• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.210-216
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• 2001

In this paper, design of a 3-degree-of-freedom mobile robot with three caster wheels is performed. Initially, kinematic modeling and singularity analysis of the mobile robot is performed. It is found that the singularity can be avoided when the robot has more than two wheels on which two active joints are located. Optimal kinematic parameters of mobile robots with three active joint variables and with four active joint variables are obtained and compared with respect to kinematic isotropic index of the Jacobian matrix of the mobile robot which is functions of the wheel radius and the length of steering link.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.250-259
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• 2021

Path planning is one of the important technologies for automated parking. It requires to plan a collision-free path considering the vehicle's kinematic constraints such as minimum turning radius or steering velocity. In a complex parking lot, Rapidly-exploring Random Tree^* (RRT^*) can be used for planning a parking path, and Reeds-Shepp or Hybrid Curvature can be applied as a tree-extension method to consider the vehicle's constraints. In this case, each of these methods may affect the computation time of planning the parking path, path-tracking error, and parking success rate. Therefore, in this study, we conduct comparative analysis of two tree-extension functions: Reeds-Shepp (RS) and Hybrid Curvature (HC), and show that HC is a more appropriate tree-extension function for parking path planning. The differences between the two functions are introduced, and their performances are compared by applying them with RRT^*. They are tested at various parking scenarios in simulation, and their advantages and disadvantages are discussed by computation time, cross-track error while tracking the path, parking success rate, and alignment error at the target parking spot. These results show that HC generates the parking path that an autonomous vehicle can track without collisions and HC allows the vehicle to park with lower alignment error than those of RS.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.2
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• pp.245-254
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• 2022

In this paper, a design optimization method for anti-jamming GPS antenna is presented. For this purpose, jamming performance analysis criteria and methods are presented. And based on the proposed analysis method, the antenna design elements that can realize the best performance were optimized. The anti-jamming GPS antenna for applying the presented method has a structure in which 7 radiating elements are arranged. Here, six radiating elements were circular arranged, and one element was arranged in the center of the circular arrangement. The optimized antenna design parameter(radius of the circular array) is 0.48 λ. As a result of the simulation, it was confirmed that when the steering angle(theta, phi) of the main lobe was (0°, 0°), the pattern null steering range(based on theta) was 57° to 90°.

• The Proceeding of the Korean Institute of Electromagnetic Engineering and Science
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• v.2 no.1
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• pp.46-54
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• 1991

A noble phased-array antenna of the circular form with microstrip slots was designed for steering the radiation beam and increasing the directivity and gain. The directivity and gain could be controlled, varying the number of slots and the radius of a circle, but here, the 40 .deg. beam scanning antenna system was achieved by tangentially arranging 4 mi- crostrip slots on a circumference and the analog phase shifter was used to adjust phase difference in the adjacent elements. And such a system has a microstrip configuration taking the effects of the line dispersion and discontinuities into account at 10 Ghz. The experimental results were fairly agreed with theoretical values, and this circular phased array had an improved performance over the rectangular phased array with 64-microstrip patches in a view of the number of array elements.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2001.05a
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• pp.186-189
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• 2001

In keeping with the needs of the times for energy and labor saving and simplifying production processes, interests has been growing in warm forging. Moreover, it is interested in increasing the material usage and production amounts. To improve the productivity and material usage, it is studied the process design of warm forging for socket. Until now, socket is manufactured by hot forging in hammer. The percentage of material usage is under $60\%$ in hammer forging. On the other han4 the percentage can be increased over $90\%$ in warm forging. To change the process from hot forging to warm forging, process designs must be performed. In this time, by using the FEM package, DEFORM-3D, we could get the shape of 1st process and minimum sealing pressure. They are very essential design data to decrease the trial and error. Practically, the overlap defect could be detected and eliminated with design modification of rib height and fillet radius. Moreover, forging load and minimum sealing pressure was defined by the 3D FEM analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1006-1013
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• 2011

In this paper, we propose an optimal posture control law for an unmanned bicycle by deriving linear bicycle model from fully nonlinear differential equations. We calculate each equilibrium point of a bicycle under any given turning radius and angular speed of rear wheel. There is only one equilibrium point when a bicycle goes straight, while there are a lot of equilibrium points in case of turning. We present an optimal equilibrium point which makes the leaning input minimum when a bicycle is turning. As human riders give rolling torque by moving center of gravity of a body, many previous studies use a movable mass to move center of gravity like humans do. Instead we propose a propeller as a new leaning input which generates rolling torque. The propeller thrust input makes bicycle model simpler and removes input magnitude constraint unlike a movable mass. The proposed controller can hold optimal equilibrium points using both steering input and leaning input. The simulation results on linear control for circular motion are demonstrated to show the validity of the proposed approach.

