• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.11
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• pp.1231-1237
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• 2014

It is essential to perform driving performance tests of military vehicles on rough terrain. A full car test is limited by cost and time constraints, because of which a dynamic analysis via computer simulation is preferred. In this study, a vehicle model is developed using MSC.ADAMS, a commercial multibody analysis program, and compared via experiments. FTire is modeled using the results of a tire performance test to obtain the vertical stiffness. A nonlinear damper is modeled by a characteristic experiment. Leaf springs are modeled with beam force elements and consisted to a vehicle model. The vertical force and acceleration response of the wheel are identified when vehicle is passing over a simple bump as well as a sinusoidal road. The developed vehicle model is verified with the results of a full car test.

• Journal of Biosystems Engineering
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• v.34 no.5
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• pp.315-324
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• 2009

Various types of vibration are transmitted to operators of agricultural tractors while working in the field. Most harmful vibration to human body is ride vibrations with low frequency ranging from 1 to 10 Hz, caused by rough terrain. These ride vibration has vertical and rotational components. This study was conducted to develop an active seat suspension system with two degrees of freedoms, enabling effectively reduce vibrations in vertical and pitch motions. Therefore, a mechanism for the active seat suspension was developed, and an electro-hydraulic servo system and a controller to drive the active seat suspension system were also developed in this study. A simulation model was developed to evaluate how the active seat suspension system effectively reduce the vibrations transmitted to the base of seat. Active seat suspension was optimized to enhance the performance using the developed simulation model. The performance of the seat suspension system was evaluated according to the test codes described in EEC78/764 in order to investigate the feasibility of application to agricultural tractors. The result showed that the developed active seat suspension system could reduce the magnitude of vertical vibration up to 80% for the input vibrations according to the test codes described in EEC78/764. The system could reduce the rotational displacement of ${\pm}\;2.5$ degrees up to 50% for the pitch vibration on the average in the frequency range of 1 to 2 Hz.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.7
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• pp.2205-2212
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• 1996

In order to move the body of a walking robot translationally, and step over the obstacles, the walking robot must have at least 3 degrees of freedom for each leg. Therefore each leg of the general walking robots can be composed of 3-link system with 3 revolute joints. In this paper, the colsed form of inverse kinimatic solutions is shown for this general 3R linkage. Moreover, in order to have efficient walking volume in rough terrain, the workspace of each log is obtained considering the twist angles and the offsets in D-H parameters. When we design a walking robot, the information of the walking volume is needed for planning desired trajectories of the feet effectively. Appropriate knowledge of the walking volume can also be used to maximize linear or angular velocity of minimize power of stress. However, since it is impossible to obrain the information of walking volume in 3-D space directly from the kinematic equations, the walking volume can be searched through the edge detection algorithm using the triangle tracer with closed from inverse kinematic solutions. In this study, we present the closed form inverse kinematic solutions for 3R linkage model, and the walking volume of 6 legged walking robot which is modeled after the darking bettle, Eleodes obscura sulcipennis, through the method of edge detection for an arbitrary 2 dimensional shape using triangle tracer.

• The Journal of Engineering Geology
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• v.17 no.1 s.50
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• pp.49-55
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• 2007

Various away methods are required in the electrical resistivity survey in order to find anomalous zone reliably. Array methods are classified as several groups. Among these group, a curved survey along the fixed elevation is designed to increase the mobility of men and survey equipments at the rough terrain. Another method is performed at the survey using inclined, curved, and horizontal boreholes. A survey can also be conducted in an arbitrary location by measurements of potentials for a multi sources. The complex data acquired using various away methods are represented by a correct images reconstructed from the 3D inversion. The element division is applied to the region in which the boreholes are curved and inclined because of a spatial discrepancies between the coordinate of each electrode and the nodal point in a model. The resistivity images are obtained from a good agreement for the anomalous zones in open slope and in survey using an inclined borehole.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.4
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• pp.356-361
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• 2020

This paper presents a lightweight milli-scale crawling robot that can crawl on both sides, which was inspired by the movement of insects. This robot has an excellent ability to overcome obstacles, such as the narrow gaps and the rough terrain. In addition, the robot can crawl steadily and rapidly through triangular alternation, such as ants or cockroaches. The process of smart composite microstructures (SCM) was employed to make a lightweight robot structure. The SCM process replaced the conventional mechanical parts with flexure joints and composite links, which allows the weight of the robot to be reduced. In addition, the robot structure was robust against external impacts owing to the compliance of the constituent materials. Using the SCM process, the robot weighed only 32g with twelve legs in total on both sides. The robot showed a crawling speed of 0.52m/s on the front side and 0.42m/s on the backside.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.4
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• pp.437-442
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• 2012

