• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1219-1220
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• 2010

• Electric Engineers Magazine
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• v.232 no.12
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• pp.18-23
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• 2001

케이블 인입시 손상을 방지하기 위하여 케이블이 타시설물에 접촉 우려가 있는 장소에는 로라, 쉬트 및 ELP 관 등을 사용하여 케이블 포털시는 캐터필러 및 로러를 사용하므로 인입장력 및 측압에 대해서는 고려하지 않아도 되겠으나 인입속도 및 포설 곡률반경 등에 대해서는 관로식 케이블 포설의 경우와 같이 주의가 요구된다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.425-426
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• 2011

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.541-542
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• 2006

A micro-size caterpillar mixer has been recently used fur desktop chemical factory and so attractive due to small investment fund for arranging the factory and high efficiency by mixing in sub micro-level region. We report the fabrication of caterpillar mixer and its surface treatment for enhancement of mixing performance. We used the

• Proceedings of the Korea Information Processing Society Conference
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• 2019.10a
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• pp.802-805
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• 2019

본 논문은 이동로봇의 H/W에 관한 연구로서, 기존의 비평탄 지형의 자율주행 로봇이 수행하기 힘든 영역을 보완하기 위해 캐터필러 바퀴 기반의 플리퍼를 장착해 사물의 습득과 운반 기능을 적용함으로써 보다 정확한 주행 능력을 향상하는 방법을 제시한다.

• Journal of IKEEE
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• v.26 no.4
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• pp.602-613
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• 2022

This paper proposes an algorithm for correcting indirect situations resulting from the wheelchair moving the stairs with wheel-type caterpillar and seat position variable. For analyzing the Yawing movement model, the change of Yaw value was estimated using Roll, Pitch, and Yaw in the driving environment, and it was used as a control variable and the information of the wheel drive controller. The verification confirmed the correction of about 10° of Yawing movement within about 7 seconds. It was confirmed that the angular velocity was reduced by 47.5% in seat position change.

• Proceedings of the Korean Society of Computer Information Conference
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• 2015.01a
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• pp.171-173
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• 2015

최근 원격 탐사를 이용한 사람이 탐사하기 어려운 환경을 대신 탐사 할 수 있는 로봇의 필요성이 두각 되고 있다. 그 중에 화재현장 탐사 로봇은 일부 지형의 협소함 탓에 사람의 탐사를 대신하기 위한 목적으로 지속적인 개발이 이루어지고 있다. 이 로봇은 아두이노(Arduino) 보드를 기반으로 하여 현장에 있는 탐사로봇으로 지형에 대한 정보 및 영상을 사용자에게 전송함으로써 사람의 탐사현장 투입을 대체한다. 탐사로봇은 거리가 멀어질수록 혹은 장애물이 많은 공간일수록 통신 신호가 약해지거나 이동의 어려움 때문에 성능저하가 우려된다. 또한 센서 및 모터제어와 영상 송출이 각각의 프로그램을 통해 동작하므로 일일이 실행하여 사용에 번거롭다는 문제가 있다. 이러한 문제점들은 통신 거리가 긴 동글(dongle)을 설치하여 통신장애를 해결하고 캐터필러의 사용으로 이동성을 향상하였다. 마지막으로 여러 프로그램을 하나의 프로그램으로 새로 구현하여 편리성을 높였다.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.427-433
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• 2013

Stair climbing is one of critical issues for field robots to widen applicable areas. This paper presents optimal design on kinematic parameters of a new robotic platform for stair climbing. The robotic platform climbs various stairs by body-flip locomotion with caterpillar type main platform. Kinematic parameters such as platform length, platform height, and caterpillar rotation speed are optimized to maximize stair-climbing stability. Three types of stairs are used to simulate typical user conditions. The optimal design process is conducted based on Taguchi methodology, and resulting parameters with optimized objective function are presented. In near future, a prototype is assembled for real environment testing.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.5
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• pp.1125-1131
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• 2012

According to abrupt decrese in number of farmer and ageing society, there has been a need for development of low cost agricultural robot. In this paper, a H/W and S/W platform of caterpillar type agricultural chemical dusting robot based on XP embedded system were described. The developed agricultural robot has 2 d.o.f caterpillar type driving wheel and 2 d.o.f chemical dusting spray mechanical system. The H/W platform of the agricultural robot consists of robot controller, remote controller and sensor controller. In S/W platform, 5 processes work concurrently, which are task manager, TCP-IP communication process, localization process, wheel control, and sensor control process. This robot platform has been developed for chemical dusting robot. We proved this system's validity through field test.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.55-56
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• 2006

This paper describes a new concept of the robot that can climb on the vertical plane. The engineering design problem of the main structure is presented and the experimental results regarding a new mechanism of climbing on the vertical wall are discussed. The locomotive motion of the robot is realized by using a series chain of two caterpillar wheels on which 24-suction pads are installed. White each caterpillar wheel rotates on the vertical plane surface, the vacuum pads are activated in sequence based on the sequential opening by specially designed mechanical valves. The detail design feature of the valve is also described in this paper. The overall size of the robot is around 460 mm in width and length, respectively, and 200 mm in height. Its mass is slightly over 14 kg. The main mechanical structure of the robot consists of driving motors, vacuum caterpillar system, steering part, vacuum pump and battery. The performance of the robot is verified on the vertical wall.