• 로봇학회논문지
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• 제9권4호
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• pp.250-257
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• 2014

In this paper, a new mobile robot, so called a rollerbot, is presented, which has single body and rugby-ball shaped roller wheel. A rollerbot has single point contact on ground and low energy consumption in motion because of the reduced friction. By changing center of mass using a balancing weight, a rollerbot is able to get steering force. The vertical position of mass center of the rollerbot in this paper is designed to lie inside radius of the roller wheel, so that to have stable equilibrium position. Thus, the posture and the steering control of the rollerbot can be easily done by changing the center of mass. Kinematics of the rollerbot is derived by transformation of differential motion in this paper.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2009년도 춘계학술대회 논문집
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• pp.278-283
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• 2009

The bimodal tram with a pivoting joint has difficulty in making a sharp turn because of their long body and wheel base. Therefore, applying AWS(all wheel steering) to the bimodal tram is effective to reduce the turning radius. In the present study, HILS(hardware in the loop simulation) system for the AWS ECU test was developed, which consists of the components used in real vehicles. The data obtained from the HILS system also satisfied the dynamics simulation without any error on the operation control.

• Journal of electromagnetic engineering and science
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• 제16권2호
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• pp.74-79
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• 2016

This paper proposes an optimum array configuration to improve null steering time for mobile controlled reception pattern antenna (CRPA) systems. The proposed array consists of a single reference element at the center and nine auxiliary elements arranged in a circular array. The array radius and the vertical positions of the center element are optimized using a genetic algorithm in conjunction with a constrained least-mean-square algorithm. The results demonstrate that the proposed array is suitable for mobile CRPA systems without significant side nulls in satellite directions.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2856-2858
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• 2000

This paper proposes a scan code method for obstacle avoidance of mobile robot. Obstacles detected in a circular window are converted to scan codes and then to the steering angle. The safe rotating radius is obtained by the scan code to avoid the collision between robot and obstacle and. the minimum distance for rotation is calculated. Effectiveness of the method is illustrated through simulations, and the results show that the proposed method can be efficiently implemented to an unknown environment.

• 드라이브 ㆍ 컨트롤
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• 제21권3호
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• pp.56-69
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• 2024

Tractors are used for farming in harsh terrain such as slopes with slippery fields and steep passages. In these potentially dangerous terrain, steering instability caused by bouncing and sliding can lead to tractor rollover accidents. The center of gravity changes as parts such as engines and transmissions used in existing internal combustion engine tractors are replaced by motors and batteries, and the risk of conduction must be newly considered accordingly. The purpose of this study was to derive the center of gravity of a 55 kW class electric tractor using an electric platform from an existing internal combustion engine tractor, and to numerically investigate the tractor steering instability due to bouncing and sliding. The analysis provides a strong analysis by integrating an elaborate combination of a bouncing model and a sliding model based on Coulomb's theory of friction. Various parameters such as tractor speed, static coefficient of friction, bump length and radius of rotation are carefully analyzed through a series of detailed designs. In particular, the simulation results show that the cornering force is significantly reduced, resulting in unintended trajectory deviations. By considering such complexity, this study aims to secure optimal performance and safety in the challenging terrain within the agricultural landscape by providing valuable insights to improve tractor safety measures.

• 한국도로학회논문집
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• 제19권5호
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• pp.163-171
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• 2017

PURPOSES : Traffic safety facilities are used to prevent traffic accidents before they occur by providing drivers with information on traffic situations and the geometric design of roads. However, some facilities not defined in guidelines do not meet installation criteria, yet are being installed and used in order to increase efficiency in traffic flow and prevent traffic accidents in a specific expressway zone. In this study, we have evaluated the effect of delineation system which are not defined in the guideline criteria. METHODS : Different virtual scenarios were created for roads using expressway median barrier chevron signs, with a driving simulator used to evaluate the installation and operational effect of such signs. Ten experiments were performed with left- and right-curved roads at curve radius intervals of 500 m, from 500 m to 2,500 m. RESULTS : For sections with a curve radius of more than 1,500 m, drivers had a clear tendency toward stable driving regardless of delineation system. When a chevron sign is installed on a protection fence in the road curving left, an expanded installation is recommended up to the section with a curve radius of 1,000 m. According to the analysis results for the RHB (Relative High Beta spectrum), driving concentration also improved up to a curve radius of 1,000 m. CONCLUSIONS :The experiment result indicates the extent of biasing within a lane and the manipulation amount of steering handle, were analyzed and found to be affected by curve radius and road alignment regardless of delineation system.

