• Journal of Biosystems Engineering
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• v.42 no.4
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• pp.235-241
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• 2017

Purpose: It is to develop an agricultural three-directional dumping vehicle that can help farmers reduce intensive labor when carrying heavy loads and for easy dumping. In addition, a novel mechanism was applied for controlling the direction of the tilting cargo box by using a single hydraulic cylinder and simple apparatus. The overturning safety was analyzed to provide safe-use ground slope region of the vehicle to be used at upland fields and orchards. Methods: The developed three-directional dumping vehicle was constructed using a cargo box, vehicle frame, driving components, lifting components, and controller. The novel mechanism of controlling the dumping direction involves the operation of two latching bars, which selectively release or collapse the connecting edge between the vehicle frame and cargo box. A multibody dynamics analysis software (RecurDynV8R5) was used to determine the safe-use ground slope area when tilting the cargo box at slopes. A computer analysis was conducted by increasing the ground slope while rotating the vehicle when the cargo box comprised loads of 300 and 500 kg and stacking heights of 40 and 80 cm, respectively. Results: The three-directional dumping vehicle was successfully manufactured, and the cargo box was tilted at $37^{\circ}$ and $35^{\circ}$ for dumping forward and sideways. The latching bars were manually and selectively collapsed with the vehicle frame to control the dumping direction. When forward dumping, the safe-use ground slope was over $20^{\circ}$ in all vehicle directions and loaded conditions. Conclusions: A three-directional dumping vehicle was developed to reduce labor-intensive work in the farming environment. The user can easily control the dumping direction by using the control panel. The vehicle was safe to be used in most of the Korean upland fields and orchards (area over 96%) for the forward dumping.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.12
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• pp.997-1003
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• 2014

This paper describes modeling process to obtain precise landing gear model which is necessary to design a control law for ground auto-taxi, auto take-off/landing of UAV. In this paper, landing gear side force modeling is studied to complete a landing gear model of UAV. Side force modeling is performed by calculating cornering angle including steering angle. And ground directional controller is designed by using nose wheel steering and rudder steering at the same time to control course angle error. Accuracy of landing gear side force modeling and ground directional controller is proved by comparing of auto-taxi test results with simulation results.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.623-640
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• 2017

The full nonlinear equations of an unmanned aerial vehicle ground taxiing mathematical dynamic model are built based on a type of unmanned aerial vehicle data in LMS Virtual.Lab Motion. The flexible landing gear model is considered to make the aircraft ground motion more accurate. The electric braking control system is established in MATLAB/Simulink and the experiment of it verifies that the electric braking model with the pressure sensor is fitted well with the actual braking mechanism and it ensures the braking response speediness. The direction rectification control law combining the differential brake and the rudder with 30% anti-skid brake is built to improve the directional stability. Two other rectifying control laws are demonstrated to compare with the designed control law to verify that the designed control is of high directional stability and high braking efficiency. The lateral displacement increases by 445.45% with poor rectification performance under the only rudder rectifying control relative to the designed control law. The braking distance rises by 36m and the braking frequency increases by 85.71% under the control law without anti-skid brake. Different landing conditions are simulated to verify the good robustness of the designed rectifying control.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.6
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• pp.1169-1176
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• 2018

The C-band omni-directional antenna for drone control is mounted on the top or bottom and used to configure the communication link. The communication link is affected by the LOS depending on the mounting position of the omni-directional antenna. In this paper, two kinds of embedded antennas were designed with a commercial simulation tool CST MWS, and EM analysis was performed to consider the mounting environment. Also, we propose the PTMP ground antenna to control a large number of drones. The ground antenna has a communication link of 30km, and it consists of four sector antennas in the horizontal direction and one directional antenna at the top.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.632-634
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• 1996

In modern train systems, the high-speed and the high-density of train operation have been required. Effective train control systems need various information interchanged between the ground-site and on-board devices. So the systems are essential to the digital systems to admit lots of information and to raise the accuracy of transmission. In this paper, it is dealt with n bi-directional transmission of digital information between on-board devices and ground-site. Especially, this paper shows the experiment of bi-directional transmission of mass information by using transponder.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.7
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• pp.686-692
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• 2006

This paper shows the calculation of 3D geometric information such as height, direction and distance under the constraints of a catadioptric camera system. The catadioptric camera system satisfies the single viewpoint constraints adopting hyperboloidal mirror. To calculate the 3D information with a single omni-directional image, the points are assumed to lie in perpendicular to the ground. The infinite plane is also detected as a circle from the structure of the mirror and camera. The analytic experiments verify the correctness of theory using real images taken in indoor environments like rooms or corridors. Thus, the experimental results show the applicability to calculate the 3D geometric information using single omni-directional images.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.75-81
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• 2013

This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels' contact to the ground during high acceleration, and localization for the real time position control.

• The Transactions of the Korean Institute of Power Electronics
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• v.17 no.6
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• pp.539-545
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• 2012

Due to merits cost and efficiency, the transformer-less type photovoltaic (PV) inverters have been popularized in the solar market. However, the leakage current flowing through a parasitic capacitor between PV array and ground can cause adverse effect in the transformer-less PV system. In this paper, a bi-directional PV inverter with high efficiency and low noise is proposed for the PV system with an energy storage device. The proposed inverter is a transformer-less type and performs the bi-directional power control between dc sources and grid with high efficiency. In addition, the proposed inverter can suppress the leakage current and obtain low noise characteristic. Finally, 3-kW prototype was implemented to confirm validity of the proposed inverter.

• Coupled systems mechanics
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• v.5 no.2
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• pp.101-126
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• 2016

Seismic structural fragility constitutes an important step for performance based seismic design. Lateral load-resisting structural members are often analyzed under one component base excitation, while the effect of bi-directional shaking is accounted per simplified rules. Fragility curves are constructed herein under real bi-directional excitation by a simple extension of the conventional Incremental Dynamic Analysis (IDA) under uni-directional shaking. Simple SODF systems, parametrically adjusted to different periods, are examined under a set of near-fault and far-fault excitations. Consideration of bi-directional interaction appears important for stiff systems. Further, the study indicates that the peak ground accelertaion, velocity and displacement (PGA, PGV and PGD) of accelerogram are relatively stable and efficient intensity measures for short, medium and long period systems respectively. '30%' combination rule seems to reasonably predict the fragility under bi-directional shaking at least for first mode dominated systems dealt herein up to a limit state of damage control.

• Journal of Biosystems Engineering
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• v.23 no.5
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• pp.427-438
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• 1998

In Korea, rotary implements are mainly utilized in the tillage operation. The attitude control system for rolling phenominon of tractors, which in caused due to uneven ground surfaces and sinkage of tractor wheels, is one of the most important control systems in agricultural tractors. The attitude control system of a rotary implement, attached on tractors, was designed and fabricated in this study. The control system was largely composed of four main units; a setting unit, a detection unit, a controller and a hydraulic unit. The implement was controlled by control signals from a computer proportional to controlled errors, on/off action of two directional solenoide valve and lift cylinder on the right lift rod. Response characteristic experiments for the control system fabricated in this study were carried out indoors and outdoors. The results of experiments showed the response characteristics sufficient to use as the attitude control system of rotary implements for agricultural tractors.