• Journal of Navigation and Port Research
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• v.40 no.6
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• pp.353-360
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• 2016

The International Maritime Organization (IMO) has issued international standards for ship maneuverability and stability. These have been established to improve marine safety and influence the direction of research. The previous literature has been researched, but there are few studies on the relationship between ship maneuverability and stability. This study carried out a fundamental experiment to quantitatively evaluate that relationship. Radius of turn and maximum heel angle depending on changing were analyzed through a turning test using a free running model ship. The test results show the change tendency of decreasing turn radius and increasng maximum heel angle according to a GM decrease. A rough estimate equation is proposed to predict the change tendency on radius of turn and angle of maximum heel as GM decreases. Many ships can suddenly experience reduced GM due to unexpected reasons during sailing. The results in this study can be used as fundamental data to estimate a ship's tactical turn diameter and variable heel angle for steering as GM decreases.

• Journal of Korean Society of Forest Science
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• v.100 no.2
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• pp.154-164
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• 2011

This study was conducted to develop the semi-crawler type mini-forwarder that can be operated comfortable small-scale logging operation in the steep terrain and also used at a variety of operations such as the civil work in erosion control and forest-road. Considering the minimum turning radius and the width of forest operation road, the total length, width and loading capacity of the semi-crawler type mini-forwarder is 5,750 mm, 1,900 mm and $2.5m^{3}$, respectively. The maximum engine power is 96ps at 3600 rpm. Selected hydraulic pumps are consists of two main pumps and two sub-main pumps. Main hydraulic pumps are utilized to running motor of the front wheel and rear crawler. Sub-main pumps are utilized to the actuation parts such as steering, crane, out-rigger and dump cylinder. The transmission was adapted as the HST (Hydro-Static Transmission) system. The driving parts are designed and manufactured as the front wheel type and the rear crawler type. The steering type was manufactured as the ackerman type. Driving control parts type was designed and manufactured as driver's seat type of normal cars. It is also attached on auxiliary equipments such as winch, log grapple and out-rigger. The traveling speed of the semi-crawler type mini-forwarder in forest road was 5.3 km/hr to 7.7 km/hr.

• Journal of the Institute of Convergence Signal Processing
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• v.4 no.1
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• pp.56-63
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• 2003

This paper introduces a vision based autonomous mini mobile robot that is an approach to produce real autonomous vehicle. Previous autonomous vehicles are dependent on PC, because of complexity of designing hardware, difficulty of installation and abundant calculations. In this paper, we present an autonomous motile robot system that has abilities of accurate steering, quick movement in high speed and intelligent recognition as a stand-alone system using a mono camera. The proposed system has been implemented on mini track of which width is 25~30cm, and length is about 200cm. Test robot can run at average 32.9km/h speed on straight lane and average 22.3km/h speed on curved lane with 30~40m radius. This system provides a model of autonomous mobile robot adapted a lane recognition algorithm in odor to make real autonomous vehicle easily.

• Journal of Ocean Engineering and Technology
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• v.28 no.2
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• pp.152-159
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• 2014

KRISO(Korea Research Institute of Ships & Ocean Engineering) designed and manufactured a pilot mining robot called "MineRo" in 2012. MineRo is composed of four track modules. In general, much time and money are needed for deep-sea tests. Therefore, a numerical analysis to predict the dynamic behaviors has to be performed before a deep-sea test. In the numerical analysis, the information about the mining robot and soil properties are the most important factors to analyze the driving performance and dynamic response of MineRo. A terra-mechanics model of extremely cohesive soft soil is implemented in the form of the relationships between the normal pressure and sinkage, and between the shear stress and shear displacement. It is possible to acquire information about MineRo from the CAD model in the design phase. The Wong model is applied to the terra-mechanics model. This model is necessary to acquire many soil coefficients for a numerical analysis. However, in soil testing, the amount of soil property data obtained is limited. Moreover, it is difficult to analyze all of the cases for the many soil coefficients. In this paper, the dynamic behaviors of MineRo are analyzed according to the driving velocity, steering ratio, and variable extremely cohesive soft soil properties using a table of orthogonal arrays. The dynamic responses of MineRo are the turning radius, sinkage, and slip ratio. The relationships between the dynamic responses and variable soil properties are derived for MineRo.