Isles. Wesley thought that women were given spiritual ability as much as men and that they might possess an extraordinary gift for preaching. Although Wesley did not approve of the formal ordination of women, he did name them to serve as lay preachers. Wesley's attitude and thought of female preaching changed or developed with a series of progression through the years, and, in the later period of his ministry, Wesley came to approve of female preaching by necessity and its fruits. In 1787 women's right to preach in Methodism was finally sealed when Wesley gave an official authorization to Sarah Mallet. However, it was not long after Wesley’ s death that the institutionalization of the evolving Wesleyan Methodist church and its reversion to patriarchal patterns of leadership became evident. Women were formally forbidden from functioning as preachers or were restricted in th
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