• 한국산학기술학회논문지
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• 제19권2호
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• pp.64-70
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• 2018

대형트럭으로 견인되는 트레일러는 무게중심이 일반 차량에 비해 상대적으로 높기 때문에 전복사고 위험이 높게 된다. 곡선 주행 구간에서 차체를 기울여 곡선부의 주행속도를 향상시키는 원리를 적용하는 틸팅 시스템은 고속철도 차량에서 먼저 그 개념이 연구되고 사용되어 왔는데, 이 논문에서는 일반 대형트럭의 트레일러 적재함에 이 틸팅 시스템을 적용함으로써 아주 작은 틸팅각의 변화로도 급회전 시 주행 안정성을 크게 개선할 수 있는 가능성에 대해 연구하였다. 틸팅 가능한 트레일러의 동역학적 모델을 사용하여 선회주행 시 운동 관계식을 유도함으로써 주어진 도로 선회반경과 하중조건에 대해 원심력 효과와 수직력의 균형으로 전복임계속도를 결정할 수 있었다. 본 논문에서는 보수적인 기준을 선택하여 한쪽 바퀴가 지면으로부터 떨어지는 순간을 전복임계상태로 정의하였다. 실제로 틸팅 시스템을 작동시키기 위해서는 조향각과 주행속도로부터 최적 틸팅각을 계산해야 한다. 트레일러가 달린 대형트럭을 간단하게 모델링하고 시뮬레이션을 통해 곡선주행시 차량의 틸팅각에 따른 전복임계속도의 변화를 분석하고, 틸팅의 효과를 입증하였다.

• 한국산학기술학회논문지
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• 제16권5호
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• pp.3060-3070
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• 2015

최근 차량을 운전하는 성별과 연령대와 차종이 다양해짐에 따라 초보 운전자나 운전 약자들은 자동차의 폭이나 길이에 대한 감각이 미숙하고 자동차의 운동 특성을 이해하기 어렵게 되었다. 이러한 문제점을 보완하기 위해 후방 센서 및 카메라 사용이 증가되고 있고, 운전자의 주차 편의성을 향상시키는 주차 보조 시스템들이 개발되고 있다. 이에 따라 차종에 따른 조향각 차이를 반영하고 거리오차를 쉽게 보정할 수 있는 주차 가이드 시스템이 필요하다. 본 연구에서는 기존의 애커먼장토식을 보완하여 후진 시 회전 반경 공식을 제안하고, 핸들 조향각 센서를 통해 도출한 핸들 조향 값을 제안하는 공식에 대입하여 보다 더 정확한 주차 가이드라인 생성 알고리즘을 개발하고자 한다.

• 한국전자파학회논문지
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• 제23권10호
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• pp.1137-1144
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• 2012

본 논문에서는 펨토셀에서 기기 간의 상호 간섭을 해결하기 위해 2.6 GHz Wimax 밴드용 switched parasitic array(SPA) 안테나를 설계하였다. 설계한 SPA 안테나는 방사체(radiator)로 동작하는 단일 급전 ${\lambda}/4$ 모노폴 안테나가 중앙에 있고, 스위칭에 따라 반사체(reflector)와 유도체(director)로 동작하는 4개의 기생소자가 이를 둘러싸고 있으며, 이들 기생소자는 개방된 모노폴이 각각 둘러싸고 있다. 본 논문에서는 기존의 PIN 다이오드가 아닌 RF FET 스위치를 사용하여 빔 조향을 함으로써 간단한 구조의 저가, 저전력 안테나를 설계하였으며, 스위치의 특성에 따른 SPA 안테나의 성능을 분석하였다. 제작한 안테나의 크기는 반지름 65 mm, 높이 35 mm이고, 2.6 GHz에서 전후방비가 15 dB 이상이며, 스위칭에 따라서 8방향으로 빔 조향이 가능하다.

• 한국기계가공학회지
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• 제12권3호
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• pp.96-101
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• 2013

Automotive brake system is an essential element for the safety. The system is powered by the circulation of brake oil. A braker hose is used for the circulation of the oil in this system. Layout of the hose changes according to the steering and stress occur in the hose. A lot of the durability tests are performed in order to prevent serious problems such as hose bursting by the accumulation of the stress before setting an optimized hose layout on automobile. The test is conducted for the layout which is same such as set in automobile. In the test, brake hose layout shall exercise the same mode of thousands of times under the high temperature and periodic pressure condition and then the damage of the tested hose is inspected. This test, however, has a disadvantage of heavy consumption of time and money. In order to compensate for these drawbacks, the finite element method(FEM) study was performed to predict the changes in the layout of the brake hose. In this study, the FEM results and the test results were compared and the validity was verified. The radius of curvature of the FEM and test at the same positions were especially investigated for the validation. Also, this study will be used as the basis of research on the life prediction of brake hose.