• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.2
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• pp.47-55
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• 2012

This work deals with dynamic analysis of a monorail system with magnetic caterpillar where magnets are embedded inside each articulated element of the caterpillar, augmenting traction force of main rubber wheels to climb up slope up to 15 degree grade. Considerations are first given to determine stiffness of the primary and secondary suspension springs in order for the natural frequencies of car body and bogie associated with vertical, pitch, roll and yaw motion to be within generally accepted range of 1-2 Hz. Equations for calculating magnetic force needed to climb up given slope are derived, and a magnetic caterpillar system for 1/6 scale monorail is designed based on the derivation. To assess the hill climbing ability and cornering stability, and make sure smooth operation of the side and vertical guiding wheels which is critical for safety, a multibody model that takes into account of every component level design characteristics of car, bogie, and caterpillar is set up. Through hill climbing simulation and comparison with measurement of the limit slope, the validity of the analysis and design of the magnetic caterpillar system are demonstrated. Also by studying the curving behavior, maximum curving speed without rollover, functioning of lateral motion constraint system, the effects of geometry of guiding rails are studied.

• 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

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.4
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• pp.279-285
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• 2016

In this paper, a platform design of caterpillar typed electrical vehicle is proposed. Nowadays, there have been many researches on mobile robots in the various ways. Many different fields such as military, exploration, agricultural assistance and disaster relief have applied the mobile robot. Design condition of stable angle, upset angle is reflect to caterpillar typed electrical vehicle. To experiment, developed a caterpillar typed electrical vehicle and design a driving controller. Developed caterpillar typed electrical vehicle is tested about operating and driving. Test environment is consisted of driving on flatland and climbing 15 degree and outdoor 40 degree slope. It is confirmed that developed tracked electric vehicular robot can driving and climbing.

• Korean journal of applied entomology
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• v.42 no.2
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• pp.119-124
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• 2003

The adult of the Cotton caterpillar, Palpita indica (Saunder) laid eggs more on mature leaves than on aged and developing leaves. They laid more on leaves than on petiole and stem, and more on the adaxial than on the abaxial surface side of the leaves. Larvae of the Cotton caterpillar showed their preference in the order of the cucumber (Cucumis sativus), gourd (Lagernaria siceraria), watermelon (Citrullus lanatus) ＞ oriental melon (Cucumis melon L. var makuwa), wax gourd (Benincasa hispida), melon (Cucumis melo), star cucumber (Sicyos angulatus) ＞ sponge cucumber (Lufa cylindrica), cotton (Gossypium indicum). There were no distinct differences among varieties and lines that were collected and hybridized at the Gochang Watermelon Experiment Station in Korea. There was a positive relationship between the leaf area and the degree of damage by the Cotton caterpillar. The feeding amounts of the Cotton caterpillar excrement were gradually increased to 16-18 days after hatching, after that the amounts of excrement were rapidly decreased.

• 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.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.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.39 no.4
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• pp.531-540
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• 2019

Existing dozer productivity computation models use different input variables, formulas, productivity correction factors, and experimental data source. This paper presents a method that characterizes the productivity outputs obtained by the PLS model and the Caterpillar model that are accepted as industry standards. The method identifies the input variables to be collected from the site, the performance charts to be referenced, and the formulas and implements them in a single computational tool. This study verifies that the PLS model may replace the manual computational process of Caterpillar model by eliminating reliance on graphics manipulation. Replacing the Caterpillar model with the PLS model and implementing the process as a function contributes to assess the productivity of a dozer timely by encouraging to utilize real-time information collected directly from the site. This study allows researchers and practitioners to effectively deal with the values of productivity correction factors collected from the job site and to control the productivity. The practicality and effectiveness of the method have been validated by applying to a project case.

• Journal of applied mathematics & informatics
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• v.34 no.5_6
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• pp.451-465
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• 2016

A Radio labeling of the graph G is a function g from the vertex set V (G) of G to ℤ⁺ such that |g(u) - g(v)| ≥ diam(G) + 1 - d_G(u, v), where diam(G) and d(u, v) are diameter and distance between u and v in graph G respectively. The radio number rn(G) of G is the smallest number k such that G has radio labeling with max{g(v) : v ∈ V(G)} = k. We investigate radio number for some families of generalized caterpillar graphs.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.4
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• pp.817-823
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• 2009

This paper proposes a robust method for mapping of a caterpillar-type mobile robot which inherently has uncertainty in its modeling by compensating for the estimated pose error of the robot. In general, a caterpillar type robot is difficult to model, which results in inaccuracy in Simultaneous Localization And Mapping(SLAM). To enhance the robustness of the SLAM for a caterpillar-type mobile robot, we factorize the SLAM posterior, where we used particle filter to estimate the position of the robot and Extended Kalman Filter(EKF) to map the environment. The simulation results show the effectiveness and robustness of the proposed method for mapping.

• 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.