Earticle

Modular system refers to the method of pre-configuring the building's base frame, plumbing, insulation and finishing materials in the factory and assembling them on site. In the field assembly, mainly bolted joints are used, and in the event of bolting problems, not only fade the advantages of the modular system, but also adversely affect the joint strength between the modular units. Therefore, in this paper, a system that can detect the manufacturing error of bolt arrangement and analyze the measurement error before the bolt fastening of the modular unit was conducted. An algorithm capable of analyzing image to measure bolt arrangement by receiving images in real time through a camera module that can photograph each modular column and a single board computer was developed. Bolt size, bolt distance, edge distance, modular frame size and perpendicularity were measured. The bolt distance was 0.46mm, 0.22%, and the bolt size was 0.15mm, which was almost accurate with 0.7% error.

K-POP의 한류가 세계적으로 주목받는 현시점에 가상공간에서의 DMX(Digital Multiplexing) 디자인은 새로운 프 리비즈(Previs)로 주목받을 것으로 사료 된다. 따라서 언리얼 엔진을 활용하여 다음과 같이 3단계로 개발하였다. 첫 번째는 자체 개발한 절차적 생성 시스템(PCG; Procedural Content Generation)으로 DMX 모듈러를 개발하였고, 두 번째 DMX 스테이지 모듈러시스템으로 소형, 중형, 문화재형, 대형, 아레나형 스테이지로 구분하여 기획, 개발하였다. DMX 스테이지를 어디든지(위치), 어떠한 사이즈(스케일)이거나, 어떠한 분위기(연출)든지, 모두 대응할 수 있는 연출시스템을 완성함으로써 연 구를 구체화 시켰다. 연구 한계점으로는 실제 관련 업체와 협력하여 연구하지 못한 점과 기술 노출을 꺼리는 기업문화의 배경 때문에 더 깊게 연계하지 못한 부분을 들 수 있다. 향후 연구로는 점점 발전하는 한류를 가상공간에서도 멋진 연출을 통해 DMX를 구현함으로써 다가올 미래 콘텐츠로서 자리매김 되기를 바라는 바이다.

With the global K-pop wave gaining global attention, DMX (Digital Multiplexing) design in virtual spaces is expected to gain traction as a new previs. Therefore, we developed this design in three stages using Unreal Engine. First, we developed a DMX modular system using our proprietary Procedural Content Generation (PCG) system. Second, we planned and developed a DMX stage modular system, categorizing it into small, medium, Korean, large, and arena stages. This research was substantiated by the completion of a production system that can accommodate any DMX stage location, size, scale, or atmosphere. Limitations of this research include the inability to collaborate with relevant companies and the reluctance of corporate cultures to disclose their technology, preventing deeper integration. Future research will explore how to leverage the ever-evolving Korean Wave through compelling productions in virtual spaces, thereby establishing DMX as a future content.

The life cycle costing is a good tool to compare the economic efficiency among various building alternatives. In addition, it gives a chance to mitigate the building cost in construction techniques or building material selection. It is said that the modular system has been a early stage to apply into practice and its cost is higher than the conventional building structure. Therefore, the modular system is needed to develop its construction technologies and to analyze the cost aspect compared with other building structure. This paper is aimed at comparing the cost between the modular system and the conventional building structure, using the life cycle costing. It is targeted to compare the cost between two structure. The life cycle stages are divided into three stages which are construction, energy and maintenance, demolition. The discount rate of 2.09% is used to minimize the current variation and its analyzed period is ranged with 40 years. During forty years, the conventional LCC cost is lower than the modular system, In these results, the modular sytem has disadvantages, compared with conventional structure. But these disadvantages will be recovered with the generalization and standardization of the modular system within a short time.

This paper proposes a modular Learning Management System (LMS) to establish an integrated digital training hub for highly-skilled equipment maintenance personnel. While advanced technologies like Virtual Reality (VR) and Augmented Reality (AR) are being adopted, distributed educational resources and a lack of integrated platforms hinder systematic competency management. To address this, we designed and implemented a web-based LMS centered on technical personnel competency management, training performance analysis, and collaborative learning support. The system features a scalable architecture designed to serve as a future hub for an 'intelligent digital tutor ecosystem,' which will incorporate xAPI-based learning analytics and AR training linked with S1000D technical manuals, thereby contributing to the advancement of industrial technology education.