To analyze a multibody system, this paper proposes an implicit numerical integration method for joint coordinates subsystem synthesis method. To verify the proposed method, a multibody model for an unmanned robot vehicle, which consists of six identical independent suspension systems, is developed. The symbolic method is applied to compute the system Jacobian matrix for the implicit integration method. The proposed method is also verified by performing rough terrain run-over simulation in comparison with the conventional implicit integration method. In addition, to evaluate the efficiency of the proposed method, the CPU time obtained by using this method is compared with that obtained by using the conventional implicit method.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.6
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• pp.1006-1012
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• 2010

For the autonomous navigation of an unmanned ground vehicle in the rough terrain and combat, the dust environment should necessarily be overcome. Therefore, we propose a robust obstacle detection methodology using laser range sensor and radar. Laser range sensor has a good angle and distance accuracy, however, it has a weakness in the dust environment. On the other hand, radar has not better the angle and distance accuracy than laser range sensor, it has a robustness in the dust environment. Using these characteristics of laser range sensor and radar, we use laser range sensor as a main sensor for normal times and radar as a assist sensor for the dust environment. For fusion of laser range sensor and radar information, the angle and distance data of the laser range sensor and radar are separately transformed to the angle and distance data of virtual range sensor which is located in the center of the vehicle. Through distance comparison of laser range sensor and radar in the same angle, the distance data of a fused virtual range sensor are changed to the distance data of the laser range sensor, if the distance of laser range sensor and radar are similar. In the other case, the distance data of the fused virtual range sensor are changed to the distance data of the radar. The suggested methodology is verified by real experiment.

• 한국지구물리탐사학회:학술대회논문집
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• 1999.08a
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• pp.21-36
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• 1999

Recently resistivity survey is widely used for site investigations in the field of civil engineering. Since such application area requires accurate interpretation tools especially in the area of complicated geology and rough terrain topography, we developed a three-dimensional (3-D) resistivity inversion code, which can reconstruct real earth structures. Furthermore, the inversion code gives resolution-enhanced images by applying the ACB(Active Constraint Balancing) method. With the help of this inversion code, 3-D resistivity survey is now used as new techniques for site investigations in civil engineering problem. By imaging the 3-D resistivity distribution, we could get useful informations such as depth distribution of basement rock, distribution of weak zone, fractures and cavities which is crucial to civil engineers.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.11
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• pp.74-79
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• 2021

Generally, multi-legged walking robots have excellent mobility in rough and uneven terrain, and they are deployed for the safety of rescuers in various disaster environments. However, as each leg is driven by a number of actuators, it leads to a complicated structure and high power consumption; therefore, it is difficult to put them into practical use. In this article, a new concept is proposed of a walking robot whose legs are driven by a complex linkage structure to overcome the deficiencies of conventional multi-legged walking robots. A double crank-rocker mechanism is proposed, making it possible for one DC motor to actuate the left and right movements of two neighboring thighs of the multi-legged walking robot. Each leg can also move up and down through an improved cam structure. Finally, each mechanism is connected by spur and bevel gears, so that only two DC motors can drive all legs of the walking robot. The feasibility of the designed complex linkage mechanism was verified using the UG NX program. It was confirmed through actual production that the proposed multi-legged walking robot performs the desired motion.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.9
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• pp.84-91
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• 2017

This study examined the routes, periods, and characteristics of Hamkyung-Gamsa's Sulryeok(巡歷) and his major duties during the Sulryeok. For this purpose, all hitherto known Hamkyung-Gamsa's official diaries, such as "Gwanbukilgi(關北日記)", "Sunryeokilrok(巡歷日錄)" and 'Buksunilgi(北巡日記)', 'Bukhaengilrok(北行日錄)' of "Dongbukansarok(東北按使錄)", were investigated closely. The main results of this study are as follows. 1) The Hamkyung-Gamsa's Sulryeok routes almost took the Gyeongheungro, which was one of the six main roads in the Joseon dynasty. The use of this road as the Sulryeok route was attributed to the rough terrain. 2) The Sulryeok routes were divided into two ways: the north and south routes centering on HamheungGamyoung. As Hamheung is located in the southern part of Hamgyeong-do, the northern Sulryeok route, which reached the downstream side of the Tuman River and border defense facilities, was long and took a long period of time. 3) Hamkyung-Gamsa's major duties during the northern Sulryeok route were to check the border defense facilities and hold literary and archery contests and special state examinations, especially in Gilju. His major duties during the southern Sulryeok route were to inspect and maintain the royal tombs and historical landmarks, such as Junwonjeon, Sukreung, Jireung. 4) Sometimes the routes of Hamkyung-Gamsa's Sulryeok included some sightseeing spots, which were famous for ten scenic spots of Bukgwan.