• Journal of Biosystems Engineering
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• v.31 no.6 s.119
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• pp.489-499
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• 2006

Since the application of chemicals in confined spaces under the canopy of an orchard is hazardous work, it is needed to develop an autonomous guidance system for an orchard sprayer. The autonomous guidance system developed in this research could steer the vehicle by tracking an overhead guidance rail, which was installed on an existing frame structure. The autonomous guidance system consisted of an 80196 kc microprocessor, an inclinometer, two interface circuits of actuators for steering and ground speed control, and a fuzzy control algorithm. In addition, overhead guidance rails for both straight and curved paths were devised, and a trolley was designed to move smoothly along the overhead guidance rails. Evaluation tests showed that the experimental vehicle could travel along the desired path at a ground speed of 30 $\sim$ 50 cm/s with a RMS error of 5 cm and maximum deviation of less than 12 cm. Even when the vehicle started with an initial offset or a deflected heading angle, it could move quickly to track the desired path after traveling 2 $\sim$ 3 m. The vehicle could also complete turns with a curvature of 1 m. However, at a ground speed of 50 cm/s, the vehicle tended to over-steer, resulting in a zigzag motion along the straight path, and tended to turn outward from the projected line of the guidance rail.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.9 no.5
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• pp.1184-1192
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• 2008

There have been a large number of trials of the experimental education in engineering using virtual laboratories implemented in virtual space, namely on the Web. Although virtual education is regarded as an effective educational means that overcomes the limit of time and space and bring high teaming effects, the problem of lack of reality must be solved. The present study proposed and implemented a real-time remote laboratory as a solution for the problem of lack of reality in virtual education. The remote laboratory provides functions with which learners can perform experiments by remote-controlling circuits and equipment related to experiments and practices on the Web and gets data and image information, so through it learners can make realistic experiments at any time and in any place. The remote laboratory module based on Internet open sources such as JAVA Web start technology, FTP technology and Telnet technology in server-client environment can be implemented at low cost, and is effectively applicable to engineering experiment education in various areas related to real-time hardware control.