본 연구에서는 육상 설치·운송 제약을 고려한 8 tCO2/day급 모듈형 CO2 포집 시스템(MCC)을 대상으로 KoSol-6 흡수제를 적용한 습식 아민 공정을 Aspen Plus v14 rate-based 모델로 모사·분석하였다. 저단수(각 5단) 직렬 흡수–탈거 구조에서도 약 91% CO2 포집 효율 확보가 가능했으며, L/G ratio 2.6(kg LA/Nm3 FG)에서 약 2.36 GJ/tCO2의 최소 재생 에너지가 도출되었다. 흡수탑 중간 냉각영향은 제한적이었고, RA 분할 주입은 탈거 열부하 분포에 영향을 주는 주요 운전 변수로 확인되었다. 본 MCC 공정은 기존 플랜트형과 유사한 에너지 성능 확보 가능성을 보이며 중·소규모 분산배출원 적용을 위한 모듈형 CO2 포집 설계 및 실증 기초 자료로 활용 가능하다.

This study investigated an 8 tCO2/day modular CO2 capture system (MCC) designed to address onshore installation and transportation challenges. A wet amine-based CO2 capture process using the KoSol-6 absorbent was analyzed using a rate-based Aspen Plus v14 simulation model. The results showed that a serial absorber?stripper configuration with a low number of stages (five stages each) can achieve approximately 91% CO2 capture efficiency. The minimum regeneration energy was estimated to be approximately 2.36 GJ/tCO2 at an L/G ratio of 2.6 (kg LA/Nm3 FG). The effect of absorber intercooling temperature was limited within the studied range, whereas rich amine split injection significantly affected heat load distribution in the stripping section. Overall, the MCC process demonstrated regeneration energy performance comparable to that of conventional large-scale plants and provided baseline design data for modular CO2 capture systems targeting small- and medium-scale distributed emission sources.

국내 폐광산에서 발생하는 산성광산배수(AMD)는 대부분 산악지형에서 발생하여, 원형침전조설치를 위한 부지 확보에 어려움이 있다. 본 연구에서는 침전공정을 레이크 여과기 및 벨트형 여과기로 대체하는 모듈형 여과분리 시스템을 개발하고, 강릉시 소재 폐광산의 갱내수를 대상으로 30 m3/d 규모의 파일럿 실증을 수행하였다. 레이크 및 벨트형 여과공정과 기존 산화중화-침전 공정의처리 성능을 비교한 결과, 3가지 공정 모두 주요 오염원인 Fe와 Al에 대해 99%, 94% 이상의 높은제거율을 달성하여 침전공정 대체 가능성을 확인하였다. 슬러지 함수율은 레이크 95.0%, 벨트형99.0%, 원형침전조 98.8%로 나타났으며, 경제성 분석 결과 모듈형 여과분리 시스템이 기존 대비부지 조성면적 18.6%, 시설 설치비 30.4%, 연간 운영비 10.3%의 절감 효과가 있는 것으로 나타났다. 본 연구는 파일럿 규모 평가를 통해 AMD 처리공정에서 기존 원형침전조를 여과·분리 공정으로 대체할 수 있는 적용성을 검증하였으며, 처리효율을 유지하면서 시설면적과 설치비·운영비를절감할 수 있음을 확인하였다.

In Korea, acid mine drainage (AMD) from abandoned mines is often generated in mountainous areas where conventional sedimentation facilities are limited. In this study, we developed a modular AMD treatment system using rake- and belt-type filtration processes as alternatives to sedimentation and evaluated its performance at the WR mine in Gangneung. A pilot-scale system with a treatment capacity of 30 m3/d was operated under field conditions and compared with a conventional aeration neutralization?settling process. All systems achieved removal efficiencies above 99% for Fe2+ and total Fe and above 94% for Al, while Mn removal ranged from 47% to 67%. The sludge water content of the rake filter, belt filter, and settling tank was 95.0%, 99.0%, and 98.8%, respectively. Economic analysis showed that the filtration-based system reduced the required area, construction costs, and annual operating costs by 18.6%, 30.4%, and 10.3%, respectively, demonstrating its feasibility for AMD treatment in land-constrained mining areas.

