• Journal of Biosystems Engineering
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• 제32권2호
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• pp.91-96
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• 2007

In this study, a prototype remote controlled weeder using solar module was developed and the evaluations of weeding, side walking and weeding performance were conducted to see if actual application was feasible in the paddy field. When traveling, the loss electric current was 8 to 15 A depending on operating and soil conditions. The average traveling speed was 0.25 m/s and the average slippage was 18%. When it side walked row by row, electric current consumption was 7 A on the average. When wheel rotors line went initially up and last down, electric current consumption was 12 to 15 A due to soil resistance. Electric current consumption when shifting wheel rotors line was less than 5 A due to no resistance. Field efficiency was 105 min/10a based on the test field. Operation was able to be done for 4.16 hours continually by 52 AH battery based on 300 W average maximum power consumption and 4.6 hours under sunny day considering solar module.

• 한국자동차공학회논문집
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• 제25권2호
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• pp.140-148
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• 2017

Accidents involving wheelchair accessible vehicles have been frequently occurring since the introduction of these vehicles in the Korean market. However, detailed regulations, which are required to ensure the safety of the wheel-chair occupants, are unavailable. In this study, both domestic and international vehicle safety regulations are analyzed in order to select the regulations that are similar to the transportation environment of Korea. Sled tests with an actual wheel-chair accessible vehicle were carried out based on the analyzed regulation requirements, as well as the values of the HIC, belt loads, dummy movements, and wheelchair movements. The test results showed that the movements of the dummy and the wheelchair did not meet the criteria of the regulation due to the improper positioning of the restraint systems.

• 한국기계가공학회지
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• 제15권2호
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• pp.84-88
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• 2016

This study evaluated the structural safety of a heavy-duty integrated machine for grinding wheel forming. Structural analysis was performed to evaluate the structural safety of the base. The base was designed by dividing the single base and detachable base. The analysis conditions were applied to the own weight and the load of component parts. From the structural analysis results, although the stress of the detachable base was decreased, the amount of deformation was increased. If the deformation of the detachable base decreases, it is expected to be safer than the single base.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.184-191
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• 2009

The common requirements of rough terrain mobile robots are long-term operation and high mobility in rough terrain to perform difficult tasks. In rough terrain, excessive wheel slip could cause an increase in the amount of dissipated energy at the contact point between the wheel and ground or, even more seriously, the robot could lose all mobility and become trapped. This paper proposes a traction control algorithm that can be independently implemented to each wheel without requiring extra sensors and devices compared with standard velocity control methods. The proposed traction algorithm is analogous to the stick-slip friction mechanism. The algorithm estimates the slippage of wheels by angular acceleration change, and controls the increase or decrease state of torque applied to wheels Simulations are performed to validate the algorithm. The proposed traction control algorithm yielded a 65.4% reduction of total slip distance and 70.6% reduction of power consumption compared with the standard velocity control method.

• Structural Engineering and Mechanics
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• 제77권2호
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• pp.231-243
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• 2021

In this paper, a dynamic response mapping model of the wheel-rail system is established by using the support vector regression (SVR) method, and the hierarchical safety thresholds of the subgrade void are proposed based on the reliability theory. Firstly, the vehicle-track coupling dynamic model considering the subgrade void is constructed. Secondly, the subgrade void area, the subgrade compaction index K30 and the fastener stiffness are selected as random variables, and the mapping model between these three random parameters and the dynamic response of the wheel-rail system is built by using the orthogonal test and the SVR. The sensitivity analysis is carried out by the range analysis method. Finally, the hierarchical safety thresholds for the subgrade void are proposed. The results show that the subgrade void has the most significant influence on the carbody vertical acceleration, the rail vertical displacement, the vertical displacement and the slab tensile stress. From the range analysis, the subgrade void area has the largest effect on the dynamic response of the wheel-rail system, followed by the fastener stiffness and the subgrade compaction index K30. The recommended safety thresholds for the subgrade void of level I, II and III are 4.01㎡, 6.81㎡ and 9.79㎡, respectively.

