• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.124-132
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• 2022

With growth in intelligence of mobile robots, interaction with humans is emerging as a very important issue for mobile robots and the pedestrian tracking technique following the designated person is adopted in many cases in a way that interacts with humans. Among the existing multi-object tracking techniques for pedestrian tracking, Simple Online and Realtime Tracking (SORT) is suitable for small mobile robots that require real-time processing while having limited computational performance. However, SORT fails to reflect changes in object detection values caused by the movement of the mobile robot, resulting in poor tracking performance. In order to solve this performance degradation, this paper proposes a more stable pedestrian tracking algorithm by correcting object tracking errors caused by robot movement in real time using wheel odometry information of a mobile robot and dynamically managing the survival period of the tracker that tracks the object. In addition, the experimental results show that the proposed methodology using data collected from actual mobile robots maintains real-time and has improved tracking accuracy with resistance to the movement of the mobile robot.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.143-154
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• 2023

In this study, a fast motion planning method for the swing motion of a 6x6 wheel-legged robot to traverse large obstacles and gaps is proposed. The motion planning method presented in the previous paper, which was based on trajectory optimization, took up to tens of seconds and was limited to two-dimensional, structured vertical obstacles and trenches. A deep neural network based on one-dimensional Convolutional Neural Network (CNN) is introduced to generate keyframes, which are then used to represent smooth reference commands for the six leg angles along the robot's path. The network is initially trained using the behavioral cloning method with a dataset gathered from previous simulation results of the trajectory optimization. Its performance is then improved through reinforcement learning, using a one-step REINFORCE algorithm. The trained model has increased the speed of motion planning by up to 820 times and improved the success rates of obstacle crossing under harsh conditions, such as low friction and high roughness.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.19-19
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• 2017

자율주행 트랙터를 위한 트랙터 조향제어는 일반적으로 전자모터를 이용한 EPS(Electric Power Steering) 시스템을 스티어링 휠에 연결하여 회전변위를 변경하고 그 결과 오비트롤(Orbitrol) 밸브의 토출유량을 바꾸고 호스로 연결된 조향실린더의 변위를 조절하여 최종적으로 전방 타이어의 방향각을 변경하면서 이루어진다. 이러한 조향방식은 시스템 구조상 조향실린더와 오비트롤 밸브가 상대적으로 멀리 떨어져 있으며, 밸브 특성상 약 ${\pm}5^{\circ}$의 오버랩이 포함되어 있다. 또한, EPS의 전자모터는 관성력, 마찰, 백래시 등의 영향을 가진다. 이와 같은 복합적인 영향은 조향 응답을 느리게 만들어 상대적으로 빠른 속도에서 주행에서 추종성능이 떨어지는 문제가 발생한다. 본 연구에서는 자율주행 트랙터의 조향성능 개선 연구의 일환으로 조향 HILS 시뮬레이터를 설계제작하여 조향 성능의 요인을 실험적으로 구명하고자 하였으며 이를 바탕으로 조향 시스템의 설계개선 방안을 수립하고자 하였다. 시뮬레이터는 동양물산 80 마력급 TX803 트랙터에 사용되는 오픈센터방식의 오비트롤 유압회로 시스템을 기어펌프가 장착된 AC모터로 구동되게 구성하였으며, 유량은 모터의 주파수를 조절 회전속도를 조절 변경하였다. 추가적으로 EPS와 오비트롤 조합의 조향성능을 비교 및 개선하기 위해 비례제어밸브(PVG 32, Danfoss)를 추가 장착하였다. 실제 트랙터 조향 시 나타나는 마찰저항을 모사하기 위해 부하 실린더를 구성하였으며, 조향 실린더의 부하의 크기는 부하 실린더를 폐회로를 구성하고 유량비례제어밸브를 이용한 유로의 개구량 조절을 통해 부하의 크기를 약 4000 N 까지 증가시킬 수 있도록 하였다. EPS와 비례제어밸브를 제어하기 위해 CANoe 8.0 소프트웨어를 이용하여 CAN통신 기반 가상 조향ECU를 구성하였으며 오비트롤의 기본 성능을 확인하기 위해 조향휠에 따른 실린더 동특성 및 계단 추종성능을 비례제어밸브와 비교하였다. 오비트롤 밸브는 약 ${\pm}5^{\circ}$이상 동작 시 실린더 압력이 상승하기 시작하였으며, 이후 약 ${\pm}10^{\circ}$이상 동작 시 조향실린더가 동작하기 시작하였다. 계단 추종성능실험에서는 비례제어밸브가 약 2배 이상의 응답개선을 나타냈다. 자율주행 경로추종 성능을 향상시키기 위해서는 순간적인 출력밀도가 높은 비례제어밸브를 통해 응답개선이 필요한 것으로 나타났다.

