• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.9
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• pp.4124-4129
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• 2013

This purpose of this research is to build up a prototype of bean threshing machine after three dimensional design which can be driven independently by engine and hydraulic equipments and wheels. To accomplish the functionality of bean threshing machine the cutters are placed in a swirl type on a threshing drum the thresing capability would be improved. Also a exit pipe was designed to clear the remains to solve the past problems that the normal machines had. A fan was designed to blow to send the waste only to the outside. Only clean beans will be transferred through a blowing fan wind power to exit pipe and the system was designed to help the worker to collect the beans in front of the machine. This threshing machine using independent driving engine which can provide the power to drive the system and do the threshing is the first developed technology in domestic area through the University and Industry cooperation.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.142-151
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• 2022

With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.3A
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• pp.277-286
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• 2010

Derrick or caterpillar crane is generally used for the long-span/cable-stayed bridge construction by pre-cast segment lifting from over-land or water transportation. The heavy weight of them, however, could make defects on unstable under-construction structure and, furthermore a method of conventional segment transportation is also able to occur additional time and cost. In this study, in order to improve conventional construction method, the newly developed derrick crane is mainly considered. It could be not only eccentrically loadable on constructing girder but having rotatable boom for segment transportation from back-side. A series of construction stage using developed derrick crane is defined and also its numerical analysis is conducted. To reflect load characteristics of developed derrick crane on construction stage analysis, on/out of service load is separately calculated by considering vertical/lateral rotation range of boom and it is loaded on 4 fixed positions of crane. The derrick crane on this study could be time and cost saving solution for cable-stayed bridge construction and also make contributions to construction load reduction in its process.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.39-45
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• 2008

A levitation rail is placed on the top of track structure to operate Maglev vehicles and a part of track that link up with a sleeper is applied repeated load in Maglev vehicles operation. This paper aimed to verify validity of design for levitation rail, through the fatigue analysis about load which is applied to levitation rail in Maglev vehicles operation and impact load occurring in an emergency landing. Load conditions applied design load(23kN/m) in normal operation and skid drop load(24kN/m) in vehicle drop. And boundary conditions are consider bolt fixing and welding. Through static analysis, weak point and maximum stress of levitation rail could be obtained. S-N(stress-life) method was used in oder to predict fatigue life, and Goodman relationship was applied to consider a effect of mean stress. Also damage was calculated by using Miner's. As a result of fatigue analysis, levitation rail had a fatigue life which was more than requirement ($10^6$cycle) in all analysis conditions. Assumption that $10^8{\sim}10^9$cycles is infinite life, all analysis conditions had infinite life except a case under drop load and bolt fixing($1.21{\times}10^6$).

• Journal of Korean Society of Forest Science
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• v.100 no.2
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• pp.154-164
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• 2011

This study was conducted to develop the semi-crawler type mini-forwarder that can be operated comfortable small-scale logging operation in the steep terrain and also used at a variety of operations such as the civil work in erosion control and forest-road. Considering the minimum turning radius and the width of forest operation road, the total length, width and loading capacity of the semi-crawler type mini-forwarder is 5,750 mm, 1,900 mm and $2.5m^{3}$, respectively. The maximum engine power is 96ps at 3600 rpm. Selected hydraulic pumps are consists of two main pumps and two sub-main pumps. Main hydraulic pumps are utilized to running motor of the front wheel and rear crawler. Sub-main pumps are utilized to the actuation parts such as steering, crane, out-rigger and dump cylinder. The transmission was adapted as the HST (Hydro-Static Transmission) system. The driving parts are designed and manufactured as the front wheel type and the rear crawler type. The steering type was manufactured as the ackerman type. Driving control parts type was designed and manufactured as driver's seat type of normal cars. It is also attached on auxiliary equipments such as winch, log grapple and out-rigger. The traveling speed of the semi-crawler type mini-forwarder in forest road was 5.3 km/hr to 7.7 km/hr.