• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.6
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• pp.721-728
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• 2012

The tracked SUGVs(Small Unmanned Ground Vehicles) are frequently operated in the narrow slope such as stairs and trails. But due to the nature of the tracked vehicle which is steered using friction between the track and the ground and the limited field of view of driving cameras mounted on the lower position, it is not easy for SUGVs to trace narrow slopes. To properly trace inclined narrows, it is very important for SUGVs to keep it's heading direction to the slope. As a matter of factor, no roll value control of a SUGV can makes it's heading being located in the direction of the slope in general terrains. But, the problem is that we cannot directly control roll motion for SUGV. Instead we can control yaw motion. In this paper, a new slope driving method that enables the vehicle trace the narrow slopes with IMU sensor usually mounted in the SUGV is suggested which including an estimation technique of the desired yaw angle corresponding to zero roll angle. In addition, a fuzzy steering controller robust to changes in driving speed and the stair geometry is designed to simulate narrow slope driving with the suggested method. It is shown that the suggested method is quite effective through the simulation.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.472-479
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• 2000

A persimmon harvesting vehicle that can be operated in hilly orchards as well as a manipulator that can be used to harvest persimmons located in remote positions in the trees were designed and developed. The vehicle could be operated with keeping balanced position in an inclined field and its working platform could be moved up and down easy to approach fruits in a remote region with the aids of a hydraulic and a electrical and electronics systems. The weight of the vehicle was 927 kg and the center of gravity was located at 427 mm to the inner side from the center of a right driving caterpillar, 607 mm to a rear axle from the center of a front axle, and 562 mm to upward from ground. The automatic level control sensor for leveling the working platform was activated within 14.5 ∼ 16.5 degrees of slope variation. The total length of the manipulator was 1.39 m and weight is 975 g. It was powered by a 12 V geared motor to detach persimmon fruits with a rotational force. The gripper was made of plastic and rubber to increase a frictional force. In a performance evaluation test, static tipping angle, dynamic tipping angle toward front side when the vehicle was moving downward, climbing angle, driving speed of the vehicle were measured or calculated. In persimmon harvesting tests 24.9% of yield was increased by hand picking with the aid of the vehicle and additional 7% of yield were increased when the manipulator was used. Therefore, 99010 of total possible yield was achievable when both of the vehicle and the manipulator were used for the manual persimmon harvesting. Increase in 22.5% of total yield was achieved with the manipulator only.

• Journal of the Korea institute for structural maintenance and inspection
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• v.27 no.3
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• pp.12-20
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• 2023

This study presents basic data on how to secure stability by analyzing the change in tensile force of steel rod and the inclination characteristics of PSC BOX in the "Temporary fixation system using internal prestressing tendon", which is mainly applied to construction of superstructures by FCM. To date, it has been difficult to confirm the changes in tension force of the steel rod and the inclination of the PSC BOX because the steel rod was installed vertically inside the pier and the PSC BOX. Therefore, measurement of the change in length of the steel rod and the displacement of PSC BOX were performed using a micro-measured FBG sensor. Comparisons of the calculated tensile force and the residual tensile force of the steel rod revealed that the safety factor decreased in all bridges. The cause was mainly identified to be the loss of tensile force in fixation~1segment, and countermeasures are suggested. The analysis of the inclination characteristics showed that the inclination increased with the segment progresses even in bridges with sufficient safety factor, and the difference before and after the segment was confirmed. In addition, the increase in inclination was related to the loss of tension force in the steel rod, and the stress on the opposite sides of the inclination was further reduced. It is believed that upward tensile force is generated in the steel rod on the opposite side of the inclined side due to the unbalanced moment, causing the difference in stress of the steel rod between the two sides.