• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.21 no.3
• /
• pp.29-35
• /
• 2022

When a vehicle is driven off a road surface, the deformations of the road surface and tire are combined. Consequently, the dynamic behavior of wheel movement becomes difficult to predict and control. Herein, we propose a tire test bed to capture the dynamic behavior of tires moving on sand and soil. Based on this study, it is discovered that the slip rate can be controlled, and the vertical force can be measured using a load cell. The test results show that this test bed can be useful for capturing the dynamic behavior of the tire and validating dynamic simulations. In fact, the tire test bed developed in this study can be used to verify the results of computer simulations. In addition, it can be used for basic experiments pertaining to the speed control of unmanned autonomous vehicles.

• The Journal of Korea Robotics Society
• /
• v.12 no.3
• /
• pp.322-331
• /
• 2017

In this paper we present a novel robotic palpation method for the lump shape estimation using contact pressure distribution. Many previous researches about the robotic palpation have used a stiffness map, which is not suitable to obtain geometrical information of a lump. As a result, they require a large data set and long palpation time to estimate the lump shape. Instead of using the stiffness map, the proposed palpation method uses the difference between the normal force direction and the surface normal to detect the lump boundary and estimate its normal. The palpation trajectory is generated by the normal of the lump boundary to track the lump boundary in real-time. The proposed approach requires small data set and short palpation time for the lump shape estimation since the shape can be directly estimated from the optimally generated palpation trajectory. An experiment result shows that our method can find the lump shape accurately in real-time with small data and short time.

• Proceedings of the KIEE Conference
• /
• 2004.11c
• /
• pp.6-8
• /
• 2004

The objective of this paper is to develop a powered wheelchair controller based on EMG for users with high-level spinal cord injury using a proportional control scheme. An advantage of EMG is relative convenience of acquisition by a surface electrode to users. Direction information can be easily extracted from two EMG channels and force information can be acquired by proportional relationship between the amplitude of EMG and user's power, respectively. Pattern classification algorithm is a threshold method with a supervised learning process. Furthermore, the emergency situation can be avoided using an interrupt function. We evaluated the performance of powered wheelchair controller by navigating a pre-defined path with three non-handicapped people. The results show the feasibility of EMG as an input interface for powered wheelchair and other devices for the seriously disabled.

• Proceedings of the Korean Fiber Society Conference
• /
• 2003.10a
• /
• pp.73-74
• /
• 2003

Silkworms construct cocoons that are strong and resilient structure by their masterful behavior. Knowing the essentials of their skill, we could apply them to building many types of objects. In this research we focused on the some properties of silkworm′s spinneret and body position in their cocoon construction process. Silkworm′s spinning process was measured by two Video camera system and then analyzed to find out some appropriate statistical models representing the behavior. Furthermore, we interested in the locus pattern of spinneret based on "8" and "S" character. We modeled this pattern to the Lemniscate′s curve function, and tried to make a design of plane surface.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.15 no.1
• /
• pp.8-13
• /
• 2016

The micro drill bit automatic regrinding in-line system is a system that refurbishes drill bits used in a PCB manufacturing process. This system is able to refurbish drill bits with a minimum size of ø0.15-0.075mm that have previously been discarded. Beyond the conventional manual cleaning process using ultrasound, this system adopts a water jet cleaning system, making it capable of cleaning drill bits with a minimum size of ø0.15-0.075mm. This paper analyses various contact pressures applied to the surface of drill bits depending on the shooting pressure of the cleaning device and fluid velocity in order to optimize the nozzle location and to detect structural instability caused by the contact pressures.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
• /
• 2006.04a
• /
• pp.177-180
• /
• 2006

In this paper we proposed a method of automatic point segmentation acquired by 2D laser scanner to recognize moving objects. Recently, Laser scanner is noticed as a new method in the field of close range 3D modeling. But the majority of the researches are pointed on precise 3D modeling of static objects using expensive 3D laser scanner. 2D laser scanner is relatively cheap and can obtain 2D coordinate information of moving object's surface or can be utilized as 3D laser scanner by rotating the system body. In these reasons, some researches are in progress, which are adopting 2D laser scanner to robot control systems or detection of objects moving along linear trajectory. In our study, we automatically segmented point data of 2D laser scanner thus we could recognize each of the object passing through a section.

• Proceedings of the KIEE Conference
• /
• 2009.07a
• /
• pp.688_689
• /
• 2009

This paper presents a multi-objective optimal design process for an in-wheel permanent magnet synchronous motor (PMSM) for high performance. In order to improve the characteristics of the PMSM such as the cogging torque, torque ripple and the back-EMF, the modified Taguchi method and the response surface method (RSM) are utilized. In addition, results of the proposed model are compared with the initial design and it is verified by 2D FEM.

• The Journal of Korea Robotics Society
• /
• v.5 no.4
• /
• pp.339-348
• /
• 2010

One of the requirements for autonomous vehicles on off-road is to move stably in unstructured environments. Such capacity of autonomous vehicles is one of the most important abilities in consideration of mobility. So, many researchers use contact and/or non-contact methods to determine a terrain whether the vehicle can move on or not. In this paper we introduce an algorithm to classify terrains using visual information(one of the non-contacting methods). As a pre-processing, a contrast enhancement technique is introduced to improve classification of terrain. Also, for conducting classification algorithm, training images are grouped according to materials of the surface, and then Bayesian classification are applied to new images to determine membership to each group. In addition to the classification, we can build Traversability map specified by friction coefficients on which autonomous vehicles can decide to go or not. Experiments are made with Load-Cell to determine real friction coefficients of various terrains.

• Journal of Microbiology and Biotechnology
• /
• v.10 no.1
• /
• pp.21-26
• /
• 2000

A microarrayer system was developed mainly for manufacturing DNA chips. The 3-axis robot was designed to automatically collect samples from 96-or 384-well microtiter plates using up to 16 simultaneously moving pens and to deposit them on a surface-modified slide glass. This is followed by a wash/dry operation in a clean station. The cycle is repeated with a new set of samples, This system can deposit cDNA or oligonucleotides with spot intervals of $150{\;}\mu\textrm{m}$ and the spot size of $80\mu\textrm{m}$, thus allowing a high density DNA chip containing about 5,000 spots per $\textrm{cm}^2$. The entire procedure is controlled by the Visual C++ program that was written in our laboratory by using a personal computer with Pentium 100 CPU.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.11
• /
• pp.1044-1051
• /
• 2004

This paper described a novel locomotion interface that can generate infinite floor for various surface, named as virtual walking machine. This interface allows users to participate in a life-like walking experience in virtual environments, which include various terrains such as plains, slopes and stair ground surfaces. The interface is composed of two three-DOF (X, Y, Yaw) planar devices and two four-DOF (Pitch, Roll, Z, and relative rotation) footpads. The planar devices are driven by AC servomotors for generating fast motions, while the footpad devices are driven by pneumatic actuators for continuous support of human weight. To simulate natural human walking, the locomotion interface design specification are acquired based on gait analysis and each mechanism is optimally designed and manufactured to satisfy the given requirements. The designed locomotion interface allows natural walking(step: 0.8m, height: 20cm, load capability: 100kg, slope:30deg) for various terrains.