• International Journal of Highway Engineering
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• v.7 no.2 s.24
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• pp.97-107
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• 2005

Since the purpose of wheel tracking test is to find out relative difference of mixture's rut resistance, the wheel is an important part in the test for obtaining a consistent output. This study is performed to examine efficiency of different wheel material, rubber and steel in wheel tracking test. The rubber was inserted as a ring on the outer face of the steel wheel, and thickness of rubber ring was 15mm and 7.5mm and 0mm (steel wheel without rubber), making the total outer diameter 200mm. The objective of this study was to select reliable wheel material type in wheel tracking test at $60^{\circ}C$ based on variance in output (rut depth and dynamic stability) and correlation with SD (deformation strength). The result of regression analysis of rut depth with Sd showed that $R^2$ values of wheel rubber thickness of 15mm, 7.5mm and 0mm were 0.7, 0.8 and over 0.9, respectively. In a case of steel wheel (0mm), the highest $R^2$ value was 0.9569. Therefore, the wheel without rubber ring was the best in output consistency level and coefficient of determination $(R^2)$ with deformation strength. Therefore, the steel wheel without rubber ring is suggested as the best choice for wheel tracking test of asphalt concrete.

• Korean journal of applied entomology
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• v.32 no.1
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• pp.24-29
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• 1993

Experiments were conducted to study effects of different bioassay methods on toxicity to the German cockroach (Blattella germanica L.) ith six insecticides. For male adults, by dry film method, the {TEX}$LC_{50}${/TEX} value of chlorpyrifos. fenvalerate, propoxur, permethin, DDVP, and hydramethylnon was 1.79, 1.87, 3.04, 4.37, 32.72, and 270.81 ppm, respectively and the same tendency was shown in the female. For male adults, by topical micro-application method, the {TEX}$LD_{50}${/TEX} value of DDVP and fenvalerate, chlorpyrifls, permethrin, propoxur, hydramethylnon was 2.63, 3.79, 4.51, 6.73, 44.99 $\mu\textrm{g}$/g, respectively and the same tendency was shown in the female. From the diet toxicity method against male adults, the CT value (Concentration%$\times${TEX}$LT_{50}${/TEX}) showed that chlorpyrifos was rapid effective and hydramethylnon was residual effective.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.89-98
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• 2017

The control moment gyroscope(CMG) can be used for essential balancing control of a one-wheeled mobile robot. A single-gimbal CMG has a simple structure and can supply strong restoring torque against external disturbances. However, the CMG generates unwanted directional torque also besides the restoring torque; the unwanted directional torque causes instability in the one-wheeled robot control system that has high rotational degrees of freedom. This study proposes a control system for a one-wheeled mobile robot by using a CMG scissored pair to eliminate the unwanted directional torque. The well-known LQR control algorithm is designed for robustness against modeling error in the dynamic motion equations of a one-wheeled robot. Computer simulations for 3D nonlinear dynamic equations are carried out to verify the proposed control system with the CMG scissored pair and the LQR control algorithms.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.1-6
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• 2015

In this paper, a fuzzy control method is used for balancing a single-wheel robot. A single-wheel robot controlled by the PD control method becomes easily unstable since the flywheel tends to lean against one direction. In the previous research, we have used the gain scheduling method. To remedy this problem, in this paper, a fuzzy compensation technique is proposed to compensate for the balancing angle. The fuzzy control method compensates offset values at the balancing angle to prevent the gimbal from falling against one direction. Experimental studies of the balancing control performance of a single-wheel mobile robot validate the proposed control method.

• Journal of Korea Game Society
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• v.20 no.4
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• pp.3-10
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• 2020

The purpose of this paper is to make a game design to overcome traditional prevention system. Cases such as recent cockroach floodings in Seoul, which shows difficulties on understanding the appearance pattern of cockroaches and limitations of the quarantine systems are increasing frequently theses days. In particular public sewer systems which is essential for urban development, face problems due to urban sprawl. In order to solve the problem this study proposes a game design building collective intelligence through citizen participation on cockroach prevention problems.

• Journal of Korea Society of Industrial Information Systems
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• v.24 no.5
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• pp.121-127
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• 2019

This paper proposes an operator-centric velocity generation and control algorithm for differential-drive mobile robots, which are widely used in many industrial applications. Most of the previous works use a robot centric velocity generation and control for the operators to control the differential-drive mobile robots, which makes the robot control difficult for the operators. Such robot-centric control can cause the increase of accidents and the decrease of work efficiency. The experimental results with a real differential-drive mobile robot testbed demonstrate the efficiency of operator-centric mobile robot control.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.81-84
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• 2007

바퀴구동형 로봇 메카니즘은 다양한 서비스 로봇에 활용되고 있는데, 이 로봇을 위하여 가장 기본적으로 요구되는 성능중의 하나는 등반능력과 관련된 구동모터의 사양을 결정하는 문제를 들 수 있다. 본 논문에서는 이러한 바퀴구동형 로봇 메카니즘의 등반능력을 고려하고, 경사면을 원활하게 주행하기 위한 필요조건을 제시하고자 한다. 결과적으로, 이러한 조건은 이동로봇 메카니즘의 설계에 유용하게 활용될 수 있을 것으로 기대한다.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1967-1968
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• 2006

본 논문에서는 비전과 관성센서를 이용하여 2바퀴를 가지는 이동장치를 개발하였고, 이에 대한 역학 모델을 제안한다. 본 이동장치에서 바디부분은 바퀴의 축에 직접 연결되어 있으므로 물리적인 결속이 필요한 기존의 센서로는 진자의 기울어짐을 알 수 없다. 따라서 바디의 기울어짐을 측정하기 위하여 관성센서를 사용하였다. 보다 안정된 주행을 위해 바닥의 기울어짐을 측정하기 위해 비전을 이용하였다.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1327-1328
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• 2015

본 논문에서는 스틱 모델을 사용하여 외바퀴 로봇의 수직 방향에서 생기는 파라메트릭 진동을 시뮬레이션 분석하고, 분석된 결과를 바탕으로 제어 법칙을 유도한 다음, 실험을 통해 성능을 검증한다. 실험에 활용된 외바퀴 로봇은 수평 방향에 대해서는 비례미분제어기를 사용하고, 수직 방향에 대해서는 진동제어기를 활용한다.

• 전기의세계
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• v.42 no.9
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• pp.12-19
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• 1993

재래식 철바퀴 철도에서는 바퀴가 레일을 단락시킴으로써 열차의 위치를 알아낼 수 있으나 자기부상식 철도나 고무타이어식 철도에서는 이런 단락회로를 얻을 수 없기 때문에 공간적으로 분리된 유도무선식에 의한 위치검지가 채택되고 있다. 유도무선방식에 의한 열차위치검지는 자기부상식이나 고무타이어식 철토에서만이 이용되는 것이 아니라 열차의 보다 정밀한 위치정보를 얻기 위하여 철바퀴식 철도에서도 사용될 수 있는 범용적인 위치검지방식이다. 따라서 이 방식에 대한 연구가 지속되어 재래식 철도와 자기부상식 철도에서 공통으로 사용될 수 있는 신호시스템으로 개발되기를 바란다.