건축에서 유래한 모듈러 개념은 제품, 패션 분야로 확장하며 다수의 모듈이 상호작용하여 구조를 이루는 모듈러 시스템으로 발전해 현재까지 다양하게 활용된다. 그러나 모듈러 시스템에 대한 용어 정의가 명확하지 않고 건축과 제품의 모듈러 시스템 구조를 그대로 적용한 선행연구가 다수여서 패션의 고유성을 반영한 패 션 디자인의 모듈러 시스템 연구가 필요하다. 본 연구는 패션 디자인의 모듈러 시스템 구조를 이해하고 체계 화하기 위해 다음과 같이 연구하였다. 첫째, 문헌연구를 바탕으로 모듈러 시스템 개념을 정리하고 건축, 제품, 패션 분야의 모듈러 시스템 사례를 고찰한다. 둘째, 이론 연구와 패션 고유성을 바탕으로 패션 디자인의 모듈 러 시스템 구조를 체계화한다. 셋째, 사례 분석을 위해 브랜드 22개의 2001년~2022년까지 모듈러 시스템이 나타난 의상 3,512개를 수집하고 기준에 따라 구조별로 분류하고 그 결과를 해석한다. 연구결과는 첫째, 패션 디자인의 모듈러 시스템을 고찰하기 위한 체계화 기준은 의복의 기본 구조 여부, 인체 곡선을 고려한 모듈의 동질 형태 여부, 내구성을 반영한 모듈의 가변성 유무 세 가지이다. 둘째, 체계화한 구조에 따라 기본형과 부가형에서 각각 동정구조, 이정구조, 동변구조, 이변구조로 나뉘어 총 8개의 구조로 분류한다. 셋째, 사례 분석 결과 기본형 1,341개, 부가형 2,171개이며 각각 동정구조 사례가 가장 많았고 이변구조 사례가 가장 적 게 집계되었다. 같은 형태의 고정형 모듈로 구성한 의복이 모듈을 활용한 패션 디자인에서 선호되며, 다른 형태의 가변형 모듈로 만든 의복은 소수이지만 독특한 형태로 디자인의 다양성을 제시하였다. 모듈러 시스템 의 일반성과 분야별 특수성을 모두 고려한 것에 의의가 있으며, 패션 사례 모수를 확대하여 신뢰성을 높이고 디자인의 다양성을 탐구하여, 패션 디자인의 모듈러 시스템에 체계적이고 실질적인 고찰과 분석 수행으로 향후 모듈러 시스템을 적용한 패션 디자인에 활용될 수 있다.

The concept of modular systems, originating in architecture, has expanded into product and fashion design, evolving into systems where multiple modules interact to form structures. Despite being widely used, there remains ambiguity in defining the term “modular system,” and prior research has often applied architectural and product modular systems directly to fashion, highlighting the need for research that reflects the uniqueness of fashion. This study aims to understand and systematize the modular systems in fashion design. First, a literature review clarifies the concept of modular systems and examines cases across architecture, product design, and fashion to understand their structures. Second, the criteria for classifying modular systems in fashion design are established based on theoretical research and fashion’s inherent characteristics. Third, the study analyzes 3,512 modular garments from 22 brands between 2001 and 2022, categorizing them into eight modular system structures: homogeneous-static, heterogeneous-static, homogeneous-dynamic, and heterogeneous-dynamic, within basic and additive forms. The analysis shows that 1,341 basic and 2,171 additive forms were used, with homogeneous-static modules being the most common and heterogeneous-dynamic modules the least frequent. Fixed modules with similar forms were preferred, while variable modules offered unique and diverse designs. This research emphasizes the need to consider both the general principles of modular systems and the specific characteristics of fashion, expanding the dataset to enhance its reliability and explore design diversity. The findings provide a systematic framework for future applications of modular systems in fashion design, contributing to both creativity and practicality in garment construction and aesthetics.