• International Journal of Highway Engineering
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• v.8 no.1 s.27
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• pp.77-87
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• 2006

Dynamic stability (DS) in the wheel tracking (WT) test is used as a basic index of rut-resistance for asphalt mixtures. In general, the deeper rut depth is obtained from the weaker mixture, resulting in the lower DS value. On the other hand, the shallower rut depth is obtained from the stronger mixture, resulting in the higher DS. However, it is not always the case when the DS is calculated by the existing method because the DS is simply determined based on the slope at the final stage of the rut depth-cycle curve. Specifically, in the case of the depth-cycle curve showing a steeper slope in the early part but flatter slope in last part, the DS is calculated to be higher than the curve showing a ever-increasing slope throughout the test. As long as the last part of slope is flatter, the deeper final rut depth is evaluated to show a higher DS than the little final rut depth. Therefore, a reasonable method for DS evaluation need to be established. Several new methods were suggested by considering the early, middle and final parts of rut depth to determine a reasonable DS. The results have shown that those new methods have demonstrated a significant improvement in distinguishing similarly performing mixtures. The result also showed that $DS_2$ had better correlation with SD than any other methods , representing the rutting resistance of asphalt mixture very well. The new DS calculation method is relatively simple and easy to follow. More validatin study is required for practical application.

• Journal of Korean Ophthalmic Optics Society
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• v.16 no.2
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• pp.107-115
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• 2011

Purpose: To design and fabricate the distributed auto edging machine for the development. Methods: We got the necessary data needed in design by using CAD. Based on the these data, we fabricated the trial product for the development of the distributed auto edging machine. Results: The patternless mode could be operated by receiving the eyesize data from the auto lay-outer with the RS232C transmission system and the pattern mode could be operated by setting the pattern on the left side of the machine. The distributed auto edging machine were composed with combinations of many elements; head, auto arm, pattern clamp and grinding wheels. The head part controlled the grinding of ophthalmic lens by operating the vertical and horizontal motors. The wheels part was comprised of glass mode, plastic mode, V-bevel mode and polish mode. The slide in the auto arm was equipped on the below of the patten and the slide could hold up the pattern which was rotated by fixed shaft. The pattern clamp could move the head part to the up and down or right or left way by the manual operation of optometrists. Conclusions: We could succeed in making the trial product by applying it to the development of the distributed auto edging machine which could be used as the patternless mode and pattern mode, selectively. Therefore, it was confidently expected that this product was very helpful for the optometrists to dispense the ophthalmic lens because of its cost-efficiency and convenience.

• Journal of the Korean Recycled Construction Resources Institute
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• v.4 no.4
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• pp.489-495
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• 2016

