• 드라이브 ㆍ 컨트롤
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• 제13권1호
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• pp.49-53
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• 2016

The accurate calculation of bucket tip position has a large influence on showing the motion of an excavator on the display device of the excavator and controlling the excavator automatically. It is generally known that Inertial Measurement Unit (IMU) sensors are more accurate than accelerometer-based sensors while the boom, arm or bucket moves because additional forces beyond gravity add additional acceleration to the sensors. To prove the accuracy difference between the two types of sensors, a position recognition system using an accelerometer-based sensor and an IMU sensor is implemented on the excavator. The experimental results show that the system using the IMU sensor significantly reduces the position recognition error while bucket moves and additional force beyond gravity exists.

• Journal of Acupuncture Research
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• 제24권1호
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• pp.49-77
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• 2007

Objectives: The purpose of this study is to investigate the mechanism and effect of moxa bucket moxibustion. Objectively, to be used as the quantitative data through the measurement of temperature, and to grasp the thermodynamic characteristics of moxa bucket moxibustion. Methods: We have selected of the moxa bucket moxibustion. We make a comparative study of the thermodynamic characteristics of moxa bucket moxibustion. We examined combustion times, temperatures, temperature gradients in each period during a combustion of moxa bucket moxibustion made by oak wood. Results: 1. We can design the moxa bucket moxibustion that it has 57.6$^{\circ}C$ maximum temperature with 7g weight and 10mm height, if we use more weight of moxa or lower the height of moxa, we can observe relatively elavated maximum temperature. We observe the maximum temperature following the measuring position of moxa bucket and we can see higher temperature at the center of the moxa bucket and lower temperature at the side of the moxa bucket. 2. We can design the moxa bucket moxibustion with 5g moxa and 10mm height that it has 0.121 $^{\circ}C$/sec of maximum temperature gradient, and it has relatively high temperature gradient at lower weight and height condition. 3. We can design the moxa bucket moxibustion with 7g moxa and 15mm height that it has 4,135sec of the longest effective temperature combustion time, if we use more weight of moxa or higher height of moxa, we can observe relatively extended effective temperature combustion time. We observe the longest effective combustion time following the measuring position of moxa bucket. We can see higher temperature at the center of the moxa bucket and lower temperature at the side of the moxa bucket.

• Journal of Acupuncture Research
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• 제26권1호
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• pp.111-119
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• 2009

Objectives : The purpose of this study is to investigate the mechanism and effect of moxa bucket moxibustion, to be used as the quantitative data through the measurement of temperature, and to grasp the thermodynamic characteristics of moxa bucket moxibustion. Methods : We have selected the moxa bucket moxibustion. We have made a comparative study of the thermodynamic characteristics of moxa bucket moxibustion. We have examined combustion times, temperatures, temperature gradients in each period during a combustion of moxa bucket moxibustion made by oak wood. Results : 1. We could design the moxa bucket moxibustion so that it has $57.6^{\circ}C$ maximum temperature with 7g weight and 10mm height, if we use more weight of moxa or lower height of moxa, we can observe relatively elevated maximum temperature. We observed the maximum temperature following the measuring position of moxa bucket and we could see higher temperature at the center of the moxa bucket and lower temperature at the side of the moxa bucket. 2. We could design the moxa bucket moxibustion with 5g moxa and 10mm height so that it has 0.12 $1^{\circ}C/sec$ of maximum temperature gradient, and it has relatively high temperature gradient at lower weight and height condition. 3. We could design the moxa bucket moxibustion with 7g moxa and 15mm height so that it has 4,135sec of the longest effective temperature combustion time. If we use more weight of moxa or higher height of moxa, we can observe relatively extended effective temperature combustion time. Conclusions : We observed the longest effective combustion time following the measuring position of moxa bucket. We can see a higher temperature at the center of the moxa bucket and a lower temperature at the side of the moxa bucket.

• 유공압시스템학회논문집
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• 제5권4호
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• pp.32-37
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• 2008

For the bucket tip position control of the excavator, a traditional hydraulic excavator system was exchanged into an electro-hydraulic one. EPPR valves are attached to the traditional MCV and hydraulic joysticks are replaced by electronic ones to develop the electro-hydraulic system. To control the electronic pump with a good performance, the control logic for the pump is deduced from the AMESim simulation and the experimental method on the test bench. To get a good position control performance of the excavator bucket tip, PI+AntiWindup controller is selected as a position controller. The experimental results showed the good controllability for the electro-hydraulic excavator system on the test bench.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 추계학술대회 논문집
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• pp.509-510
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• 2008

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.363-366
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• 1996

A Reclaimer is used to dig raw material from a pile and transfer it to the blast furnaces. In this paper, we propose the method for trajectory landing position of bucket of reclaimer to fully automate the reclaimer. We use 3-dimensional range finder to detect the shape of a pile. From the image which was detected by 3-dimensional range finder, we extract the outline paths which has same height, and then determine digging height. Finally, we compute the landing point from the outline path. We can prevent overload which can occur on the bucket wheel and guarantee maximum production rate by using the algorithm for determining the landing position on the piles.

