• Journal of the Korea Institute of Military Science and Technology
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• v.16 no.6
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• pp.726-732
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• 2013

It is required for UGV(Unmanned Ground Vehicle) to have a LPP(Local Path Plan) component which generate a local path via the center of road by analyzing binary map to travel autonomously unpaved road in rough environment. In this paper, we present the method of boundary estimation for unpaved road and a local path planning method based on RANGER algorithm using the estimated boundary. In specially, the paper presents an approach to estimate road boundary and the selection method of candidate path to minimize the problem of zigzag driving based on Bayesian probability reasoning. Field test is conducted with scenarios in rough environment in which bush, tree and unpaved road are included and the performance of proposed method is validated.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.940-946
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• 2012

This paper proposes a method to predict maximum traction for unmanned robots on rough terrain in order to improve traversability. For a traction prediction, we use a friction-slip model based on modified Brixius model derived empirically in terramechanics which is a function of mobility number $B_n$ and slip ratio S. A friction-slip model includes characteristics of various rough terrains where robots are operated such as soil, sandy soil and grass-covered soil. Using a friction-slip model, we build a prediction model for terrain parameters on which we can know maximum static friction and optimal slip with respect to mobility number $B_n$. In this paper, Mobility number $B_n$ is estimated by modified Willoughby Sinkage model which is a function of sinkage z and slip ratio S. Therefore, if sinkage z and slip ratio are measured once by sensors such as a laser sensor and a velocity sensor, then mobility number $B_n$ is estimated and maximum traction is predicted through a prediction model for terrain parameters. Estimation results for maximum traction are shown on simulation using MATLAB. Prediction Performance for maximum traction of various terrains is evaluated as high accuracy by analyzing estimation errors.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.174-181
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• 2018

For a mobile robot that travels along a terrain consisting of various geology, information on tire force and friction coefficient between ground and wheel is an important factor. In order to estimate the lateral force between ground and wheel, a lot of information about the model and the surrounding environment of the vehicle is required in conventional method. Therefore, in this paper, we are going to estimate lateral force through simple model (Minimal Argument Lateral Slip Curve, MALSC) using only minimum data with high estimation accuracy and to improve estimation reliability of the friction coefficient by using the estimated lateral force data. Simulation is carried out to analyze the correlation between the longitudinal and transverse friction coefficients and slip angles to design the simplified lateral force estimation model by analysing simulation data and to apply it to the actual field environment. In order to verify the validity of the equation, estimation results are compared with the conventional method through simulation. Also, the results of the lateral force and friction coefficient estimation are compared from both the conventional method and the proposed model through the actual robot running experiments.

• Tribology and Lubricants
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• v.21 no.3
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• pp.136-141
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• 2005

Analytical model to calculate the contact fatigue life of rough surface is presented in this paper. The effect of surface roughness can be calculated by this model. Computational method and the theoretical basis are also discussed. Contact stresses are obtained by contact analysis of a semi-infinite solid based on the use of influence functions; the subsurface stress field is obtained using rectangular patch solutions. Mesoscopic multiaxial fatigue criterion which can yield satisfactory results for non-proportional loading is then applied to predict fatigue damage. Suitable counting method and damage rule were used to calculate the fatigue life of random loading caused by rough surface. As a result of analysis the relationship between the life and the roughness as well as the most probable depth of the crack initiation is calculated.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2017.10a
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• pp.77-78
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• 2017

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2004.11a
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• pp.53-59
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• 2004

Rough surfaces are taking into account to estimate the contact fatigue life. A computational methodology and the theoretical basis in this case is presented in this paper. Displacement solution technique by Cho and Love is applied to calculate the stress history beneath the surface subjected to loading. Mesoscopic multiaxial fatigue criterion is then applied to predict fatigue life. This fatigue criterion yields satisfactory results for non-proportional loading and can satisfactorily describe the physical mechanisms of crack initiation as well. As a result of analysis the relation between the life and the roughness as well as the most probable depth of the crack nucleation is discussed.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2013.05a
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• pp.133-135
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• 2013

The most difficult process in the construction of free-form buildings is to manufacture and construct exterior panels designed in a complex way. The façade of the free-form buildings include flat-panels, one-way curvature-panels, and bi-directional curvature panels. To construct these forms, it is necessary to go through the process of optimizing. But as for the optimizing technologies, BIM-specializing companies exclusively protect those technologies, so small construction companies have difficulty in rough estimates. Therefore, this study was aimed to provide the basic data in making the rough estimates of free-form buildings by carrying out the optimizing process for the façade of Dongdaemun Design Plaza and conducting the rough estimates according to the stage of production methods and optimization.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.63-64
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• 2002

In a micro-scale contact, surface forces such as capillary force and van der Waals Interaction significantly Influence the contact between asperities of rough surfaces. Little is, however, known about the variation of these surface forces as a function of chemical property of the surface (hydrophilicity), relative humidity and deformation of asperities In the real area of contact. A better understanding of these surface forces is of great necessity in order to find an optimal solution for reducing friction and adhesion of micro surfaces. We proposed an effective method to analyze capillary and van der Waals forces In nano-scale contact. In this method, Winklerian foundation model was employed to analyze the contact of rough surfaces that were obtained from atomic force microscopy (AFM) height Images. Self-mated contact of diamond-like-carbon (DLC) coatings was analyzed, as an example, by the proposed model. It was shown that the capillary force was significantly influenced by relative humidify and wet angle of the DLC surface. The deformation of asperities to a critical magnitude by external loading led to a considerable increase of both capillary and van der Waals forces.

• Journal of the Korean Society of Systems Engineering
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• v.15 no.2
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• pp.1-8
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• 2019

Autonomous vehicles operated in the rough terrain environment must satisfy various technical requirements in order to improve the speed. Therefore, in order to design and implement a technical architecture that satisfies the requirements for speed improvement of autonomous vehicles, it is necessary to consider the overall technology of hardware and software to be mounted. In this study, the technical architecture of the autonomous vehicle operating in the rough terrain environment is presented. In order to realize high speed driving in pavement driving environment and other environment, it should be designed to improve the fast and accurate recognition performance and collect high quality database. and it should be determined the correct running speed from the running ability analysis and the frictional force estimation on the running road. We also improved synchronization performance by providing precise navigation information(time) to each hardware and software.