반도체 제조 시스템에 대한 다양한 상황과 관련한 연구는 많지 않다 게다가, 모든 상황에 항상 적합한 생산시스템 전략은 없다. 반도체 제조공정 시스템에 대한 스케줄은 생산공정의 재진입, 공정의 높은 불확실성, 급속하게 변하는 제품과 기술과 같은 특성 때문에 반도체 제조공정시스템에 대한 스케줄은 복잡하고 어려운 작업이며, 사이클타임의 절감 및 단위시간당 생산량의 증대와 같은 시스템 목적을 달성하기 위하여, 반도체 제조 시스템에 대한 좋은 방법을 발견하기 위한 많은 연구가 있었다. 반도체 산업의 생산 흐름은 가장 독특한 특징을 가지고 있으며 생산계획과 반도체 제조의 스케줄링과 계획을 어렵게 하고 있다. 각각 다른 단계에 있는 자재는 같은 장비의 사용을 위해 경쟁을 하는데, 이로 인하여 작업시간 보다 단지 기다리는 시간에 상당한 시간을 할애하고 있다. 따라서 본 연구에서는 선행 연구를 바탕으로 반도체 공정에 모듈 생산방식을 접목시켜 공정의 사이클 타임을 줄이고, WIP를 최소화하여, 생산량을 최대화는 방안을 제시하고 공정 모듈 시스템 (Process Modular System)을 구축하고자 한다.

Interest in modular buildings has surged recently, leading to their construction at increasing heights. However, seismic performance evaluations for modular connections remain insufficient. Based on Jang's (2019) experimental research, this study validates an analytical model and conducts parametric analyses on the shear strength ratio between the panel zone and beam, and the width-to-thickness ratio of the bracket. When the panel zone-to-beam shear strength ratio was 1.5 or higher, plastic hinge formation shifted from the panel zone to the beam. Consequently, a shear strength ratio between 1.5 and 2.0 is recommended. Analysis of the bracket’s width-to-thickness ratio revealed local buckling in models with non-compact sections, suggesting that brackets in modular connections be designed with compact sections or greater to enhance structural performance.

모듈러 공법은 공장 생산에 의한 공기단축, 품질관리, 친환경성, 경량화 등 기존 공법과 다른 다양한 특징을 가지고 있다. 그러나 이러한 이점에도 불구하고 국내에서는 수직증축 공사의 모듈러 공법 활용도가 미미한 실정이다. 본 연구의 목적은 공동주택 수직증축 공사에서 모듈러 공법 적용을 위한 중요요인을 제시함으로써 활성화를 도모하고자 하는 것이다. 영향요인의 선정은 기존 문헌 및 사례분석, 전문가와 인터뷰 조사를 통해 선정하였다. 설문조사를 통해 선호함수 유형과 평가 자료를 선정하여 PROMETHEE 기법을 통해 중요요인 도출하였다. 전체적 우선순위는 신생기업 국내시장 진출 장려(D5), 모듈러 주택에 대한 체계적인 세제 완화 및 지원(D1), 모듈러 주택 보급 및 홍보를 위한 사업 실시(E2) 등의 순으로 도출되었으며, 이는 향후 공동주택 수직증축 공사에서 모듈러 공법 적용을 위한 기초자료가 될 것으로 사료된다.

The modular system is a construction method which installs factory-manufactured unites on site. It enables to reduce the duration and improve the quality of the construction. Nevertheless, the unit modular system has not been applicated for apartment house vertical-extension constructions in the domestic. This study is to promote active application of the modular system in vertical-extension constructions of apartment houses by suggesting its important factors. Influence factors were selected by existing reference and case analyses, also interviews with experts. Through the survey, preference function types and evaluation materials were deducted in order to suggest major factor selection using the PROMETHEE method. Overall priorities were deducted in order of; promoting new businesses into domestic market(D5), consumer layers formed due to drop in house purchase and rent(D1), and conducting businesses for the dissemination and promotion Modular house(E2). These are considered to be base data for application of the modular system in vertical-extension constructions of apartment houses.

