• Journal of the korean Society of Automotive Engineers
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• 제22권1호
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• pp.86-88
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• 2000

• The Inventors News
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• 25호
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• pp.7-7
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• 2004

바바리의 `레인코트` - 오노의 `바퀴 오라오라` - 메리 퀸트의 `미니스커트` - 자동 음식 찌꺼기 압축 장치

• Korean Architects
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• 통권624호
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• pp.92-95
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• 2021

• The KIPS Transactions:PartC
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• 제8C권2호
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• pp.134-140
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• 2001

스케쥴링 알고리즘들은 제안된 패킷 지연을 가진 각 연결에 대하여보장된 대역을 제공한다. 스케쥴링 알고리즘의 일종인 WRR은 매우 간편하며 각 큐에 다른 가중치를 할당하여 여러 큐를 직접 제어한다. BSW 알고리즘은 WRR 스케쥴러를 구현하는데 버퍼 관리를 효율적으로 수행하도록 제안되었다. 그러나 BSW 알고리즘은 VC에 실제 할당된 가중치 보다 더 많은 가중치를 할당하고 서비스 받을 VC의 큐가 비어있을 때 서비스를 수행하지 않기 때문에 셀 지연 및 최대 큐 길이에서 심각한 성능 저하를 유발한다. 본 논문에서는 WRR 스케쥴링 알고리즘을 효율적으로 수행할 수 있는 새로운 BSW 구조를 제안한다. 또한, 새로운 BSW 구조에 적합한 셀 스케쥴링 알고리즘을 개발한다. 제안된 BSW 구조와 알고리즘은 VC에 할당된 가중치를 정확히 유지 할 수 있고, 서비스 받을 VC큐가 비어 있을 경우 다른 VC 셀을 서비스하여 평균 셀 지연 및 최대 버퍼 크기를 감소시킨다. 그리고 셀 서비스율을 전체적으로 증가시킨다.

• Journal of the Korean Society for Precision Engineering
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• 제19권5호
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• pp.118-125
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• 2002

The previous kinematic analysis of wheeled mobile robots(WMRs) is performed in an ad-hoc manner, while those of the robot manipulators are done in a consistent way using the coordinate system assignment and the homogeneous transformation matrix. This paper shows why the method for the robot manipulators cannot be used directly to the WMRs and proposes the method for the WMRs, which contains modeling the wheel with the Sheth-Uicker notation and the homogeneous transformation. The proposed method enable us to model the velocity kinematics of the WMRs in a consistent way. As an implementation of the proposed method, the Jacobian matrices were obtained for conventional steered wheel and non-steered wheel respectively and the forward and inverse velocity kinematic solutions were calculated fur a tricycle typed WMR. We hope that our proposed method comes to hold an equivalent roles for WMRs, as that of the manipulators does for the robot manipulators.

• The Transactions of the Korean Institute of Power Electronics
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• 제6권3호
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• pp.299-306
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• 2001

It is one of the most effective methods for performance improvement of electric railway vehicle to make better the wheel-rail adhesion character. In order to research adhesion character, adhesion system is developed. The experiment system makes it possible to change various adhesion parameters. This paper studied to restrain vibration of slip speed using torque control gy means of slip speed.

• Transactions of the Korean Society of Mechanical Engineers
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• 제15권5호
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• pp.1447-1454
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• 1991

본 로봇은 wheeled type과 legged type의 장점을 함께 가지고 있으므로 주행 속도가 빠르며 환경적응력이 좋다. 기존 로봇과 비교할때 Y.Icihkawa등이 개발한 HLV와 가장 유사하지만 모터 3개로 6개의 바퀴-다리 유닛을 구동하므로 모터15개로 5개의 바퀴-다리유닛을 구동하는 Ichikawa HLV와 동력전달구조에서 많이 상이하다. 뿐만아니라 본 로봇은 3개의 모터만 사용했기 때문에 주행제어가 훨씬 간단하고 제작 비가 저렴하며 장애물 및 계단승강시 걸음새가 훨씬 간단하다.(Ichikawa HLV 경우 뒷 쪽 2개의 다리를 동시에 들 수 없기 때문에 계단 승강시 몸체 회전을 적절하게 섞어야 한다.)

• Journal of the Korean Society for Precision Engineering
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• 제28권2호
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• pp.211-218
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• 2011

We reported the design, prototype, test drive, and mechanical & electrical engineering analyses of a power-lifting wheelchair using mecanum wheels. Mecanum wheels enable translational and rotational movement of the device in any direction on the ground. The power-lifting capability enables the seated individual to reach the standing height of a non-disabled individual. This mecanum wheelchair is fully controlled by the joystick attached to the armrest. The motion of the wheelchair and lifting action of the seat were studied using statics and dynamics. We believe this mecanum wheelchair is a prime candidate for commercial production.

• Journal of the Society of Naval Architects of Korea
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• 제47권1호
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• pp.88-92
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• 2010

We propose a new design of the hybrid-magnet wheel to make it possible for a mobile robot to be attached to the vertical plane and be in motion. In the new suggested design, a permanent magnet is utilized to enhance the adhesive force, while an electromagnet is adopted to reduce the magnetic field and the adhesive force for detaching easily. To analysis the performance of the robot, 3 dimensional finite element analysis is executed using commercial electromagnetic analysis program, Maxwell. The results show that the adhesive force is reduced effectively by the electromagnet in the new designed robot system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 한국해양정보통신학회 2007년도 추계종합학술대회
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• pp.522-525
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• 2007

Most big difference of existing robot and biped robot stays at the leg. The wheel is very efficient with the portability than the leg. However biped robot can accomplish many role height. But The two thing which we take the center to the leg and walk to the stability is not easy work. Therefore this proposal make efforts that we try to find technical element for the walking of the robot through its design and implementation.