In this study, the Warm-Mix Asphalt was prepared using a modified Sulfur Binder mixed with an additive of a polymer component in sulfur, which is an industrial by-product generated in the crude oil refining process. The dynamic stability and durability characteristics of the prepared Warm-Mix Asphalt was evaluated by the indirect tensile strength, the tensile strength ratio before and after water immersion and freezing-thawing, and the dynamic stability by wheel tracking test. The Warm-Mix Asphalt Mixtures using Modified Sulfur Binder has a tensile strength ratio before and after water immersion of 0.88, which is about 1.13 times that of the Warm-Mix formed modified Asphalt, and the tensile strength ration before and after freezing-thawing is also 0.82, thus, all tensile strength ratios satisfied the KS quality standard value of 0.75 or more. The indirect tensile strength was 1.6MPa which was twice the KS quality standard value of 0.8MPa, and about 1.24 times higher than that of normal heated asphalt 1.29MPa. In addition, the dynamic stability by the wheel tracking test was 14,075 times/mm, which was about 15 times higher than that of normal heated asphalt and about 3 times higher than that of the Warm-Mix formed modified Asphalt, showing excellent resistance to plastic deformation such as fatigue cracks.

• Journal of IKEEE
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• v.25 no.1
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• pp.148-155
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• 2021

As robot technology advances, research on the driving system of mobile robots is actively being conducted. The driving system of a mobile robot configured based on two-wheels and four-wheels has an advantage in unidirectional driving such as a straight line, but has disadvantages in turning direction and rotating in place. A ball robot using a ball as a wheel has an advantage in omnidirectional movement, but due to its structurally unstable characteristics, balancing control to maintain attitude and driving control for movement are required. By estimating the position from an encoder attached to the motor, conventional ball robots have a limitation, which causes the accumulation of errors during driving control. In this study, a driving control system was proposed that estimates the position coordinates of a ball robot through image processing and uses it for driving control. A driving control system including an image processing unit, a communication unit, a display unit, and a control unit for estimating the position of the ball robot was designed and manufactured. Through the driving control experiment applying the driving control system of the ball robot, it was confirmed that the ball robot was controlled within the error range of ±50.3mm in the x-axis direction and ±53.9mm in the y-axis direction without accumulating errors.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.12
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• pp.1037-1048
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• 2018

In this paper, we investigated the international guidelines and actual disposal maneuver cases to prepare KOMPSAT-2 post mission disposal. And then, disposal maneuver plan was established using current propellant of KOMPSAT-2 and verification was also performed to find out whether the international guidelines are satisfied. As a result, the lifetime of KOMPSAT-2 was 3.6 years when 45kg propellant was used to decrease perigee altitude to 300km. And if more than 14.5kg propellant consumed for same strategy, KOMPSAT-2 can satisfy the international guidelines. Finally, re-entry survivability analysis was performed and it represented that heat resistant objects, such as propellant tank and reaction wheel, could be survived but total ground casualty probability was less than international guidelines.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.2
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• pp.57-66
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• 2009

In this paper, the steering characteristics of tracked vehicles are studied for the improvement of steering performance. The important design factor of military vehicles is high mobility. It is influenced by weight of a vehicle, engine capacity, power-train, and steering system. The military vehicle, which is equipped with caterpillar, has unique steering characteristics and is quite different from that of a wheeled vehicle. The steering of tracked vehicles is operated in the power pack due to different speeds of both sprockets. Under cornering conditions, power split and power regeneration are happened in the power pack. In case of power regeneration, power is transferred outside track after adding engine power and power inputted inside track from the ground. However, excessive power regeneration is transferred in the power pack. It damages mechanical elements. Therefore, it is necessary to analyze the steering system and check mentioned problem above. In this study, the detailed dynamic model of steering system is presented, which includes slippage between track and roadwheel, inertia force, and inertia moment. Finally, our model is compared with the Kitano model and we verified the validity of the model.

• Tribology and Lubricants
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• v.23 no.6
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• pp.312-317
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• 2007

In general, a brake system of axle for heavy duty machine as a wheel excavator makes use of wet-type multiple disk brakes. These disk bakes are very important parts of heavy duty machine because they are advanced in durability and braking power, and can be designed compactly. Thus, we designed and made wet-type multiple disk brakes of axle for the 14ton class wheel excavator to be localization of these imported all. These disk brakes were made a comparative test with the existing disk brakes by the SAE No.2 dynamometer, and the friction characteristics as dynamic and static friction coefficient and wear depth of friction paper were measured.