Design is related to every area including art, engineering, science, and humanics but has its focus areas alternate according to the technological advancements. The movement has been accelerated in the information era. Today design concentrates its attention to the user demands and needs rather than science and technology. Ubiquitous fashionable computer is one of the natural flows stemming from that paradigm change of the times. But even that kind of new design can't escape from the conventional framework if the modules and WearNet, which are the hardware of UFC, are not detachable. Thus there is a need for the structural design of multi-functional clothes by utilizing reconstructable modules and detachable WearNet that's communication route among modules. By taking advantage of detachable modules and WearNet, one can lead the infusion of next generation IT technology and fashion and open the door to a new UFC era that's human friendly and fashionable. Thus this study set the following goals; first, to develop UFC design guidelines by reflecting the user demands and needs and using detachable modules and WearNet; second, to take a survey to identify the evaluation items for the guideline items and suggest a new UFC design to meet the user needs based on the detailed improvements; and third, to suggest a UFC modular system using detachable and thus reconstructable modules and WearNet according to the user's taste. Chapter 4 covered the following sections of the entire design process: scenario development→concept development→design progress→prototype development→test of the integration between clothes and hardware→making UFC clothes→incorporating hardware into UFC clothes. The process of making UFC clothes was divided into clothes design and product design, and the research contents and design directions of each stage were examined in terms of technology and design. As a result, one piece of each male and female UFC clothes that could be worn on the college campus or at a conference was made using detachable modules and WearNet. The third generation UFC clothes is based on the modular system that can attach and detach modules, WearNet, and the constituents of clothes and presents the UFC design of a new concept as a flexible clothing system that can change many ways according to the situations of daily life. It's significant that it's a new design approach to establish a UFC design process in the viewpoint of fashion and define such UFC design elements as silhouette, material, color, and technical detail in terms of clothes and products design.

While the method of construction for modular school building is systemically studied and widely disseminated, The purpose of this study is to improve the structural shortcomings of modular school building including low structure efficiency as mediated with twofold use of structural members and defects in the joint component design of column-beam connection, thereby enabling to develop both economical and eco-friendly technique which might be attributed to the construction of modular house. Furthermore, this study aims to establish and disseminate the fundamental data for the standardization design of modular units, container house, by accumulating technical data.

태양광 시스템은 최대 출력점에서 발전이 불가능하고, 유지 보수와 증설 및 대용량의 시스템이 어렵고, 설치비용이 크다는 단점으로 인해 상용계통과 연계한 PV 시스템은 인버터의 특성과 더불어 소형, 고역률, 낮은 고조파 출력, 고 신뢰성, 최대출력 운전, 저비용 등의 장점들이 요구되고 있다. 따라서, 이러한 시스템은 에너지를 계통과 부하로 전달하기 위해 양방향의 PCS가 요구되고 있다. 본 논문에서는 일사량과 부하량에 따른 동작 알고리즘과 충․방전 제어기 설계를 통한 태양광 발전을 위해 에너지저장시스템을 고려한 PCS와 양방향의 효율적인 에너지 전달을 위해 연계형 인버터를 이용하여 DC-link 전압과 인버터 출력전압을 제어하였다. 제안한 시스템의 타당성을 입증하기 위 해 시뮬레이션과 실험 결과를 통해 검증하였다. 그 결과 제안한 시스템이 기존의 태양광 시스템보다 강인함을 입증 하였다.

PV systems cannot be generated at the maximum power point, maintenance, expansion, and large-capacity systems are difficult and installation costs are high, so PV systems linked to commercial systems require advantages such as small size, high power factor, low harmonic output, high reliability, maximum power operation, and low cost in addition to the characteristics of inverters. Therefore, such a system requires a bidirectional PCS to transfer energy to the system and the load. In this paper, the DC-link voltage and inverter output voltage were controlled using PCS considering ESS for solar power generation through operation algorithm according to solar radiation and load and design of controller for charging and discharging, and linkage inverter for efficient energy transfer in both directions. To prove the validity of the proposed system, it was verified through simulation and experimental results. As a result, the proposed system proved to be more robust than the existing PV system.

By successful establishment of Supply Chain Management System they should make the supply chains speedy and combine production information system with the outcome system and thus they reinforce the competition of the production system of local enterprises in accordance with the rapid decision making. Supply chain coordination improves if all supplier of chain take actions that together increase total supply chain profits. To design of Modularity by the grouping supplier, the proposed method is to develop the most appropriate production system models through the reflection of JIT system in the Supply Chain Management which is necessity of the times and its importance. The objects of this study is to develop the most appropriate production system Model and optimal profit model in the process line and to provide the enterprises with the models which are based on the Supply Chain Management.

This study is propose about plan to provide movable housing that accommodate temporary visitors to various event such as the Olympics and the Expo. The process of the study is followings. First, this study will investigate the theoretical background of movable architecture through literature research. Next, this study find design strategy through case study of modular architecture system. Based on these, this study suggests planning of movable housing through modular architecture system. The example of this planning is from Pyengchang winter olympics. A planning of movable housing can be moved to respond to peek demands and used for the other events variously in the future.