• 드라이브 ㆍ 컨트롤
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• 제21권1호
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• pp.31-37
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• 2024

In this study, to prevent accidents in underground facilities during excavation, we developed a Lv.3 automated control system that can be configured as an electronic control system without changing the existing hydraulic system in a general excavator and utilized digital map information of underground facilities. We aimed to develop a strategy to prevent accidents caused by operator error. To implement this, a real-time excavator bucket end position recognition and control system was developed through angle measurement of the boom, arm, and bucket using an electronic joystick, RTK-GPS, and angle sensors. In addition, excavators are large, machine-based equipment, and it is difficult to control overshoot due to inertia with feedback control using position recognition information of the bucket tip. Therefore, feed-forward control is used to calculate the moving speed of the bucket tip in real-time to determine the target position. We developed a technology that can converge and verified the performance of the developed system through actual vehicle installation and field tests.

• 드라이브 ㆍ 컨트롤
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• 제18권2호
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• pp.20-31
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• 2021

An excavator is a construction machine that can perform various tasks such as trenching, piping, excavating, slope cutting, grading, and rock demolishing. In the 2010s, unmanned construction equipment using ICT technology was continuously developed. In this paper, the path design process was studied to implement the output data of the decision stage, and the path design algorithm was developed. For example, the output data of the decision stage were terrain data around the excavator, excavator mechanism information, excavator hydraulic information, the position and posture of the bucket at key points, the speed of the desired bucket path, and the required excavation volume. The result of the path design was the movement of the hydraulic cylinder, boom arm, bucket, and bucket edge. The core functions of the path design algorithm are the function of avoiding impact during the excavation process, the function to calculate the excavation depth that satisfies the required excavation volume, and the function that allows the bucket to pass through the main points of the excavation process while maintaining the speed of the desired path. In particular, in the process of developing the last function, the node tracking method expressed in the path design table was newly developed. The path design algorithm was verified as this path design satisfied the JCMAS H02 requirement.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2007년도 정기 학술대회 논문집
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• pp.78-83
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• 2007

The paper focuses on the establishment of optimized bucket path planning and trajectory control designated for force-reflecting backhoe reacting to excavation environment, such as potential obstacles and ground characteristics. The developed path planning method can be used for precise bucket control, and more importantly for obstacle avoidance which is directly related to safety issues. The platform of this research was based on conventional papers regarding the kinematic model of excavator. Jacobian matrix was constructed to find optimal joint angles and rotation angles of bucket from position and orientation data of excavator. By applying Newton-Raphson method optimal joint angles and bucket orientation were derived simultaneously in the way of minimizing positional errors of excavator. The model presented in this paper was intended to function as a cornerstone to build complete and advanced path planning of excavator by implementing soil mechanics and further study of excavator dynamics together.

• 수산해양기술연구
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• 제43권3호
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• pp.212-221
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• 2007

This paper describes on the evaluation and management of work process in suction hopper dredger and grab bucket dredger as an application of a PC-based ECDIS system. The dynamic tracking of dredging bucket and the data logging of grab dredging information were performed by using the grab dredging vessel "Kunwoong G-18". The position and route tracking of the dredger moving toward the ocean dumping site of dredged material was performed by using the hopper dredging vessel "Samyang-7". The evaluation of wok process in the dredging field, for grab dredger, was continuously carried out on January to May, 2006, in Incheon Hang and for hopper dredger, on July to December, 2003, in Busan Hang, Korea. The dredging information, such as dredger's position, heading, dredging depth and route track which was individually time stamped during the dredging operation, was automatically processed in real-time on the ECDIS and displayed simultaneously on the S-57 ENC chart. From these results, we conclude that the ECDIS system can be applied as a tool in order to manage the work process during the dredging operation, and also in order to generate the factual record of the dredging activities that is sufficient for dredging inspector to accurately evaluate the contract performance even in the absence of a full-time onboard inspector.