• 한국산업정보학회논문지
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• 제27권2호
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• pp.53-59
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• 2022

본 논문에서는 사용자의 다양한 작업 환경을 고려하여 원격 제어가 가능한 이동식 로봇을 설계한다. 구체적으로는 소정의 방향으로 이동하며, 사용자의 손동작 움직임에 동기화되어 일련의 작업을 수행할 수 있는 이동식 원격작업 로봇, 그리고 이를 제어하는 제어시스템 및 제어방법을 제안하였다. 위험물 또는 고중량 물품 운반과 같은 작업 보조를 위해 로봇 손과 이동을 위한 휠을 이용하여 구현하였다. 개발한 로봇의 성능 평가를 위하여 로봇 손의 운반 가능한 최대 중량과 로봇의 이동 가능한 경사 등을 테스트하였고, 시험 평가 결과는 목표한 대부분의 설계 사양을 만족하였다.

• 로봇학회논문지
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• 제18권2호
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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.

• 한국안전학회지
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• 제27권2호
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• pp.84-91
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• 2012

This study evaluated three forces (lifting, pushing and twisting) required to maneuver the single-wheel barrows according to handle height, width, horizontal angle and vertical angle. The four independent variables were varied in two levels. Handle height was varies in two levels : 'knuckle height (KH)' and 'KH + 0.1 ${\times}$ stature'. The two handle widths were '1.5 ${\times}$ shoulder width (SW)' and '1.75 ${\times}$ SW'. Two angles of $0^{\circ}$ and $15^{\circ}$ were used for horizontal and vertical angles. The 24 factorial design was used in the experiment. Twelve healthy male students (undergraduate and graduate) participated in the experiment. Subjects exerted three forces (pushing, lifting, and twisting clockwise) in each experimental condition. The order of 16 treatment conditions was determined randomly. Results showed that the effects of the four factors were different according to three forces. While lifting and twisting forces were higher in 'knuckle height', the pushing force was higher in 'KH + 0.1 ${\times}$ stature' (p < 0.05). Lifting and pushing forces showed higher values in the horizontal angle $0^{\circ}$ than in $15^{\circ}$. Handle width and vertical angle showed no statistically significant main effects on three forces (p > 0.05). Results of this study could be used as basic data for the ergonomic design of handle variables of one- or two-wheel barrows.

• 항공우주기술
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• 제6권1호
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• pp.19-28
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• 2007

본 연구에서는 올레오-뉴메틱(Oleo-pneumatic) 완충장치와 차등 제동 조향(Differential Braking Steering)을 위한 캐스터링 휠 포크(Castering Wheel Fork)가 적용된 소형항공기용 전방착륙장치의 충격하중 해석을 위한 비선형 2 자유도 수학적 모델을 생성하고, 수치해석 기법을 이용하여 시간에 따른 충격응답을 구하였다. 생성된 전방착륙장치의 수학적 모델은 타이어의 충격 시 동적 특성과 스트루트 기울기, 캐스터에 의한 모멘트, 타이어 접촉과 조향 등에 의해 발생하는 측면하중에 의한 올레오 스트루트 내부의 마찰 특성 등의 비선형 요소들을 포함하고 있다. 또 생성된 운동방정식의 수치해석은 4차 Runge-Kutta 방식을 이용하였으며, 운동방정식 및 수치해의 정확도를 평가하기 위한 타 항공기에 기 적용된 전방 착륙장치의 낙하시험 결과와의 비교 검증과정을 수행하였다.

• 한국항행학회논문지
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• 제18권2호
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• pp.134-141
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• 2014

이동로봇의 주행에는 주로 바퀴 엔코더, 비전, 초음파, 레이저 센서가 많이 사용된다. 바퀴의 엔코더는 추측항법으로 시간에 따라 오차가 누적되기 때문에 단독 사용으로는 정확한 로봇의 위치를 계산할 수가 없다. 비전 센서는 풍부한 정보를 제공하지만 정보추출에 시간이 많이 소요되고, 초음파 센서는 거리정보의 정확도가 떨어지기 때문에 항행에 사용하기에는 어려움이 있다. 반면 레이저 센서는 비교적 정확한 거리정보를 제공하여 주므로 주행 센서로 사용하기 적합하다. 본 논문에서는 레이저 거리계에서 각도를 추출하는 방법을 제안하고 칼만 필터를 사용하여 레이저 거리계에서 추출한 거리 및 각도와 바퀴 엔코더에서 추출한 거리 및 각도에 대한 정합을 수행한다. 일반적으로 레이저 거리계 사용시 특징점 하나를 사용한 경우에 그 특징점이 변하거나 새로운 특징점으로 이동할 때 오차가 커질 수가 있다. 이를 보완하기 위해 이동 로봇의 주행 시 레이저 스캐너에서 두 개의 특징점들을 사용하는 방법을 사용하여 이동 로봇의 항법 성능이 향상됨을 보인다.