Recently, large scale disasters have been occurred in rural areas. Most people suffering from the disaster live in the temporary containers. These could not provide the fundamental occupancy performances such as thermal insulation, ventilation and heating system. It is very important to rebuild the residence for sufferers quickly and safely. Because modular building system has some advantages such as short construction time, mobility, light-weight structure, modularity, flexibility and economical efficiency, it is expected that it could be easily applied to the disaster restoration. So, this research aims at developing the design model of modular building system for disaster restorations in fishing and agrarian villages. For this purpose, current counterplan for restoration was firstly investigated. Also the basic guideline was established through the investigation of current status of residence in fishing and agrarian villages. Finally, 2 types of design model such as single story residence and temporary accommodation facility were proposed. We could see that we could make the flexible building plan when applying the modular building system to the temporary housing for the sufferers.

The supply chain not only includes the manufacturer and suppliers, but also transporters, warehouses, retailers, and customers themselves. Within each organization, such as manufacturer, the supply chain includes all functions involved in filling a customer request. these functions include, but are not limited to, new product development, marketing, operation, distribution, finance, and customer service. Lean Supply chain coordination improves if all supplier of chain take actions that together increase total supply chain profits. To design of Modularity by the grouping supplier, the proposed method is to develop the most appropriate production system models in the Supply Chain Management which is necessity of the times and its importance. The objects of this study is development of model and cost analysis to the modular production system in Lean SCM. Introduction of modular production system in Lean SCM is effective in reducing the cost in processing, manufacturing, inventory holding, ordering, etc.

연구목적: 본 연구는 자정식 건설장비 전도방지 시스템에 대하여 역학적 메커니즘에 따른 효율도를 수 치해석적인 방법과 실대형 실험체의 하중재하실험결과를 비교하여 거동을 검증 하고자 한다. 연구방 법: 기존 전도방지 가설구조물에 대한 제원을 분석하고 본 연구대상에 대한 모듈식 제원을 도출하였다. 건설장비의 총하중과 충격력을 적용하여 수치해석적 방법으로 해석을 수행하였고 실대형 실험체를 제 작하여 하중재하실험을 수행하였다. 연구결과: 실대형 실험체 하중재하 실험결과 가력하중에 대한 연 직방향 변위는 수치해석 결과를 상회하는 거동 결과이며 가장 불리한 거동의 수직부재는 허용응력 대 비 81.6~82.3%의 응력이 작용하는 것으로 확인하였다. 결론: 건설장비의 전도모멘트와 장비 자중에 의 한 저항모멘트 상호 보완의 역학적 메커니즘을 적용한 전도방지 시스템에 대하여 수치해석적 및 실대 형 실험체의 하중재하 실험을 비교 검토결과 거동의 안전성 확보를 확인하였다.

Purpose: This study verified the behavior of a temporary structure module system for preventing overturning drilling rigs by comparing the efficiency of the mechanical mechanism with the results of a numerical analysis method and load test of a full-scale specimen. Method: The geometric and material specifications of existing a temporary structure were analyzed and the specifications of temporary structure module system of this study were derived. Numerical analysis was performed by applying the total load and impact force of construction equipment, and static loading experiments of a full-scale test specimen using horizontal and vertical loading method was performed. Result: The results of static loading experiments of the full-scale specimen showed that the vertical displacement in response to the applied load exceeded the results of the numerical analysis. It was confirmed that the vertical member with the most unfavorable behavior was subjected to a nominal stress of 81.6 to 82.3% of the allowable stress. Conclusion: The safety of the behavior was confirmed through a comparative result of numerical analysis and static loading experiments on a full-scale specimen for a temporary structure module system for preventing construction equipment from overturning that applies a mechanical mechanism in which the overturning moment of construction equipment and the resistant moment due to the self-weight of equipment complement each other.

In this article, to solve the problems about obsolescence of parts and unable to driving turret when internal components are failure, the DC-DC boost converter in the gun/turret drive system of mobile weapon was improved. The power converting circuit in converter is changed by applying the latest components, and the control circuit is changed from analog to digital. Also, the power converting circuits were modularized in three parallel so that it could be driven even when some components failed. The improved DC-DC boost converter secured stability such as converting to voltage in a linear manner in the entire section from the start of boosting to the end. Also, through the modular configuration, turret driving system can operates when some components failed.